Autonomous unmanned aerial vehicle including folding type foldable arm

Abstract

To provide an autonomous aerial vehicle technique, particularly to an autonomous unmanned aerial vehicle including a folding type foldable arm.SOLUTION: Provided is a UAV including a center body, a plurality of rotor arms, and a plurality of hinge mechanisms. Each of the plurality of rotor arms includes a rotor unit in a distal end of the rotor arm. The rotor unit is configured to provide a thrust force to the UAV. The plurality of hinge mechanisms mechanically attach (or connect) a proximal end of the plurality of rotor arms to the center body. Each hinge mechanism rotates each of the plurality of rotor arms around a rotation axis having an oblique angle with respect to a perpendicular median plane of the center body to make a transition between an extension state and a folded state.SELECTED DRAWING: Figure 3C

Description

[Technical Field]

[0001] [CROSS-REFERENCE TO RELATED APPLICATIONS] This application claims priority to and the benefit of U.S. Provisional Patent Application No. 62 / 960,592, filed January 13, 2020, entitled "Unmanned Aerial Vehicle," which is expressly incorporated herein by reference. [Background technology]

[0002] Vehicles can be configured to autonomously navigate a physical environment. For example, an autonomous vehicle with various onboard sensors can be configured to generate sensory inputs based on the surrounding physical environment, which are then used to estimate the position and / or orientation of the autonomous vehicle within the physical environment. In some cases, the sensory inputs can include images of the surrounding physical environment captured by a camera mounted on the vehicle. An autonomous navigation system can then utilize these position and / or orientation estimates to guide the autonomous vehicle through the physical environment. [Brief explanation of the drawings]

[0003] To explain how the above and other advantages and features can be obtained, a more particular description will be set forth, and shown by reference to specific examples thereof which are illustrated in the accompanying drawings. With the understanding that these drawings depict typical examples only and therefore should not be considered limiting of the scope, the embodiments will be described and explained with additional specificity and detail using the accompanying drawings.

[0004] [Figure 1] FIG. 1 illustrates an exemplary implementation of an autonomous unmanned aerial vehicle (UAV) according to some embodiments.

[0005] [Figure 2] FIG. 1 is a block diagram illustrating an exemplary navigation system that may be implemented as part of a UAV, according to some embodiments.

[0006] [Figure 3A] FIG. 1 illustrates an exemplary UAV with foldable rotor arms in accordance with some embodiments. [Figure 3B] FIG. 1 illustrates an exemplary UAV with foldable rotor arms in accordance with some embodiments. [Figure 3C] FIG. 1 illustrates an exemplary UAV with foldable rotor arms in accordance with some embodiments. [Figure 3D] FIG. 1 illustrates an exemplary UAV with foldable rotor arms in accordance with some embodiments. [Figure 3E] FIG. 1 illustrates an exemplary UAV with foldable rotor arms in accordance with some embodiments. [Figure 3F] FIG. 1 illustrates an exemplary UAV with foldable rotor arms in accordance with some embodiments. [Figure 3G] FIG. 1 illustrates an exemplary UAV with foldable rotor arms in accordance with some embodiments. [Figure 3H] FIG. 1 illustrates an exemplary UAV with foldable rotor arms in accordance with some embodiments. [Figure 3I] FIG. 1 illustrates an exemplary UAV with foldable rotor arms in accordance with some embodiments. [Figure 3J] FIG. 1 illustrates an exemplary UAV with foldable rotor arms in accordance with some embodiments. [Figure 3K] FIG. 1 illustrates an exemplary UAV with foldable rotor arms in accordance with some embodiments. [Figure 3L] FIG. 1 illustrates an exemplary UAV with foldable rotor arms in accordance with some embodiments. [Figure 3M] FIG. 1 illustrates an exemplary UAV with foldable rotor arms in accordance with some embodiments. [Figure 3N]FIG. 1 illustrates an exemplary UAV with foldable rotor arms in accordance with some embodiments. [Figure 3O] FIG. 1 illustrates an exemplary UAV with foldable rotor arms in accordance with some embodiments.

[0007] [Figure 4A] FIG. 1 illustrates an exemplary image stabilization assembly for an exemplary UAV, according to some embodiments. [Figure 4B] FIG. 1 illustrates an exemplary image stabilization assembly for an exemplary UAV, according to some embodiments. [Figure 4C] FIG. 1 illustrates an exemplary image stabilization assembly for an exemplary UAV, according to some embodiments. [Figure 4D] FIG. 1 illustrates an exemplary image stabilization assembly for an exemplary UAV, according to some embodiments. [Figure 4E] FIG. 1 illustrates an exemplary image stabilization assembly for an exemplary UAV, according to some embodiments. [Figure 4F] FIG. 1 illustrates an exemplary image stabilization assembly for an exemplary UAV, according to some embodiments. [Figure 4G] FIG. 1 illustrates an exemplary image stabilization assembly for an exemplary UAV, according to some embodiments.

[0008] [Figure 5] FIG. 1 illustrates an exemplary UAV including one or more illumination sources, according to some embodiments.

[0009] [Figure 6A] 1 illustrates a depiction of an exemplary UAV with illumination sources illustrating selective illumination based on the movement of the UAV, according to some embodiments. [Figure 6B] 1 illustrates a depiction of an exemplary UAV with illumination sources illustrating selective illumination based on the movement of the UAV, according to some embodiments. [Figure 6C]1 illustrates a depiction of an exemplary UAV with illumination sources illustrating selective illumination based on the movement of the UAV, according to some embodiments. [Figure 6D] 1 illustrates a depiction of an exemplary UAV with illumination sources illustrating selective illumination based on the movement of the UAV, according to some embodiments.

[0010] [Figure 7] 1 illustrates an exemplary illumination pattern from an exemplary UAV in accordance with some embodiments.

[0011] [Figure 8A] 1 is a side view of an exemplary protective structural element for an image capture device, according to some embodiments.

[0012] [Figure 8B] FIG. 1 is a detailed view of an exemplary UAV including multiple protective structural elements positioned on opposite sides of a top-view image capture device, according to some embodiments.

[0013] [Figure 8C] FIG. 8B is a side view of the example protective structure element of FIG. 8A including an antenna, according to some embodiments.

[0014] [Figure 8D] 1 is a tip view of an exemplary UAV illustrating an exemplary placement of protective structural elements adjacent to an image capture device, according to some embodiments.

[0015] [Figure 9] 1 illustrates a perspective view of a body of an exemplary UAV including a structural heat sink element, according to some embodiments.

[0016] [Figure 10A] FIG. 1 illustrates a side view of an exemplary UAV having a removable battery pack, according to some embodiments.

[0017] [Figure 10B]FIG. 10B is a rear perspective view of the exemplary UAV of FIG. 10A showing the battery pack removed according to some embodiments.

[0018] [Figure 10C] FIG. 10B is another rear perspective view of the exemplary UAV of FIG. 10A showing the battery pack partially in place, according to some embodiments.

[0019] [Figure 11A] FIG. 1 illustrates a top view of an exemplary UAV showing a detachable payload area according to some embodiments.

[0020] [Figure 11B] FIG. 1 is a rear perspective view of an exemplary UAV showing an interface for a detachable payload, according to some embodiments.

[0021] [Figure 12A] FIG. 1 is a detailed perspective view of the underside of an exemplary UAV configured to house a wireless module according to some embodiments.

[0022] [Figure 12B] FIG. 1 illustrates an exemplary self-leveling landing gear for a UAV, according to some embodiments. [Figure 12C] FIG. 1 illustrates an exemplary self-leveling landing gear for a UAV, according to some embodiments. [Figure 12D] FIG. 1 illustrates an exemplary self-leveling landing gear for a UAV, according to some embodiments. [Figure 12E] FIG. 1 illustrates an exemplary self-leveling landing gear for a UAV, according to some embodiments.

[0023] [Figure 13] 1 illustrates an exemplary system including various functional system components of an exemplary UAV, according to some embodiments.

[0024] [Figure 14] FIG. 1 is a block diagram illustrating an exemplary computer processing system according to some embodiments.

[0025] The drawings are not necessarily drawn to scale. Similarly, some components and / or operations may be separated into different blocks or combined into a single block for the purpose of illustrating some embodiments of the present technology. Moreover, while the present technology is susceptible to various modifications and alternative forms, specific embodiments have been shown by way of example in the drawings and are described in detail below. However, the intention is not to limit the present technology to the specific embodiments described. On the contrary, the present technology is intended to cover all modifications, equivalents, and alternatives falling within the scope of the technology as defined by the appended claims. DETAILED DESCRIPTION OF THE INVENTION

[0026] Examples are described in detail below. Although specific embodiments are described, this is by way of example only. It should be understood that this is done for illustrative purposes only. A person skilled in the art will recognize that other components and configurations can be used without departing from the spirit and scope of the subject matter of this disclosure. Implementations may include machine-implemented methods, computing devices, or computer-readable media.

[0027] There is considerable interest in using aerial vehicles to facilitate aerial surveys, mapping and inspection of buildings and other structures, support public safety and law enforcement operations, and support many other commercial applications, including aerial photography (e.g., for real estate, marketing, etc.), high-resolution photogrammetry (e.g., for structural inspection), scanning (e.g., for inventory control), mapping for augmented reality, inspection of physical infrastructure (e.g., roofs, bridges, communication infrastructure, etc.) for damage, repair, certification, etc.

