Waterproof UAV for capturing images

Abstract

A waterproof UAV records a camera lens when traveling in the air and when submerged in water. The UAV varies the speed and direction of the propellers as a function of the medium through which the UAV travels to provide control of the UAV. The propellers are rotatable in two directions to enable the UAV to change its depth and orientation in the water. A machine learning (ML) model is used to identify persons and targets underwater. A housing coupled to the UAV positively floats the UAV to float in water and controls buoyancy when submerged.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to U.S. application serial number 17 / 944,856, filed on September 14, 2022, the contents of which are incorporated herein by reference in their entirety. Technical Field

[0003] The present disclosure relates generally to unmanned aerial vehicles (UAVs). Background Art

[0004] UAVs (including drones) are flying machines that do not have a human on board. Traditional drones have different configurations (e.g., multiple rotors), cameras, and global positioning systems (GPS). Multirotor drones are able to capture images using cameras during flight. BRIEF DESCRIPTION OF THE DRAWINGS

[0005] In the drawings, which are not necessarily drawn to scale, like numbers may describe similar components in different views. The same numbers with different letter suffixes may represent different examples of similar components. Several figures depict one or more implementations and are presented by way of example only and should not be construed as limiting. The drawings include the following figures:

[0006] Figure 1A It is a perspective view of the UAV;

[0007] Figure 1B yes Figure 1A A perspective view of a UAV surrounded by a hull to provide buoyancy;

[0008] Figure 2 is a block diagram of a control system configured to automatically control a UAV;

[0009] Figure 3 is a diagram of the flight path FP1 of the guiding (route) UAV;

[0010] Figure 4 is a diagram of another flight path FP2 for guiding the UAV;

[0011] Figure 5 is a diagrammatic representation of another flight path FP3 for guiding a UAV in the air and underwater;

[0012] Figure 6 is an illustration of a UAV following a diver underwater; and

[0013] Figure 7 is a flow chart of a method for operating a UAV in the air and underwater. DETAILED DESCRIPTION

[0014] A waterproof UAV that records camera footage while traveling in the air and while submerged in water. The UAV changes the speed and direction of the propellers according to the medium through which the UAV is traveling to provide control of the UAV. The propellers can be turned in two directions to enable the UAV to change its depth and orientation in the water. Machine learning (ML) models are used to identify people and objects underwater. A housing coupled to the UAV allows the UAV to positively float to float in the water and control buoyancy when submerged.

[0015] Additional objects, advantages and novel features of the examples will be set forth in part in the following description and will become apparent to those skilled in the art upon examination of the following and accompanying drawings, or may be learned by the making or operation of the examples. The objects and advantages of the subject matter may be realized and obtained by the methods, means and combinations particularly pointed out in the appended claims.

[0016] The following description includes systems, methods, techniques, instruction sequences, and computing machine program products that demonstrate examples of the present disclosure. In the following description, for the purpose of explanation, many specific details are set forth to provide an understanding of different examples of the disclosed subject matter. However, it will be apparent to those skilled in the art that examples of the disclosed subject matter can be implemented without these specific details. In general, well-known instruction examples, protocols, structures, and techniques are not necessarily shown in detail.

[0017] The terms and expressions used herein are understood to have ordinary meanings, as given to these terms and expressions for their corresponding corresponding queries and research fields, unless the specific meaning is otherwise set forth herein. Relational terms such as first and second, etc. can be used only to distinguish one entity or action from another entity or action, without requiring or implying any actual such relationship or order between these entities or actions. The term "comprises", "comprising", "includes", "including" or any other variation thereof is intended to cover non-exclusive inclusions, so that the process, method, thing or equipment including or including a series of elements or steps not only includes those elements or steps, but also may include other elements or steps that are not explicitly listed or inherent to such processes, methods, things or equipment. In the absence of further restrictions, an element preceded by "one" or "a kind of" does not exclude the presence of other identical elements in the process, method, thing or equipment including the element.

[0018] As used herein, the term "coupled" refers to any logical, optical, physical or electrical connection, link, etc., by which a signal or light generated or provided by one system element is imparted to another coupled element. Unless otherwise described, coupled elements or devices are not necessarily directly connected to each other and may be separated by intermediate components, elements or communication media, one or more of which may modify, manipulate or carry electrical signals.

[0019] Reference is now made in detail to the examples illustrated in the accompanying drawings and discussed below.