[0028] Autonomous unmanned aerial vehicles (UAVs), such as those offered by Skydio™, are uniquely positioned in this space due to their advanced autonomy. Conventional UAVs typically require manual operation or offer semi-autonomous capabilities, such as pre-planned scanning patterns with little or no obstacle avoidance. Such existing UAVs require skilled human operators, which increases operational costs. The lack of effective obstacle avoidance and smart motion planning mechanisms in conventional UAVs can also increase the potential liability of operators of such UAVs. By comparison, described herein are embodiments of UAVs that offer advanced autonomous capabilities, such as reliable obstacle avoidance (reducing risk to personnel and property), high levels of autonomous motion planning (alleviating the need for skilled operators and enabling the capture of viewpoints inaccessible to other vehicles), vision-based position and / or motion estimation (enabling a level of accuracy unavailable in other products), and an intuitive and powerful UX tightly coupled with the autonomous capabilities (enabling new users to intuitively specify complex tasks).

[0029] Exemplary Implementations of Autonomous Air Vehicles FIG. 1 illustrates an exemplary embodiment of an autonomous aerial vehicle that can be configured in accordance with the introduced technology. Specifically, FIG. 1 illustrates an exemplary embodiment of an unmanned aerial vehicle (UAV) 100 in the form of a rotor-based aircraft, such as a “quadcopter.” The exemplary UAV 100 includes propulsion and control actuators 110a-b (e.g., powered rotors and / or aerodynamic control surfaces) for maintaining controlled flight and one or more image capture devices 114a-c and 115 for capturing images of the surrounding physical environment during flight. “Image” in this context includes both still images and captured video. Although not shown in FIG. 1 , the UAV 100 may also include other sensors (e.g., audio sensors, proximity sensors, etc.) and systems for communicating with other devices (e.g., mobile device 104) via a wireless communication channel 116.

[0030] In the example shown in FIG. 1 , image capture devices 114a-c and / or 115 are shown capturing images of an object 102 in a physical environment that happens to be a person. In some cases, image capture devices 114a-c / 115 may be configured to capture images for display to a user (e.g., as an aerial video platform) and / or may be configured to capture images for use in autonomous navigation, as described above. In other words, UAV 100 may navigate a physical environment autonomously (i.e., without direct human control), for example, by processing images captured by any one or more image capture devices 114a-c / 115. During autonomous flight, UAV 100 may also capture images using any one or more image capture devices that may be displayed in real time and / or recorded for later display on another device (e.g., mobile device 104).

[0031] FIG. 1 illustrates an exemplary configuration of a UAV 100 having multiple image capture devices configured for different purposes. In the exemplary configuration illustrated in FIG. 1, the UAV 100 includes multiple image capture devices 114a-c positioned at various locations around the body of the UAV 100. For example, as illustrated in FIG. 1, the UAV 100 includes one or more downward-facing image capture devices 114a positioned along the bottom surface of the rotor arms and / or the bottom surface of the central body of the UAV 100. The UAV 100 also includes one or more upward-facing image capture devices 114b positioned along the top surface of the rotor arms and / or the top surface of the body of the UAV 100. In the example illustrated in FIG. 1, the UAV 100 includes three downward-facing image capture devices 114a and three upward-facing image capture devices configured to provide stereoscopic image capture up to 360 degrees around the UAV 100. The UAV 100 illustrated in FIG. 1 is merely an example provided for illustrative purposes. In other embodiments, such image capture devices may instead be positioned around the periphery of the UAV 100. In either case, the image capture devices 114a-b may be configured to capture images for use by a visual navigation system in guiding autonomous flight by the UAV 100 and / or a tracking system for tracking other objects in the physical environment (e.g., as described with respect to FIG. 2).

[0032] 1 also includes another image capture device 115 configured to capture images that are displayed, but not necessarily used, for autonomous navigation. In some embodiments, image capture device 115 may be similar to image capture devices 114a-b, except for how the captured images are utilized. However, in other embodiments, image capture devices 115 and 114a-b may be configured differently to suit their respective roles.

[0033] In many cases, it is generally preferable to capture images intended to be viewed at the highest possible resolution, given hardware and software constraints. On the other hand, when used for visual navigation and / or object tracking, lower-resolution images may be preferred in certain circumstances to reduce processing load and provide more robust motion planning capabilities. Thus, in some embodiments, image capture device 115 may be configured to capture relatively high-resolution (e.g., greater than 3840 x 2160) color images, and image capture devices 114a-b may be configured to capture relatively low-resolution (e.g., less than 320 x 240) grayscale images. Again, these configurations are examples provided to illustrate how image capture devices 114a-b and 115 may differ depending on the system's respective roles and constraints. Other implementations may configure such image capture devices differently.

[0034] The UAV 100 can be configured to track one or more objects, such as the subject 102, through a physical environment based on images received via the image capture devices 114a-b and / or 115. Additionally, the UAV 100 can be configured to track image capture of such objects, e.g., for filming purposes. In some embodiments, the image capture device 115 is coupled to the body of the UAV 100 via an adjustable mechanism that allows one or more degrees of freedom of movement relative to the body of the UAV 100. The UAV 100 can be configured to automatically adjust the orientation of the image capture device 115 to track image capture of an object (e.g., the subject 102) as both the UAV 100 and the object move through a physical environment. In some embodiments, this adjustable mechanism can include a mechanical gimbal mechanism that rotates the attached image capture device about one or more axes. In some implementations, the image capture device 115 can be coupled to the body of the UAV 100 via an adjustable mechanism that allows one or more degrees of freedom of movement relative to the body of the UAV 100. The UAV 100 can be configured to automatically adjust the orientation of the image capture device 115 to track image capture of an object (e.g., the subject 102) as both the UAV 100 and the object move through a physical environment. In some embodiments, the adjustable mechanism can include a mechanical gimbal mechanism that rotates the attached image capture device about one or more axes. In some embodiments, the gimbal mechanism may be configured as a hybrid mechanical-digital gimbal system that couples the image capture device 115 to the body of the UAV 100. In a hybrid mechanical-digital gimbal system, the orientation of the image capture device 115 about one or more axes can be adjusted by mechanical means, while the orientation about other axes can be adjusted by digital means. For example, the mechanical gimbal mechanism may handle adjusting the pitch of the image capture device 115, while roll and yaw adjustments are achieved digitally by transforming the captured image (e.g., rotating, panning, etc.) to effectively provide at least three degrees of freedom for the movement of the image capture device 115 relative to the UAV 100.

[0035] The mobile device 104 shown in both FIGs. 1 may include any type of mobile device, such as a laptop computer, a table computer (e.g., Apple iPad®), a mobile phone, a smartphone (e.g., Apple iPhone®), a handheld gaming device (e.g., Nintendo Switch™), a single-function remote control device, or any other type of device capable of receiving user input, transmitting signals for delivery to the UAV 100 (e.g., based on the user input), and / or presenting information to a user (e.g., based on sensor data collected by the UAV 100). In some embodiments, the mobile device 104 may include a touchscreen display and an associated graphical user interface (GUI) for receiving user input and presenting information. In some embodiments, the mobile device 104 may include various sensors (e.g., image capture devices, accelerometers, gyroscopes, GPS receivers, etc.) capable of collecting sensor data. In some embodiments, such sensor data may be communicated to the UAV 100, for use by, for example, an onboard navigation system of the UAV 100.

[0036] 2 is a block diagram illustrating an example navigation system 120 that may be implemented as part of the example UAV 100. The navigation system 120 may include any combination of hardware and / or software. For example, in some embodiments, the navigation system 120 and associated subsystems may be implemented as instructions stored in memory and executable by one or more processors.

[0037] As shown in Figure 2, the exemplary navigation system 120 includes a motion planner 130 (also referred to herein as a "motion planning system") for autonomously navigating the UAV 100 through the physical environment and a tracking system 140 for tracking one or more objects within the physical environment. Note that the system arrangement shown in Figure 2 is an example provided for illustrative purposes and should not be construed as limiting. For example, in some embodiments, the tracking system 140 may be separate from the navigation system 120. Furthermore, the subsystems that make up the navigation system 120 may not be logically separated as shown in Figure 2, but instead may effectively operate as a single, integrated navigation system.

[0038] In some embodiments, motion planner 130, operating separately or in conjunction with tracking system 140, is configured to generate a planned trajectory through three-dimensional (3D) space of the physical environment based on, for example, images received from image capture devices 114a-b and / or 115, data from other sensors 112 (e.g., IMU, GPS, proximity sensors, etc.), and / or one or more control inputs 170. Control input 170 may be from an external source, such as a mobile device operated by a user, or may be from other systems onboard UAV 100.

[0039] In some embodiments, the navigation system 120 can generate control commands configured to steer the UAV 100 along a planned trajectory generated by the motion planner 130. For example, the control commands can be configured to control one or more control actuators 110 (e.g., powered rotors and / or control surfaces) to steer the UAV 100 along the planned 3D trajectory. Alternatively, the planned trajectory generated by the motion planner 130 may be output to a separate flight controller 160 configured to process the trajectory information and generate appropriate control commands configured to control the one or more control actuators 110.

[0040] Tracking system 140 may operate separately or in conjunction with motion planner 130 and may be configured to track one or more objects in the physical environment based, for example, on images received from image capture devices 114 and / or 115, data from other sensors 112 (e.g., IMU, GPS, proximity sensors, etc.), one or more control inputs 170 from external sources (e.g., remote user, navigation application, etc.), and / or one or more designated tracked objects. Tracked objects may include, for example, user designation for tracking specific detected objects in the physical environment or standard objects for tracking objects of a particular category (e.g., people).

[0041] As alluded to above, tracking system 140 may communicate with motion planner 130, for example, to steer UAV 100 based on measured, estimated, and / or predicted positions, orientations, and / or trajectories of UAV 100 itself and other objects in the physical environment. For example, tracking system 140 may communicate navigational objectives to motion planner 130 to maintain a particular separation distance to moving tracked objects.

[0042] In some embodiments, the tracking system 140, operating separately or in conjunction with the motion planner 130, is further configured to generate control commands configured to cause one or more stabilization / tracking devices 152 to adjust the orientation of any image capture devices 114a-b / 115 relative to the body of the UAV 100 based on the tracking of one or more objects. Such stabilization / tracking devices 152 may include mechanical gimbals or hybrid digital-mechanical gimbals, as described above. For example, while tracking an object moving relative to the UAV 100, the tracking system 140 may generate control commands configured to adjust the orientation of the image capture device 115 to keep the tracked object centered within the field of view (FOV) of the image capture device 115 while the UAV 100 is moving. Similarly, tracking system 140 can generate commands or output data to a digital image processor (e.g., part of a hybrid digital-mechanical gimbal) to transform images captured by image capture device 115 to keep the tracked object centered in the FOV of image capture device 115 while UAV 100 is moving. Image capture devices 114a-b / 115 and associated stabilization / tracking device 152 are collectively shown in FIG. 2 as image capture device 150.

[0043] In some embodiments, the navigation system 120 (e.g., specifically the motion planning component 130) is configured to incorporate multiple objectives at any given time to generate outputs, such as planned trajectories, that can be used to guide the autonomous behavior of the UAV 100. For example, any or all of the incorporated objectives or embodiments described herein, such as obstacle avoidance and vehicle dynamic limits, can be combined with other input objectives (e.g., landing objectives) or embodiments as part of the trajectory generation process. In some embodiments, the trajectory generation process can include gradient-based optimization, gradient-free optimization, sampling, end-to-end learning, or any combination thereof. The output of this trajectory generation process may be a planned trajectory over a period of time (e.g., 10 seconds) that is configured to be interpreted and utilized by flight controller 160 to generate control commands (usable by control actuators 110) that cause UAV 100 to maneuver according to the planned trajectory. Motion planner 130 may continuously perform the trajectory generation process as new sensory inputs (e.g., imagery or other sensor data) and target inputs are received. Thus, the planned trajectory may be continuously updated over a period of time, thereby enabling UAV 100 to dynamically and autonomously respond to changing conditions.

[0044] Folding rotor arm The examples described herein relate to autonomous aerial vehicle technology, and more particularly to autonomous unmanned aerial vehicles with foldable, collapsible arms.

[0045] In some embodiments, the rotor arms of the UAV may be foldable. Specifically, the rotor arms may include a mechanism that allows the rotor arms to move between a folded state (or position) and an extended state (or position) for flight. Folding rotor arms offer several advantages over non-folding rotor arms, such as increased portability, improved storage efficiency, and reduced potential damage to the rotor and arm-mounted camera during non-operational periods.

[0046] 3A-3H show various views of an exemplary UAV 300 having foldable rotor arms, according to some embodiments. The UAV 300 can be similar to the UAV 100 shown in FIG. 1, except that the arms are foldable or collapsible.

[0047] 3A shows a top view of UAV 100 with multiple rotor arms 319a-b extended in an operational flight configuration, and FIG. 3B shows a top view of UAV 100 with multiple rotor arms 319a-b folded in a non-operational configuration. As shown in FIG. 3A-3B, when folded, arms 319a-b of UAV 300 can be aligned substantially flush with side walls of center body 321 of UAV 300 such that the overall size and shape of UAV 300 is not substantially larger than the size and shape of center body 321 of UAV 300 when in the folded state.

[0048] 3C shows a perspective view of UAV 300 with arm 319a in an extended state. As shown in FIG. 3A, in the extended state, downward rotor 310a and upward image capture device 314a are coupled to arm 319a. Similarly, upward rotor 310b and downward image capture device 314b are coupled to arm 319b. Rotors 310a-b may correspond to rotor 110 of UAV 100, and image capture devices 314a-b may correspond to image capture devices 114a-b of UAV 100. In other words, image capture devices 314a-b may be utilized to capture images of the environment surrounding UAV 300 for use in autonomous navigation of UAV 300.

[0049] Rotor arms 319a-b are dynamically coupled to centerbody 321 of UAV 300 by respective hinge mechanisms 324a-b. Figure 3D shows a detailed view of one of example hinge mechanisms 324b. Hinge mechanisms 324a-b are configured to move each rotor arm 319a-b between an extended state (as shown in Figure 3C) and a folded state (e.g., as shown in Figure 3B).

[0050] In particular, when in the extended state, each hinge mechanism 324a-b allows the coupled image capture devices 314a-b to move substantially relative to each other or relative to the central body 321 of the UAV 300. Each rotor arm 319a-b is configured to securely lock its respective rotor arm 319a-b in place so that it does not move relative to the other rotor arm 319a-b. Preventing substantial relative motion between the multiple image capture devices 314a-b is particularly important when images captured from the devices 314a-b are used as sensory input by an autonomous navigation system (e.g., autonomous navigation system 120) to guide the autonomous behavior of the UAV 300.

[0051] In some embodiments, the hinge mechanisms 324a-b are configured to rotate the respective arms 319a-b about an axis of rotation that is at an oblique angle relative to the central body 321 of the UAV 300. FIG. 3E shows a side view of the UAV 300 illustrating an exemplary folded configuration. As shown in FIG. 3E, the first hinge mechanism 324a is configured to rotate the rotor arm 310a about a first axis or rotation 329a that is at an oblique angle (e.g., approximately 45 degrees from the x, y, and / or z axes) relative to the central body 321 of the UAV 300. Thus, when in the folded state, the arm 319a is oriented such that the rotor 310a faces upward and the image capture device 314a faces downward. This contrasts with the extended state of the same arm 319a shown in FIG. 3C, which shows the rotor 310a facing downward and the image capture device 314a facing upward. Similarly, the second hinge mechanism 324b is configured to rotate the rotor arm 310b about a second axis of rotation 329b that is also at an oblique angle (e.g., approximately 45 degrees from the x, y, and / or z axes) relative to the central body 321 of the UAV 300. Thus, when in the folded state, the arm 319b is oriented such that the rotor 310ab faces downward and the image capture device 314b faces upward. This contrasts with the extended state of the same arm 319b shown in FIG. 3C, which shows the rotor 310b facing upward and the image capture device 314b facing downward. A top view of the UAV 300 showing the rotor arms in the folded state is shown in FIG. 3F, and a perspective view of the UAV 300 showing the rotor arms in the folded state is shown in FIG. 3G.

[0052] In some embodiments, each of the one or more hinge mechanisms 324a-b may be configured to allow one or more signal-bearing media (e.g., copper cables, fiber optic cables, etc.) between one or more components coupled to the respective rotor arms 319a-b and a computing and / or power system onboard the UAV 300. FIG. 3H illustrates a perspective view of the underside of the exemplary UAV 300. As shown in FIG. 3H, a particular hinge mechanism 324b may include an internal opening 340b configured to allow one or more signal and / or power cables 350b to pass from the body 321 of the UAV 300 to the rotor arm 319b. In particular, the cables 350b may pass from a signal / power transmission board 390 (e.g., a printed circuit board) structurally coupled to or part of the body 321 of the UAV 300 to the interior space of the rotor arm 319b. Cable 350b may extend within the interior space of rotor arm 319b along either an electric motor (e.g., a brushless DC electric motor) or image capture device 314b associated with rotor 310b, thereby communicatively and / or electronically coupling the electric motor and / or image capture device 314b to signal / power transmission board 390. Hinge mechanism 324a associated with rotor arm 319a may similarly be configured to allow the associated rotor 310a and image capture device 314a to be communicatively and / or electronically coupled to signal / power transmission board 390.

[0053] FIG. 3I illustrates an exploded view of an exemplary rotatable arm assembly 370. Rotatable arm assembly 370 may include rotor arm 319 (e.g., similar to any of rotor arms 319a-319b) and various components associated with a hinge mechanism (e.g., similar to hinge mechanisms 324a-b) operable to rotate rotor arm 319 from a folded position to an extended position. As shown in FIG. 3I, the hinge mechanism includes hinge housing 371, hinge bearing / motor 372, lock arm 373, lock arm bearing / motor 374, and lock arm bearing / motor 376. 374, and connecting pin 375.

[0054] Linking pin 375 can structurally connect various components of rotatable arm assembly 370 to one another. For example, linking pin 375 rotatably connects rotor arm 319 to hinge housing 371 and hinge bearing / motor 372. In some embodiments, element 372 includes a motor (e.g., a brushless DC electric motor) or some other type of drive mechanism capable of rotating rotor arm 319 about axis of rotation 376 coincident with linking pin 375. In other embodiments, element 372 may include only a bearing element with a drive motor located elsewhere.

[0055] Locking arm 373 is configured to rotate between a locked position and an unlocked position. For example, FIG. 3J shows a top cross-sectional view of rotatable arm assembly 370 with locking arm 373 in the locked position, as shown in FIG. 3K. When in the locked position (e.g., as shown in FIG. 3J), locking arm 373 is operable to securely hold rotor arm 319 in a fixed position relative to body 321 of UAV 300. In some embodiments, element 374 includes a motor (e.g., a brushless DC electric motor) or some other type of drive mechanism capable of rotating locking mechanism 373 about an axis of rotation between the locked and unlocked positions. In other embodiments, element 374 may include only a bearing element with a drive motor located elsewhere.