[0020] Commercial UAVs typically include a camera that is used to image the Earth and other objects below, such as taking still images and videos. In some versions, the camera is fixed to the UAV without the use of a gimbal to selectively position the camera. More complex UAVs include an electronic receiver and an electronically configurable gimbal and camera. A remote controller establishes a wireless link with the UAV's receiver to control the UAV and the camera. The electronic receiver, the electronically controlled gimbal, and the camera are expensive, fragile, and mechanically complex, and increase the weight and volume of the UAV. The UAV of this article is smaller and lighter than a conventional UAV. In addition, the UAV has a continuous surface and is sized to be conveniently placed in a pocket of clothing.

[0021] Figure 1A is a perspective view of a UAV 10 having a shroud 12 with a plurality of propeller openings 15 extending through the shroud 12. Propellers 14 are positioned in respective propeller openings 15. The shroud 12 includes a rectangular lower surface 18 and a rectangular upper surface (not shown) with a smooth continuous edge 17 extending between the upper and lower surfaces around the entire UAV 10. The shroud encloses the electronics (e.g., processor 202, memory 204, GPS receiver 208, and IMU 210; Figure 2 ) and structural components of the UAV 10 (e.g., the camera 20). In the example shown, the rectangular surface completely surrounds the propeller opening 15.

[0022] Each propeller opening 15 extends from the upper surface through the shroud 12 to the lower surface 18 and includes a continuous wall 24 extending around the perimeter of the propeller opening 15. Although four propeller openings 15 with corresponding propellers 14 are shown and described, there may be more or fewer propeller openings 15 with corresponding propellers. As used herein, the term continuous wall refers to a wall having a surface without any visually perceptible through-holes.

[0023] Each propeller 14 includes a plurality of blades 16. Each blade 16 is made of metal or a non-conductive material. Typically, non-conductive materials such as plastics are used for blades because they are generally lighter.

[0024] The shield 12 has a smooth continuous surface 22, and the peripheral edges 17 are also smooth. The shield 12 is sized so that the UAV 10 can be placed in clothing (e.g., a pocket of pants or a jacket). The peripheral edges 17 are rounded to facilitate placing the UAV 10 in a clothing pocket. The smooth continuous surface 22 and the peripheral edges 17 also provide an elegant aesthetic design. As used herein, the term smooth continuous surface refers to the absence of any visually perceptible through holes or sharp edges.

[0025] The camera 20 is positioned near the lower surface 18 of the shroud 12. The camera 20 faces outward from the lower surface 18 and is configured to capture images at a fixed pitch angle relative to the shroud 12. In this example, the camera 20 faces downward from the shroud 12 so that the camera pitch angle is 90 degrees relative to the lower surface 18. In other examples, the camera pitch angle may also be fixed at other pitch angles, such as -5 degrees downward from the horizontal, or fixed at other pitch angles as desired.

[0026] The UAV 10 is waterproof when continuously submerged underwater. The shroud 12 is waterproofed by sealing all edges, openings, and gaps of the shroud 12. The motors of the propellers 14 may also be waterproofed and capable of operating underwater. In one example, waterproofing is achieved by sealing all edges with an epoxy coating, thereby providing protection for the internal electronics of the UAV 10 (including, for example, Figure 2 The control system 200 shown provides moisture protection. The UAV 10 is waterproof to support full immersion for a long time. In one example, the UAV 10 has an industry standard waterproof rating of IP68.

[0027] Figure 1B 1 is a perspective view of a UAV 10 having a separate housing 100 that is (permanently or selectively) attached to a shroud 12. The separate housing 100 has corners 102 that match the corners 17 of the UAV 10. In one example, the UAV 10 itself is not able to float in water, and the separate housing 100 is attached to the UAV 10 to provide the UAV 10 with positive buoyancy. The upward buoyancy generated by the housing 100 is only slightly greater than the weight of the UAV 10, so that the UAV 10 requires minimal power, such as minimal propeller 14 rotation, to remain at a particular depth. Scenario when the UAV 10 is powered off underwater The UAV 10 is positively buoyant.

[0028] In one example, the separate housing 100 is a hollow shell that partially surrounds the UAV 10 around the periphery of the shroud 12 while exposing the propellers 14 so that they can operate normally. In one example, the hollow shell includes a top shell and a bottom shell, each of which is formed as a ring that can be snapped together to fix the housing 100 to the shroud 12. In another example, the top shell and the bottom shell can be connected via a hinge. In addition, when the propeller opening 15 is exposed, the shell can completely or partially cover the top surface (not shown) of the UAV 10 and the bottom surface 18 of the UAV 10 to not inhibit the operation of the propeller 14. In another example, the separate housing 100 can be a foam shell, such as a closed-cell foam, which can be coupled to the outside of the UAV 10 by friction. When not used for underwater purposes, the separate housing 100 can be removed from the shroud 12 to reduce the weight of the UAV 10. The separate housing 100 allows the UAV 10 to float in a reasonable water depth suitable for recreational applications.