[0056] FIG. 3L shows a series of images illustrating a first aft rotor arm (e.g., rotor arm 319b) rotating from a folded position to an extended position. State 391a shows the first aft rotor arm in a folded position with the associated lock arm in a locked position. State 391b shows the first aft rotor arm in a folded position with the associated lock arm in an unlocked position to allow rotation. State 391c shows the first aft rotor arm in an intermediate position during rotation from a locked position. State 391d shows the first aft rotor arm in an extended position with the associated lock arm in an unlocked position. State 391e shows the first aft rotor arm in an extended position with the associated lock arm in a locked position to securely hold the first aft rotor arm in place in the extended position.

[0057] FIG. 3M shows a series of images illustrating a first front rotor arm (e.g., rotor arm 319a) rotating from a folded position to an extended position. State 392a shows the first front rotor arm in a folded position with an associated locking arm in a locked position. State 392b shows the first front rotor arm in a folded position with an associated locking arm in an unlocked position to allow rotation. State 392c shows the first front rotor arm in an intermediate position during rotation from a locked position. State 392d shows the first front rotor arm in an extended position with an associated locking arm in an unlocked position. State 392e shows the first front rotor arm in an extended position with the associated locking arm in a locked position to securely hold the first front rotor arm in place in the extended position.

[0058] FIG. 3N shows a series of images illustrating a second aft rotor arm (e.g., rotor arm 319b) rotating from a folded position to an extended position. State 393a shows the second aft rotor arm in a folded position with an associated lock arm in a locked position. State 393b shows the second aft rotor arm in a folded position with an associated lock arm in an unlocked position to allow rotation. State 393c shows the second aft rotor arm in an intermediate position during rotation from a locked position. State 393d shows the second aft rotor arm in an extended position with an associated lock arm in an unlocked position. State 393e shows the second aft rotor arm in an extended position with an associated lock arm in a locked position to hold the second aft rotor arm rigidly in place in the extended position.

[0059] FIG. 3O shows a series of images illustrating a second front rotor arm (e.g., rotor arm 319a) rotating from a folded position to an extended position. State 394a shows the second front rotor arm in a folded position with an associated locking arm in a locked position. State 394b shows the second front rotor arm in a folded position with an associated locking arm in an unlocked position to allow rotation. State 394c shows the second front rotor arm in an intermediate position during rotation from a locked position. State 394d shows the second front rotor arm in an extended position with an associated locking arm in an unlocked position. State 394e shows the second front rotor arm in an extended position with an associated locking arm in a locked position to hold the first front rotor arm firmly in place in the extended position.

[0060] 3L-3O show each of the arms sequentially rotating from a retracted position to an extended position. For example, as shown, the first forward rotor arm rotates and locks into the extended position after the first aft rotor arm completes its rotation. This is for clarity of explanation and should not be construed as limiting. In other embodiments, multiple rotor arms may rotate simultaneously or in a different order than shown in FIGS. 3L-3O.

[0061] Example

[0062] The technology described herein relates to autonomous aerial vehicle technology, and more particularly to autonomous unmanned aerial vehicles with foldable arms. In some embodiments, a UAV is disclosed that includes a central body, a plurality of rotor arms, and a plurality of hinge mechanisms. Each of the plurality of rotor arms includes a rotor unit at a distal end of the rotor arm. The rotor unit is configured to provide propulsion to the UAV. The plurality of hinge mechanisms mechanically attach (or couple) the proximal ends of the plurality of rotor arms to the central body. Each hinge mechanism is configured to rotate each of the plurality of rotor arms about an axis of rotation that is obliquely angled relative to a vertical median plane of the central body to transition between an extended state and a folded state.

[0063] In some embodiments, in the folded state, a rotor arm of the plurality of rotor arms extends laterally along the center body such that the rotor arm is aligned substantially flush with a sidewall of the center body.

[0064] In some embodiments, the UAV is configured in an operational configuration for flight when each of the plurality of rotor arms is in an extended state. In some embodiments, the UAV is configured in a non-operational folded configuration when each of the plurality of rotor arms is in a folded state. In some embodiments, in the non-operational folded configuration, the overall size and shape of the UAV is not substantially larger than the size and shape of the centerbody.

[0065] In some embodiments, each of the plurality of rotor arms further includes an image capture device. In some embodiments, each hinge mechanism of the plurality of hinge mechanisms is further configured to securely lock its respective rotor arm in place such that the image capture devices do not move substantially relative to one another or the central body.

[0066] In some embodiments, the plurality of rotor arms includes two forward rotor arms and two aft rotor arms. In some embodiments, the plurality of hinge mechanisms includes a forward hinge mechanism configured to rotate the forward rotor arms about an axis of rotation in a first direction upward or downward relative to the horizontal midplane of the centerbody, and a rear hinge mechanism configured to rotate the aft rotor arms about an axis of rotation in a second direction opposite the first direction upward or downward relative to the horizontal midplane of the centerbody. and an aft hinge mechanism configured such that, in some embodiments, the rotor unit at the distal end of the front rotor arm faces downward and the rotor unit at the distal end of the aft rotor arm faces upward.

[0067] In some embodiments, the UAV includes a centerbody, a plurality of rotor arms, and a plurality of hinge mechanisms. In some embodiments, the plurality of rotor arms include a forward set of rotor arms and an aft set of rotor arms. Each of the forward set of rotor arms includes a downward-facing rotor unit and an upward-facing image capture device directed toward a distal end of the rotor arm. Each of the aft set of rotor arms includes an upward-facing rotor unit and a downward-facing image capture device directed toward a distal end of the rotor arm. The plurality of hinge mechanisms are operable to transition the plurality of rotor arms between a folded position and an extended position. The plurality of hinge mechanisms includes a first set of hinge mechanisms and a second set of hinge mechanisms. The first set of hinge mechanisms mechanically couple proximal ends of the first set of rotor arms to a forward portion of the centerbody. Each hinge mechanism is configured to rotate each rotor arm of the first set about an axis of rotation at a first oblique angle relative to the vertical median plane of the centerbody and upward relative to the horizontal median plane of the centerbody. The second set of hinge mechanisms mechanically couple the proximal ends of the rotor arms of the second set to the aft portion of the centerbody. Each hinge mechanism is configured to rotate each rotor arm of the second set about an axis of rotation at a second oblique angle relative to the vertical median plane of the centerbody and downward relative to the horizontal median plane of the centerbody.

[0068] In some embodiments, in the folded position, a rotor arm of the plurality of rotor arms extends laterally along the center body such that the rotor arm is aligned substantially flush with a sidewall of the center body.

[0069] In some embodiments, the UAV is configured in an operational configuration for flight when each of the plurality of rotor arms is in an extended position and in a non-operational folded configuration when each of the plurality of rotor arms is in a folded position. In some embodiments, in the non-operational folded configuration, the overall size and shape of the UAV is not substantially larger than the size and shape of the central body. In some embodiments, in the operational configuration for flight, each hinge mechanism of the plurality of hinge mechanisms is further configured to securely lock its respective rotor arm in place such that the image capture devices do not move substantially relative to each other or the central body.

[0070] In some embodiments, the UAV further includes an image capture assembly including an image capture device and one or more motors associated with the mechanical gimbal. In some embodiments, at least one of the plurality of hinge mechanisms includes a hinge housing, a hinge bearing / motor, a locking arm, a locking arm bearing / motor, and a connecting pin.

[0071] In some embodiments, a UAV includes a central body and a plurality of rotatable arm assemblies. Each rotatable arm assembly includes a rotor arm and a hinge mechanism. The rotor arm has a rotor unit at a distal end. The hinge mechanism mechanically couples the proximal end of the rotor arm to the central body. The hinge mechanism is configured to rotate the rotor arms about an axis of rotation that is at an oblique angle relative to a vertical median plane of the central body to transition between an extended state and a folded state. In the folded state, the rotor arms extend laterally along the central body such that the rotor arms are aligned substantially flush with a sidewall of the central body.

[0072] In some embodiments, the UAV is configured in an operational configuration for flight when each of the plurality of rotatable arm assemblies is in an extended state, and the UAV is configured in a non-operational folded configuration when each of the plurality of rotatable arm assemblies is in a folded state. In an embodiment, in the non-operational folded configuration, the overall size and shape of the UAV is not substantially larger than the size and shape of the central body.

[0073] Image Stabilization Assembly The examples described herein relate to autonomous aerial vehicle technology, and more particularly to image stabilization systems for autonomous unmanned aerial vehicles.

[0074] In some embodiments, a UAV may include an image stabilization assembly for actively and / or passively stabilizing an image capture device while the UAV is in flight. Figure 4A shows a perspective view of an exemplary image stabilization assembly 400 that may be part of, for example, the UAV 300 shown in Figure 3C. Figure 4B shows a perspective view of the dynamic portions of image stabilization assembly 400, and Figure 4C shows an exploded view of image stabilization assembly 400 and the dynamic portions of Figure 4B.

[0075] 4A-4C , the image stabilization assembly includes various components for passively isolating the image capture assembly from vibrations and other movements of the center body 321 of the UAV 300 while the UAV 300 is in flight. The image capture assembly may include an image capture device 415 and one or more motors 425a-b associated with a mechanical gimbal. The image capture device 415 may correspond to the image capture device 115 described with respect to FIG. 1 and may include one or more cameras (e.g., stereo cameras). In some embodiments, the image capture device 415 may include one or more visible light cameras and one or more forward-looking infrared (FLIR) cameras.

[0076] The image capture device 415 can be coupled to components of the image stabilization assembly (e.g., element 452) via a mechanical gimbal that includes one or more electric motors (e.g., brushless DC motors) configured to rotate the image capture device 415 about one or more axes of rotation. For example, FIGS. 4D and 4E show a series of perspective views of the image stabilization assembly 400 illustrating rotation of the image capture device 415 about a first axis 480a (e.g., pitch axis) using a first motor 425a. Similarly, FIGS. 4F and 4G show a series of perspective views of the image stabilization assembly 400 illustrating rotation of the image capture device 415 about a second axis 480b (e.g., roll axis) using a second motor 425b. Additional motors can be added for additional rotational degrees of freedom.

[0077] The image stabilization assembly includes a first element 450 coupled to the UAV's body 321 and a second element 452 coupled to the image capture assembly (i.e., the image capture device 415 and associated gimbal). The first element and the second element 452 are coupled to one another via one or more isolators (e.g., isolators 430, 432, 434). Each of the one or more isolators 430, 432, 434 can function as a spring damper to isolate a dynamic element (e.g., element 452) from certain rotational and / or translational motions by the UAV 300. For example, in some embodiments, each isolator 430, 432, 434 can function as a spring damper to isolate all motions in the x, y, and z directions. In some embodiments, each isolator 430, 432, 434 can be formed of an elastomeric material (e.g., natural and / or synthetic rubber). In some embodiments, the isolator must be rigid enough to maintain structural protection and support around the image capture assembly, yet soft enough to damp translational motion within the body of the UAV along a range of frequencies.

[0078] In the particular example shown in FIG. 4A, the first element 450 uses a first isolator 430. The second element 450 is coupled to a second element 452 at a point substantially along the centerline of the UAV 300 using a second isolator 432 and a third isolator 434 (respectively). Vertical portions 454 and 456 of element 450 are coupled to either side of element 452 using second isolators 432 and third isolators 434 (respectively). As shown, second element 452 is shaped to provide an open area in which the image capture assembly resides. The open area partially enclosed by element 452 is shaped and dimensioned to allow free rotation of image capture device 415 using one or more motors 425a-425b of a mechanical gimbal. In particular, the various elements of the image stabilization assembly (e.g., 450 and 452) can be configured to allow image capture device 415 to pitch / rotate vertically up and down to capture images substantially above and below UAV 300 during flight.

[0079] In some embodiments, various elements (e.g., 450 and 452) are configured to provide a mechanical lockout to mechanically limit movement of the image capture assembly relative to the body 321 of the UAV 300. For example, as shown in FIG. 4A , the second element 452 includes an opening through which a portion of the first element 450 passes to limit relative movement between the two elements. Specifically, a first vertical portion 454 of the first element 450 passes through a first hole 464 on a first side of the second element 452. Similarly, a second vertical portion 456 of the first element 450 passes through a second hole 466 on a second side of the second element 452 (the first and second sides of the second element 452 being on substantially opposite sides of the image capture assembly).

[0080] The image stabilization assembly 400 shown in Figures 4A-4G is merely an example provided for illustrative purposes and should not be construed as limiting. Other embodiments may include more or fewer components and / or may arrange the components differently than shown in Figures 4A-4G.

[0081] Example

[0082] The technology described herein relates to autonomous aerial vehicle technology, and more particularly, to image stabilization for autonomous unmanned aerial vehicles. In some embodiments, a UAV is disclosed that includes a centerbody, an image capture assembly, and an image stabilization assembly. The image stabilization assembly couples the image capture assembly to the centerbody and is configured to provide structural protection and support around the image capture assembly while passively isolating the image capture assembly from vibrations and other movements of the centerbody while the UAV is in flight.

[0083] In some embodiments, the image stabilization assembly is configured to provide structural protection and support around the image capture assembly by extending on either side of the image capture assembly.

[0084] In some embodiments, the image stabilization assembly includes a first element coupled to a central body of the UAV and a second element coupled to the image capture assembly. In some embodiments, the first element and the second element are coupled to one another via one or more isolators, the one or more isolators configured to isolate the second element from at least some rotational and / or translational motion of the UAV. In some embodiments, the first element is coupled to the second element at a point substantially along a centerline of the UAV using the first isolator. In some embodiments, vertical portions of the first element are coupled to either side of the second element using second and third isolators.

[0085] In some embodiments, the image capture assembly includes an image capture device, a mechanical gimbal, and one or more motors associated with the mechanical gimbal. The plurality of motors are configured to rotate the image capture device about one or more axes of rotation. In some embodiments, the second element is shaped to provide an open area in which the image capture assembly resides, the open area being partially surrounded by the second element and shaped and dimensioned to allow free rotation of the image capture device using the one or more motors of the mechanical gimbal.

[0086] In some embodiments, the image capture devices include one or more visible light cameras and one or more forward looking infrared (FLIR) cameras.

[0087] In some embodiments, the first element and the second element are configured to provide a mechanical lockout for mechanically limiting movement of the image capture assembly relative to the central body. In some embodiments, the second element includes an opening through which a portion of the first element passes to limit movement of the image capture assembly relative to the central body. In some embodiments, a first vertical portion of the first element passes through a first hole in a first side of the second element, and a second vertical portion of the first element passes through a second hole in a second side of the second element, the first and second sides of the second element being on substantially opposite sides of the image capture assembly.

[0088] In some embodiments, a UAV capable of capturing stabilized images of a surrounding environment during flight is disclosed. The UAV includes a central body, an image capture assembly, and an image stabilization assembly. The image capture assembly includes an image capture device and an image stabilization assembly coupling the image capture assembly to the central body. The image stabilization assembly includes a first element, a second element, and one or more isolators. The first element is coupled to the central body of the UAV. The second element is coupled to the image capture assembly. The one or more isolators are configured to isolate the second element from at least some rotational and / or translational motion of the UAV, and the first element and the second element are coupled to each other via the one or more isolators.

[0089] In some embodiments, the image stabilization assembly is further configured to provide structural protection and support around the image capture assembly while passively isolating the image capture assembly from vibrations and other movements of the central body while the UAV is in flight.

[0090] In some embodiments, the first element is coupled to the second element at a point substantially along the centerline of the UAV using a first isolator, and vertical portions of the first element are coupled to either side of the second element using a second isolator and a third isolator.

[0091] In some embodiments, the image capture assembly further includes a mechanical gimbal and one or more motors associated with the mechanical gimbal, the one or more motors configured to rotate the image capture device about one or more axes of rotation.

[0092] In some embodiments, the second element is shaped to provide an open area in which the image capture assembly resides, the open area being partially enclosed by the second element and shaped and dimensioned to allow free rotation of the image capture device using one or more motors of the mechanical gimbal.

[0093] In some embodiments, the image capture devices include one or more visible light cameras and one or more forward looking infrared (FLIR) cameras.

[0094] In some embodiments, a system for isolating an image capture assembly from vibrations of a center body of an unmanned aerial vehicle (UAV) is disclosed. The system includes a first element, a second element, and one or more isolators. The first element is connected to the center body of the UAV. The first element is coupled to the body. The second element is coupled to the image capture assembly. The one or more isolators are configured to isolate the second element from at least some rotational and / or translational motion of the UAV, and the first element and the second element are coupled to each other via the one or more isolators.

[0095] In some embodiments, the image stabilization assembly is further configured to provide structural protection and support around the image capture assembly while passively isolating the image capture assembly from vibrations and other movements of the central body while the UAV is in flight.

[0096] environmental lighting As previously discussed, an autonomous UAV, such as UAV 100, may rely, at least in part, on images captured using one or more image capture devices (e.g., devices 114a-b) to estimate its position / orientation, generate a planned trajectory, avoid obstacles, etc. This presents a challenge when operating at low light levels, for example, at night or indoors. To address this challenge, an autonomous UAV may be configured to include one or more powered illumination sources, such as LEDs or other light-emitting devices, that can emit light into the surrounding environment while the UAV is flying. The emitted light from the one or more illumination sources reflects off objects in the surrounding physical environment, thereby improving the quality of the captured images of the surrounding physical environment.

[0097] FIG. 5 illustrates an exemplary UAV 300 similar to the UAV 500 illustrated in FIG. 3 , except that it includes one or more illumination sources 580. Each of the one or more illumination sources may include an LED or some other type of light-emitting device. In some embodiments, the one or more illumination sources 580 are positioned around the UAV 500 at locations corresponding to one or more image capture devices. For example, as illustrated in FIG. 5 , at least one illumination source is positioned near (e.g., within a few inches of) each of multiple upward-facing image capture devices 514a (e.g., similar to the image capture device 114a described with respect to FIG. 1 ). Although not shown in FIG. 5 , illumination sources may similarly be positioned proximate to downward-facing image capture devices or any other image capture devices (e.g., forward-facing image capture device 115, etc.). The dotted lines in FIG. 5 are intended to indicate the direction of illumination by the various illumination sources 580 but should not be construed as limiting with respect to the placement or type of illumination.

[0098] For any UAV, especially one configured for autonomous navigation using captured images, energy consumption can significantly affect flight time. Adding lighting sources (even relatively efficient LEDs) to the list of components that draw energy from onboard batteries can further affect the amount of time the UAV can remain airborne. To reduce energy consumption and thereby increase flight time, certain embodiments may selectively illuminate one or more lighting sources 580 based on various conditions, such as ambient light levels, the type of environment the UAV is in, and / or the UAV's current or planned movement. For example, in some embodiments, the UAV may selectively turn on one or more lighting sources when there is a greater risk of collision with an obstacle, e.g., indoors or around tall buildings, trees, etc. Conversely, when the UAV is flying over a generally large area, where there is little risk of collision with an obstacle and lighting has little impact on captured images of distant objects, the UAV may automatically turn off most or all lighting sources to conserve energy.