[0029] A water sensor 30 is positioned near the lower surface 18 of the shroud 12 to determine whether the UAV 10 is in water. Figure 2 As shown, the processor 202 uses the water sensor 30 to configure the UAV 10 between these modes (e.g., air mode and water mode). The processor 202 in the air mode configures the propeller 14 to operate at a speed that is effective for navigation in the air, while the processor 202 in the water mode configures the propeller 14 to operate at a lower speed to adapt to the greater water density compared to air. When the UAV 10 is operating in the water, the UAV 10 resists its buoyancy when maneuvering. Buoyancy is in the opposite direction of gravity, and when operating in the air, the UAV 10 resists its gravity. The processor 202 in the water mode solves this change by changing the direction in which the propeller 14 rotates to maintain a specific depth. In one example, the UAV 10 is operating in the air, and the water sensor 30 transmits the lack of water to the processor 202. The UAV 10 then lands on the surface of the body of water, and the water sensor 30 transmits the presence of water to the processor 202, and the UAV 10 switches to the water mode to better navigate underwater. In another example, the water sensor 30 may not be present, and the switching between the air mode and the water mode may be done by the user.

[0030] Each of these propellers 14 has independent ability to rotate in two directions in water mode to steer the UAV 10 in the x / y plane and in the orthogonal z direction to provide independent ability for three-dimensional (3D) control (such as deeper or shallower in water and side currents), depending on the individual rotation direction, where z is depth. The direction of each propeller rotation is controlled by the processor 202. In one example, an independent switch may be provided for each propeller controlled by the processor 202 to control the direction of propeller rotation. In one example, Figure 1AThe two left propellers 14 shown can rotate in opposite directions, while the right propeller 14 can rotate in the opposite direction to the left propeller 14 to tilt the UAV 10. Once the UAV 10 is tilted to the desired rotation, such as 90°, and the UAV 10 is facing the target, all the propellers 14 can be rotated in the same direction to move the UAV 10 toward or away from the target. The different propeller 14 speeds between each propeller 14 are used to enable the UAV 10 to turn and support additional directional actions. This maneuverability is useful for different film lens techniques such as panorama, fade-out, etc. in the air and in the water.

[0031] Figure 2 A control system 200 configured to automatically control a UAV 10, including UAV operations along a flight path (FP), is shown. The control system 200 includes an electronic processor 202 including a flight controller, a memory 204 including a flight plan, instructions, and code for operating the processor 202 to control and operate the UAV 10, a data table 206 stored in the memory 204, a global positioning system (GPS) receiver 208 providing a global position of the UAV 10, and a water sensor 30. The electronic processor 202 establishes the FP of the UAV 10 based on the performance data in the data table 206 and the GPS 208. A plurality of FPs are stored in the memory 204, wherein the FPs can be custom programmed and downloaded to the memory 204 by a user of the UAV 10 wirelessly or wired.

[0032] In the event that the connection with GPS 208 is lost, the processor 202 uses the IMU 210 to estimate the position of the UAV 10 until the GPS 208 is reconnected. Figure 5 The UAV's GPS connection is lost when the flight path FP3 is shown to go from an aerial path to an underwater path. The processor 202 estimates the position of the UAV 10 using measurements from the IMU 210 to continue along FP3 until the GPS 208 is reconnected.

[0033] The processor 202 receives a signal from the water sensor 30 to determine whether the UAV 10 is in water. The processor 202 is configured to operate the UAV 10 in an air mode or a water mode according to the sensor signal from the water sensor 30. The processor 202 controls the propeller 14 at different speeds and directions according to the mode and motion control of the UAV 10.

[0034] Figure 3A graphic representation of a flight path FP1 guiding a UAV 10 from a starting position 300 to an end position 302 is shown. FP1 guides the UAV 10 to a target 304, also referred to as a point of interest (POI), along a smooth path at varying altitudes. The target 304 may include many features, including buildings, trees, people, etc. The limited or constrained spacing constraints around the target 304 may limit the maneuvering of the UAV 10 around the target 304, and thus limit camera imaging. This spacing creates difficulties for a UAV 10 with a fixed position camera 20.