[0099] In some embodiments, the UAV can selectively illuminate one or more of the light sources based on the direction the UAV is traveling or intends to travel. Figures 6A-6D show several representations of a UAV 500 illustrating this concept. As shown in Figure 6A, , the UAV 500 may selectively illuminate one or more illumination sources (e.g., LEDs) generally located on a first side of the UAV when the UAV 500 is moving or planning to move in a direction corresponding to the first side. Similarly, as shown in FIG. 6B , when the UAV 500 is moving or planning to move in a direction corresponding to a second side, the UAV 500 may selectively illuminate one or more illumination sources (e.g., LEDs) generally located on a second side opposite the first side. Similarly, as shown in FIG. 6C , when the UAV 500 is moving or planning to move upward, the UAV 500 may selectively illuminate one or more illumination sources (e.g., LEDs) generally located on an upper side of the UAV 500. Similarly, as shown in FIG. 6D , when the UAV 500 is moving or planning to move downward, the UAV 500 may selectively illuminate one or more illumination sources (e.g., LEDs) generally located on a lower side of the UAV 500. By selectively illuminating illumination sources as shown in Figures 6A-6D, the UAV 500 can conserve energy while illuminating parts of the surrounding physical environment where collisions are most likely to occur (i.e., in the direction of movement).

[0100] In some embodiments, the UAV may be configured to illuminate only a portion of the environment using a pattern of directional light beams. For example, instead of using a diffuse illumination source configured to illuminate a wide area as shown in FIG. 7, the UAV 500 may include an illumination source configured to emit one or more directional beams of light 782, such as a strobe. A directional beam of light (or strobe) may illuminate the surrounding physical environment sufficiently to obtain depth measurements using captured images while reducing overall energy consumption. Furthermore, a light source that emits a directional light beam may tend to illuminate more distant objects than a diffuse light source using the same amount of energy. In some embodiments, strobing the light source may be utilized.

[0101] Example

[0102] The technology described herein relates to autonomous aerial vehicle technology, and more particularly, to ambient lighting for autonomous unmanned aerial vehicles. In some embodiments, a UAV includes multiple upward-looking image capture devices, multiple downward-looking image capture devices, one or more illumination sources, and a computer system (or other electronic circuitry). The computer system is communicatively coupled to the multiple upward-looking image capture devices, the multiple downward-looking image capture devices, and the one or more illumination sources. The computer system is configured to direct the one or more illumination sources to emit light into a surrounding physical environment while the UAV is flying, process images captured by any one or more of the multiple upward-looking image capture devices or the multiple downward-looking image capture devices to estimate a position and / or orientation of the aerial vehicle, generate a planned trajectory for the aerial vehicle through the physical environment based on processing of the images, and control a propulsion system and / or flight surfaces of the aerial vehicle to autonomously maneuver the aerial vehicle along the planned trajectory. The emitted light from the one or more illumination sources reflects off objects in the surrounding physical environment to improve the quality of the captured images.

[0103] In some embodiments, the one or more illumination sources include multiple illumination sources positioned around the UAV at positions corresponding to one or more of the multiple upward-facing or downward-facing image capture devices.

[0104] In some embodiments, at least one illumination source is disposed proximate each of the plurality of upward-facing image capture devices. In some embodiments, at least one illumination source is disposed proximate each of the plurality of downward-facing image capture devices. In some embodiments, the UAV further includes a forward-facing image capture device, and at least one The illumination sources are positioned near the forward-facing image capture device. In some embodiments, a computer system is configured to selectively illuminate the one or more illumination sources to direct the one or more illumination sources to emit light.

[0105] In some embodiments, the computer system is configured to selectively illuminate the one or more illumination sources based on environmental conditions and / or UAV parameters, which in some embodiments include one or more of ambient light levels, a type of environment, and a current or planned movement or trajectory of the UAV.

[0106] In some embodiments, the computer system is configured to selectively illuminate one or more illumination sources to illuminate only a portion of the environment using a pattern of directed light beams. In some embodiments, the directed beams illuminate the surrounding physical environment for a transient period sufficient to obtain depth measurements using the captured images. For example, the illumination sources can be strobe lights (or moonlight) that emit bright bursts of light with an output power in the range of 10 to 1,000 watts.

[0107] Protective structure of image capture device When the image capture device is positioned as shown in any one or more of the example UAVs described herein (e.g., UAVs 100, 300, and 500), the image capture device may be damaged by contact with the ground when the UAV lands or comes into contact with other objects during flight. To protect the image capture device from damage, a protective element can be added to offset the image capture device from any surface, such as the ground. FIG. 8A shows a side view of an example assembly 813 including such a protective element. Specifically, the example assembly 813 includes an arm 803 and a rotor housing 804 that houses a rotor 810 and a downward-facing image capture device 814 (e.g., similar to downward-facing image capture device 314b in FIG. 3C ). The exemplary assembly 813 further includes a protective structural element 890 positioned along the surface of the UAV, for example, along the surface of the housing 804 and / or rotor arm 803 adjacent to the image capture device 814, to prevent the outer surface (e.g., lens) of the image capture device 814 from contacting the surface 880 (e.g., the ground) when the UAV contacts the surface 880.

[0108] Protective structural element 890 is shown in FIG. 8A as having a wedge or fin shape. However, this is an example provided for illustrative purposes and should not be construed as limiting. The size and shape of the protective structural element depend on aircraft specifications such as weight, size, and type of image capture device. Additionally, similar protective structural elements can be positioned proximate other image capture devices that are not on the underside of the vehicle. For example, similar protective elements can be positioned on the top surface of the rotor assembly or body of the UAV to protect an upward-facing image capture device (e.g., upward-facing image capture device 314a of UAV 300).

[0109] The protective structural element 890 can be fabricated from any material or combination of materials that is durable and lightweight suitable for use in an air vehicle. For example, in some embodiments, the protective structural element 890 can be made from plastic, metal (e.g., aluminum), carbon fiber, synthetic fiber, or some composite material, such as carbon fiber embedded in epoxy resin. The actual material used will depend on the performance requirements of a given embodiment. The protective structural element 890 can be fabricated using any manufacturing process appropriate for the material selected. For example, in the case of a plastic material, the protective structural element 890 can be fabricated using injection molding, extrusion, rotational molding, blow molding, three-dimensional printing, milling, plastic welding, lamination, or any combination thereof. In the case of a metal material, the protective structural element 890 can be fabricated using machining. The components may be manufactured using machining, stamping, casting, molding, metal injection molding, CNC machining, or any combination thereof. These are merely exemplary materials and manufacturing processes provided for illustrative purposes and should not be construed as limiting.

[0110] In some embodiments, protective structural element 890 may represent a portion of the exterior of the UAV. For example, the walls of either rotor housing 804 and / or rotor arm 803 may be manufactured to include extending portions, for example, as shown in FIG. 8A. Alternatively, in some embodiments, protective structural element 890 may be manufactured as a separate part and attached to the exterior of the UAV using, for example, mechanical fasteners (e.g., clips, screws, bolts, etc.), adhesives (e.g., glue, tape, etc.), welding, or any other suitable process for fastening parts together.

[0111] In some embodiments, a protective structural element similar to element 890 may be positioned proximate each of one or more image capture devices of a UAV. This may include an upturned image capture device to protect such device from contact with the ground if the UAV lands upside down, or from contact with other surfaces above the UAV, such as a ceiling or the underside of a bridge. In some embodiments, protective structural element 890 may represent a portion of a bezel or frame installed flush with a surface associated with the UAV and around the lens of the image capture device.

[0112] In some embodiments, multiple protective structure elements can be disposed on each image capture device. For example, Figure 8B shows a detail of UAV 300 showing first and second protective structure elements 891 and 892 disposed on either side of top-side image capture device 314a. The actual placement of protective structure elements 890 may vary in other embodiments.

[0113] In some embodiments, a protective structure element, such as element 890 shown in FIG. 8A , can be used to house an antenna that would otherwise extend from the body of the UAV and potentially obstruct the view of one or more image capture devices. Specifically, to reduce obstruction, the antenna can be located within the protective structure element or in a blind spot of the protective structure element. For example, FIG. 8C shows details of assembly 813 shown in FIG. 8A . As shown in FIG. 8C , antenna 895 (shown in dotted lines) may be positioned along a surface that is in the blind spot caused by protective structure element 890. Because this is already a blind spot caused by protective structure element 890, adding antenna 895 does not further obstruct the view of image capture device 814.

[0114] In some embodiments, one or more protective structure elements of each image capture device may be specifically oriented to reduce the overall impact on stereoscopic vision in multiple directions. For example, in a UAV including at least three upward-facing image capture devices and three downward-facing image capture devices, one or more of the protective structure elements may be positioned perpendicular to one another to enable stereoscopic image capture in multiple directions (i.e., by at least two of the three image capture devices). FIG. 8D shows a top view of an exemplary UAV 300 similar to UAV 800 of FIG. 3A. As shown in FIG. 8D, UAV 800 includes multiple upward-facing image capture devices 814a, 814b, and 814c. Image capture device 814a is positioned on the top surface of the end of first rotor arm 819a, image capture device 814b is positioned on the top surface of the end of second rotor arm 819b, and image capture device 814c is positioned on the top surface of center body 821 of UAV 800. Each image capture device includes a corresponding pair of protective structure elements similar to protective structure element 890 of Figure 8A. Specifically, a first pair of protective structure elements 890a is positioned proximate to image capture device 814a, a second pair of protective structure elements 890b is positioned proximate to image capture device 814b, and a third pair of protective structure elements 890c is positioned proximate to image capture device 814c. It is located adjacent to the vise 814c.

[0115] In particular, a first pair of protective structure elements 890a and a second pair of protective structure elements 890b are positioned parallel to one another, and a third pair of protective structure elements 890c are positioned perpendicular to both elements 890a and 890b. A similar arrangement can be used for protective structure elements adjacent to downward-facing image capture devices, not shown in FIG. 8D . This arrangement allows for stereoscopic image capture in multiple directions that would be obscured if the protective structure elements were positioned differently. For example, image capture devices 814a and 814c can together capture a stereoscopic image in direction 898 without obfuscation. Similarly, image capture devices 814b and 814c can together capture a stereoscopic image in direction 899 without obfuscation. While a certain amount of obstruction may be unavoidable in some directions, the configuration shown in FIG. 8D can minimize the amount of obstruction given the limitations of three upward-facing image capture devices 814a-c. If the UAV has more or less than three upward-facing image capture devices, the protective structural elements may be arranged differently than shown in FIG. 8D.

[0116] Structural Heat Sink In some embodiments, elements of the central body of the UAV may be constructed and arranged to act both as a thermal heat sink (to absorb and dissipate heat from the computing elements) and as part of the structure of the body of the UAV.

[0117] 9 shows a perspective view of UAV 300 (e.g., as shown in FIG. 3C). As shown in FIG. 9, the body 321 of UAV 300 includes one or more structural elements 921 that are fastened together to form the structure of central body 321. Such structural elements may be made from any suitable material, for example, plastic, metal, carbon fiber, or any suitable manufacturing process.

[0118] Notably, the body 321 of the UAV 300 also includes a structural heat sink element 950. In an exemplary embodiment, this structural heat sink element 950 includes a plate of magnesium or some other material having the necessary thermal properties to conduct generated heat away from the computing element (e.g., coupled to the substrate 390).

[0119] In an exemplary embodiment, the structural heat sink element 950 couples the first structural element 921 (e.g., a first carbon fiber plate) to the second structural element 921 (e.g., a second carbon fiber plate). In some embodiments, the structural heat sink element 950 is sized to extend to each of the plurality of rotor arms 319a-319b. In other words, the structural heat sink element 950 may form a rigid slab that structurally couples each of the plurality of rotor arms 319a-b (or associated structural element 921) to minimize deflections within the body 321 while the UAV 300 is in flight, thereby minimizing any relative motion between the plurality of rotor arms 319a-b. Minimizing relative motion between the plurality of rotor arms 319a-b is advantageous when the navigation image capture devices 314a-b are coupled to the rotor arms 319a-b because it can prevent errors in depth estimates based on images captured by one or more of the navigation image capture devices 314a-b.

[0120] Multi-directional digital pan / zoom based on multiple image capture devices 1, UAV 100 may include multiple image capture devices 114a-b typically used to capture images for autonomous navigation purposes, and a separate image capture device 115 typically used to capture user images (e.g., live stream video, recorded video, still images, etc.). The image capture devices 114a-b are positioned around the UAV 100 to provide full 360-degree coverage around the UAV 100, with image capture device 115 having a relatively narrow FOV. In some embodiments, the wider range of the navigation image capture devices 114a-b can be utilized to provide digital pan and / or zoom functionality in multiple directions. In an exemplary embodiment, images captured by user image capture device 115 can be combined with images from one or more of navigation image capture devices 114a-b to provide digital pan / zoom in any direction around UAV 100 from the user's perspective.

[0121] For example, a graphical user interface (e.g., presented on the mobile device 104) may present images (e.g., video) captured by the image capture device 115 while the UAV 100 is flying. Options may be presented in the GUI that allow the user to digitally pan and / or zoom the image in any direction, even if the image capture device 115 is not currently able to point in that direction (e.g., due to the orientation of the UAV 100). This may be achieved by processing the image captured by the image capture device 115 with images captured by one or more of the navigation image capture devices 114a-b to generate a composite image of a view in a selected direction.

[0122] Removable battery In some embodiments, the UAV may include a removable battery pack. Figure 10A shows a side view of the UAV 300 (e.g., similar to that shown in Figure 3E) showing the removable battery pack 1010 located on the underside of the central body 321 of the UAV 300. This is an exemplary configuration and should not be construed as limiting. Other embodiments may place the removable battery pack in a different location (e.g., on top) relative to the central body 321.

[0123] FIG. 10B shows a rear perspective view of the UAV 300 with the battery pack 1010 removed. As shown in FIG. 10B, the underside of the central body 321 includes one or more structural elements configured to detachably couple the battery pack 1010 to the body 321 of the UAV 300. In the exemplary embodiment shown in FIG. 10B, the structural elements include two rails 1030 configured to receive the housing of the battery pack 1010 and allow the battery pack to slide into and out of position. For example, FIG. 10C shows a second rear perspective view of the UAV 300 showing the battery pack partially in place. In particular, as shown in FIG. 10C, the housing of the battery pack 1010 is shaped to slide along the rails 1030 on the underside of the body 321. A user can apply pressure to slide the battery pack 1010 into position until one or more electrical contacts 1040 on the body 321 couple with one or more contacts (not shown) of the battery pack 1010.

[0124] In some embodiments, magnets can be used to hold the battery pack 1010 in place and electrically couple it to on-board components. For example, the electrical contacts 1040 may be located in proximity to a magnetic coupling configured to hold the battery pack 1010 in place while the UAV 300 is in use. The magnetic coupling may allow a user to easily remove the battery pack 1010 by applying a small amount of force.

[0125] Detachable Payload In some embodiments, the UAV may be configured to accommodate a detachable payload. Figure 11A shows a top view of the UAV 300 illustrating an exemplary payload area. As shown in Figure 11A, the payload area 1110 may include one or more surfaces on top of the central body 321 of the UAV 300. In some embodiments, the payload may be The removable payload area 1110 includes one or more components 1120 configured to removably couple to a payload (not shown). The components 1120 may include mechanical latches, magnets, or any other suitable means for removably coupling to a payload. Figure 11A shows the removable payload area 1110 located on top of the body 321 near the front end of the UAV 300. Other embodiments include a payload attachment area located elsewhere on the body 321, for example, near the rear of the UAV 300.

[0126] In some embodiments, the UAV 300 may include one or more interfaces for communicating with components within the detachable payload. For example, FIG. 11B shows an exemplary interface in the form of a USB connector 1120. Components within the detachable payload (e.g., processing components, wireless components, memory components, etc.) may communicate with internal components of the UAV 300 using the USB connection 1120. Other embodiments may use other types of wired or wireless interfaces to communicatively couple internal components with components within the detachable payload.

[0127] Wireless Module In some embodiments, a UAV may be configured to house a wireless module. The wireless module may include RF components (e.g., transceiver circuitry, a processor, an antenna, an interface connector, etc.) that can be utilized to expand the communication capabilities of the UAV. For example, a UAV that does not include integrated RF circuitry may be configured to house a wireless module to provide RF communication capabilities. FIG. 12A shows a detailed perspective view of the underside of an exemplary UAV 300 (e.g., similar to that shown in FIG. 3H). As shown in FIG. 12A, the body 321 of the UAV 300 may be configured to house a wireless module 1210. In the exemplary embodiment, the wireless module 1210 includes an omnidirectional antenna, a wireless carrier PCBA 1212 configured for multi-channel communication, and an interface connector 1213 for connecting to a system onboard the UAV 300. To facilitate communication with the RF components of the wireless module 1210, the signal / power transmission board 390 (e.g., a printed circuit board) may include one or more interface connectors, such as interface connectors 1222, 1224, and / or 1226. In some embodiments, each of the interface connectors may be of a different type (e.g., a PCB board-to-board connector, USB, RJ modular connector, etc.), with at least one being of a type configured to accept the interface connector 1213 of the wireless module 1210.

[0128] Self-leveling landing gear In some embodiments, the UAV may include a self-leveling landing gear configured to keep the UAV upright on an uneven landing surface. Figure 12B shows two views of a UAV 1250 with a self-leveling landing gear 1260. Specifically, Figure 12B shows a first view 1280a in which the UAV 1250 has landed on a flat, level surface, and a second view 1280b in which the UAV 1250 has landed on a non-flat, uneven surface (e.g., a sandbag).

[0129] FIG. 12C shows a detailed perspective view of the self-leveling landing gear 1260 shown in FIG. 12B. In some embodiments, the self-leveling landing gear 1260 includes multiple landing legs 1261 coupled to locking swivel elements 1262 that rotate freely when the landing legs 1261 are unloaded, but passively lock into place when loaded. The locking swivels are coupled to the underside of the body of the UAV 1250. During the landing sequence, and before the UAV 1250 is completely powered off, the locking swivels 1262 allow the landing legs 1261 to contact the terrain and swivel freely while the UAV 1250 remains level until all legs are in contact. When the rotors of the UAV 1250 are powered down, When lowered, the self-leveling landing gear 1260 is loaded (due to the weight of the UAV 1250), which locks the landing swivel 1262 into place.

[0130] FIG. 12D shows a cross-sectional side view of the self-leveling landing gear 1260 in an unlocked position (i.e., with little or no load applied), and FIG. 12E shows a cross-sectional side view of the self-leveling landing gear 1260 in a locked position (i.e., with full load applied). As shown in FIGS. 12D and 12E, the self-leveling landing gear 1260 can passively lock into place when a load applied to its upper surface causes the ball portion 1263 of the locking swivel element 1262 to contact each of the landing legs 1261. In some embodiments, each landing leg 1261 is rotatably coupled to a housing 1265 for the ball portion 1263 of the locking swivel element 1262. A load applied to the locking swivel element 1262 (e.g., when the UAV 1250 is stable) causes the ball portion 1263 to move downward within the housing 1265, thereby contacting the adjacent surface of each landing leg 1261. This contact causes landing leg 1261 to rotate slightly about axis 1264, thereby locking ball portion 1263 in place. The lock is passively released as the load is relieved when UAV 1250 takes off.