[0035] Figure 4 A graphic representation of a more complex flight path FP2 is shown in which the UAV 10 passes through and around a target 304. The flight path FP2 includes a plurality of waypoints WP and a plurality of image capture points including image capture points CP1 and CP2. The flight path FP2 also includes performance variables of the UAV 10, and the orientation of the UAV 10 includes the pitch angle PA of the camera 20 relative to the horizontal at each waypoint (including adjacent image capture points CP1 and CP2). In this example, the UAV 10 passes through the flight path FP2 with a plurality of waypoints to reach the image capture point CP1 close to the target 304.

[0036] In the example, the flight path FP2 orients the UAV 10 so that the camera 20 is pointed at a pitch angle PA3 when approaching and at the image capturing point CP1, so as to face the target 304. The camera 20 captures an image of the target 304 at a predetermined image capturing time at the image capturing point CP1 and stores the image in the memory 204. The UAV 10 then traverses the flight path FP2 to reach the image capturing point CP2 close to the target 304. The flight path FP2 also orients the UAV 10 so that the camera 20 is pointed downward at the target 304 at a pitch angle PA5. The camera 20 again captures an image at the image capturing point CP2 and stores the image in the memory 204.

[0037] Since the camera 20 is fixed to the shield 12 at a fixed pitch angle, it is not a general task to orient the UAV 10 at a certain angle in a predetermined stable position. More importantly, it is not a general task to establish a predetermined camera angle of the camera 20 relative to the target 304 at the shooting points CP1 and CP2. The flight path is automatically determined by the electronic processor 202 based on the GPS location of the shooting points CP1 and CP2 and the desired camera pitch angle at the shooting points CP1 and CP2. The processor 202 determines the operating parameters of the UAV 10 and takes into account the weight and flight performance of the UAV 10. The determined flight path increases the image capture time at the shooting points CP1 and CP2 at the desired pitch angle, which is very beneficial for imaging.

[0038] Figure 5 A graphic representation of a flight path FP3 is shown, which guides the UAV 10 from a starting position 500 above the water on a path traveling underwater to a terminal position 502 above the water. The UAV 10 is configured to capture images and / or video along the flight path. FP3 guides the UAV 10 along the flight path, which switches from air to underwater at a transition point 508, where the UAV 10 switches from an air mode to a water mode. FP3 guides the UAV 10 to targets 504 and 506 (also referred to as points of interest (POIs)) along a smooth path that changes in depth underwater. Targets 504 and 506 may include many features, including corals, boat nests, underwater structures, aquatic life, divers, etc. The UAV 10 then leaves the water at a transition point 510 and returns to an air mode to fly back from the water to the air to reach the terminal position 502.

[0039] Figure 6 The UAV 10 is shown capturing images and video underwater while following a target, where the target is a diver 602. In one example, the camera 20 has a field of view 600 surrounding the diver 602, and the processor 202 is configured to control the UAV 10 to autonomously follow the diver 602 by individually controlling the propellers 14 to keep the diver 602 within the field of view 600 of the camera 20. The processor 202 controls the speed and direction of the propellers 14 to maneuver the UAV 10. The processor 202 uses an existing facial detection algorithm with a machine learning model to better detect people, divers, and underwater targets.

[0040] In another example, the UAV 10 is configured to be remotely manually controlled by a user using a remote control. The user can manually switch the UAV 10 between the air mode and the water mode, and operate the UAV 10 in the air and underwater. The real-time video generated by the camera 20 is also sent from the UAV 10 to the user.

[0041] Figure 7 A method 700 of operating a UAV 10 in both an air mode and a water mode is presented.

[0042] At block 702, the UAV 10 operates in an air mode. The UAV 10 may fly autonomously or be flown and controlled by a remote user. The UAV 10 is configured to maneuver and navigate in the air. The operation of the UAV 10 in the air may include capturing aerial footage using the camera 20.

[0043] At box 704, the UAV 10 enters a water environment. For example, the UAV 10 lands on the surface of a body of water.

[0044] At box 706, the UAV 10 changes its operating mode from the air mode to the water mode. This change can be done automatically via communication between the water sensor 30 and the processor 202, or it can be done by a remote user. The UAV 10 is configured to maneuver and navigate underwater.

[0045] At box 708, the UAV 10 operates in a water mode. The UAV 10 may be autonomously maneuvered or controlled by a remote user. The operation of the UAV 10 underwater may include using the camera 20 to capture underwater footage.

[0046] In addition, in the above detailed description, it can be seen that for the purpose of streamlining the present disclosure, various features are grouped together in various examples. This method of the present disclosure should not be interpreted as reflecting the intention that the examples claimed for protection require more features than the features explicitly stated in each claim. On the contrary, as reflected in the following claims, the subject matter to be protected lies in fewer features than all the features of any single disclosed example. Therefore, the following claims are hereby incorporated into the detailed description, with each claim independently serving as a separately claimed subject matter.

[0047] The examples presented here are described in sufficient detail to enable those skilled in the art to practice the disclosed teachings. Other examples may be used and derived therefrom, so that structural and logical substitutions and changes may be made without departing from the scope of the present disclosure. Therefore, the specific embodiments should not be considered restrictive, and the scope of the different examples is limited only by the appended claims and the full scope of equivalents granted by these claims.

Claims

1. An unmanned aerial vehicle (UAV), comprising: Waterproof cover; a propeller opening extending through the waterproof shield; a propeller coupled to the waterproof shield and positioned within the propeller opening; a housing coupled to the waterproof shield and configured to float the drone in water; as well as a processor, the processor being disposed in the waterproof shield; The processor is configured to operate the drone in a first mode and a second mode, the first mode comprising navigating the drone in the air and the second mode comprising navigating the drone underwater.

2. The drone according to claim 1, wherein: The housing is selectively attachable to the shroud.

3. The drone according to claim 2, wherein: The shell is a hollow shell.

4. The drone according to claim 3, wherein: The housing surrounds the outer edge of the waterproof shield.

5. The drone of claim 1, further comprising a water sensor, wherein: The processor is configured to switch the drone between two modes based on the signal received from the water sensor.

6. The drone according to claim 1, further comprising a plurality of propellers, wherein: Each of the propellers is configured to be independently controlled in speed and direction by the processor.

7. The drone according to claim 6, wherein: The drone also includes a camera configured to capture images and videos.

8. The drone according to claim 7, wherein: The processor is configured to use a machine learning algorithm to detect underwater targets when the drone is in the second mode.

9. The drone according to claim 8, wherein: The drone is configured to autonomously follow the underwater target.

10. The drone of claim 7, further comprising a global positioning system (GPS), an inertial measurement unit (IMU), and a memory containing a flight path coupled to the shroud.

11. The drone according to claim 10, wherein: The flight path includes a plurality of waypoints.

12. The drone according to claim 11, wherein: The GPS and the IMU are configured to navigate the drone between the plurality of waypoints.

13. A method of capturing an image using an unmanned aerial vehicle (UAV), the UAV comprising a waterproof housing, a processor disposed in the waterproof housing, a propeller opening extending through the waterproof housing, a propeller coupled to the waterproof housing and positioned within the propeller opening, and a housing coupled to the waterproof housing and configured to float the UAV in water, the method comprising: operating the drone in a first mode, the first mode comprising navigating the drone in the air; Switching the drone from the first mode to a second mode; as well as The drone is operated in the second mode, the second mode comprising navigating the drone underwater.

14. The method according to claim 13, wherein: The housing is selectively attachable to the shroud.

15. The method according to claim 14, wherein: The drone also includes a camera, and the method further includes capturing an image using the camera.

16. The method of claim 13, further comprising a water sensor, wherein: The processor switches the drone between two modes based on signals received from the water sensor.

17. The method of claim 13, further comprising a plurality of propellers, wherein: Each of the propellers is independently controlled in speed and direction by the processor.

18. The method according to claim 13, wherein: When the drone is in the second mode and autonomously follows an underwater target, the processor uses a machine learning algorithm to detect the underwater target.

19. The method of claim 13, wherein the drone further comprises a global positioning system (GPS), an inertial measurement unit (IMU), and a memory containing a flight path coupled to the shield, the flight path comprising a plurality of waypoints, wherein: The step of navigating the drone underwater also includes navigating the drone between the plurality of waypoints using the GPS and the IMU.

20. A non-transitory computer readable medium storing program code, the program code being operable, when executed, to cause an electronic processor of an unmanned aerial vehicle (UAV), the UAV comprising a waterproof housing, a processor disposed in the waterproof housing, a propeller opening extending through the waterproof housing, a propeller coupled to the waterproof housing and positioned within the propeller opening, and a housing coupled to the waterproof housing and configured to float the UAV in water to perform the following steps: operating the drone in a first mode, the first mode comprising navigating the drone in the air; Switching the drone from the first mode to a second mode; as well as The drone is operated in the second mode, the second mode comprising navigating the drone underwater.

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