[0131] 12B-12E show the self-leveling landing gear 1260 in the form of a tripod (i.e., including three landing legs 1261). This is merely an example provided for illustrative purposes. Other self-leveling landing gear may include fewer or more landing gear than shown.

[0132] UAV - Exemplary System FIG. 13 illustrates a diagram of an exemplary system 1300 including various functional system components that may be part of any of the aforementioned air vehicles, including UAVs 100, 300, 500, 800, etc. System 1300 may include one or more propulsion systems (e.g., rotor 1302 and motor 1304), one or more electronic speed controllers 1306, a flight controller 1308, a peripherals interface 1310, a processor 1312, a memory controller 1314, a memory 1316 (which may include one or more computer-readable storage media), a power module 1318, a GPS module 1320, a communications interface 1322, an audio circuit 1324, an accelerometer 1326 (including subcomponents such as gyroscopes), an IMU 1328, a proximity sensor 1330, a light sensor controller 1332 and associated light sensors 1334, a mobile device interface controller 1336 with associated interface devices 1338, and any other input controllers 1340 and input devices 1342, such as a display controller with associated display devices. These components may communicate via one or more communication buses or signal lines, as represented by the arrows in FIG. 13 .

[0133] System 1300 is only one example of a system that may be part of any of the aerial vehicles described above. Other aerial vehicles may include more or fewer components than those shown in system 1300, may combine two or more components as a functional unit, or may have a different configuration or arrangement of components. Some of the various components of system 1300 shown in FIG. 13 may be implemented in hardware, software, or a combination of both hardware and software, including one or more signal processing and / or application-specific integrated circuits. Additionally, the aerial vehicle may include a commercially available aerial vehicle (e.g., a currently available remotely controlled UAV) coupled to a modular add-on device (e.g., one including the components within outline 1390) to perform the innovative functions described in this disclosure.

[0134] The propulsion system (e.g., including components 1302-1304) may include a fixed-pitch rotor. The propulsion system may also include a variable-pitch rotor (e.g., using a gimbal mechanism), a variable-pitch jet engine, or any other propulsion mode that provides a force. The propulsion system may vary the applied thrust by varying the speed of each rotor, for example, using electronic speed controller 1306.

[0135] Flight controller 1308 may include a combination of hardware and / or software configured to receive input data (e.g., sensor data from image capture device 1334, a generated trajectory from autonomous navigation system 120, or any other input), interpret the data, and output control commands to the propulsion systems 1302-1306 and / or aerodynamic surfaces (e.g., fixed-wing control surfaces) of the air vehicle. Alternatively or additionally, flight controller 1308 may be configured to receive control commands generated by another component or device (e.g., processor 1312 and / or a separate computing device), interpret those control commands, and generate control signals to the propulsion systems 1302-1306 and / or aerodynamic surfaces (e.g., fixed-wing control surfaces) of the air vehicle. In some embodiments, the aforementioned navigation system 120 may include flight controller 1308 and / or any one or more of the other components of system 1300. Alternatively, the flight controller 1308 shown in FIG. 13 may exist as a separate component from the navigation system 120, similar to, for example, the flight controller 160 shown in FIG.

[0136] Memory 1316 may include high-speed random-access memory and may also include non-volatile memory, such as one or more magnetic disk storage devices, flash memory devices, or other non-volatile solid-state memory devices. Access to memory 1316 by processor 1312 and other components of system 1300, such as peripherals interface 1310, may be controlled by memory controller 1314.

[0137] The peripheral interface 1310 can couple input / output peripherals of the system 1300 to the processor 1312 and memory 1316. The one or more processors 1312 run or execute various software programs and / or instruction sets stored in the memory 1316 to perform various functions and process data for the UAV 100. In some embodiments, the processor 1312 can include a general central processing unit (CPU), a special-purpose processing unit such as a graphics processing unit (GPU) particularly suited for parallel processing applications, other programmable processing units such as a field programmable gate array (FPGA), a non-programmable processing unit such as an application-specific integrated circuit (ASIC), or any combination thereof. In some embodiments, the peripheral interface 1310, the processor 1312, and the memory controller 1314 can be implemented on a single integrated chip. In some other embodiments, they can be implemented on separate chips.

[0138] The network communication interface 1322 can facilitate the transmission and reception of communication signals, often in the form of electromagnetic signals. The transmission and reception of electromagnetic communication signals may be performed over a physical medium, such as a copper wire cable or a fiber optic cable, or may be performed wirelessly, for example, via a radio frequency (RF) transceiver. In some embodiments, the network communication interface can include RF circuitry. In such embodiments, the RF circuitry can convert electrical signals to and from electromagnetic signals and communicate with communication networks and other communication devices via electromagnetic signals. The RF circuitry can include an antenna system, an RF transceiver, one or more amplifiers, a tuner, one or more oscillators, a digital signal processor, It may include well-known circuitry for performing these functions, including, but not limited to, a CODEC chipset, a subscriber identity module (SIM) card, memory, etc. The RF circuitry may facilitate transmission and reception of data over a communications network (including public, private, local, and wide area). For example, communication may be over a wide area network (WAN), a local area network (LAN), or a network of networks such as the Internet. Communication may be facilitated over a wired transmission medium (e.g., via Ethernet) or wirelessly. Wireless communication may be via a wireless cellular telephone network, a wireless local area network (LAN) and / or metropolitan area network (MAN), and other modes of wireless communication. The wireless communication may use any of a number of communication standards, protocols, and technologies, including, but not limited to, Global System for Mobile Communications (GSM), Enhanced Data GSM Environment (EDGE), High Speed Downlink Packet Access (HSDPA), Wideband Code Division Multiple Access (W-CDMA), Code Division Multiple Access (CDMA), Time Division Multiple Access (TDMA), Bluetooth, Wireless Fidelity (Wi-Fi) (e.g., IEEE 802.11n and / or IEEE 802.11ac), Voice over Internet Protocol (VoIP), Wi-MAX, or any other suitable communication protocol.

[0139] The audio circuit 1324, including the speaker and microphone 1350, can provide an audio interface between the surrounding physical environment and the air vehicle. The audio circuit 1324 can receive audio data from the peripherals interface 1310, convert the audio data into electrical signals, and transmit the electrical signals to the speaker 1350. The speaker 1350 can convert the electrical signals into sound waves audible to humans. The audio circuit 1324 can also receive electrical signals converted from the sound waves by the microphone 1350. The audio circuit 1324 can convert the electrical signals into audio data and transmit the audio data to the peripherals interface 1310 for processing. The audio data may be retrieved from and / or transmitted to the memory 1316 and / or the network communication interface 1322 by the peripherals interface 1310.

[0140] The I / O subsystem 1360 can couple air vehicle input / output peripherals, such as an optical sensor system 1334, a mobile device interface 1338, and other input / control devices 1342, to the peripheral interface 1310. The I / O subsystem 1360 can include other input controllers 1340 for the optical sensor controller 1332, the mobile device interface controller 1336, and other input or control devices. The one or more input controllers 1340 send and receive electrical signals to and from the other input or control devices 1342. The other input / control devices 1342 can include physical buttons (e.g., push buttons, rocker buttons, etc.), dials, touchscreen displays, slider switches, joysticks, click wheels, etc.

[0141] The mobile device interface device 1338, along with the mobile device interface controller 1336, can facilitate the transmission of data between the air vehicle and other computing devices, such as the mobile device 104. According to some embodiments, the communication interface 1322 can facilitate the transmission of data between the air vehicle and the mobile device 104 (e.g., when data is transferred over a Wi-Fi network).

[0142] The system 1300 also includes a power system 1318 for providing power to the various components. The power system 1318 includes a power management system, one or more power sources (e.g., This may include batteries, alternating current (AC), etc., charging systems, power fault detection circuits, power converters or inverters, power status indicators (e.g., light emitting diodes (LEDs)), and any other components associated with the generation, management, and distribution of power in computerized equipment.

[0143] System 1300 may also include one or more image capture devices 1334. Image capture device 1334 may be the same as any of the image capture devices associated with any of the aforementioned aerial vehicles, including UAVs 100, 300, 500, 800, etc. FIG. 13 shows image capture device 1334 coupled to image capture controller 1332 in I / O subsystem 1360. Image capture device 1334 may include one or more light sensors. For example, image capture device 1334 may include a charge-coupled device (CCD) or a complementary metal-oxide semiconductor (CMOS) phototransistor. The light sensors of image capture device 1334 receive light from the environment projected through one or more lenses (the combination of light sensor and lens may be referred to as a “camera”) and convert the light into data representing an image. In cooperation with an imaging module located in memory 1316, image capture device 1334 may capture images (including still images and / or video). In some embodiments, image capture device 1334 may include a single fixed camera. In other embodiments, image capture device 1340 may include a single adjustable camera (adjustable using a gimbal mechanism with one or more axes of motion). In some embodiments, image capture device 1334 may include a camera with a wide-angle lens providing a wider FOV (e.g., at least 180 degrees). In some embodiments, image capture device 1334 may include an array of multiple cameras providing a field of view of up to 360 degrees in all directions. In some embodiments, image capture device 1334 may include two or more cameras (of any type described herein) positioned adjacent to each other to provide stereoscopic vision. In some embodiments, image capture device 1334 may include multiple cameras in any combination as described above.In some embodiments, the cameras of image capture device 1334 may be positioned such that at least two cameras include overlapping FOVs at multiple angles around the airborne vehicle, thereby enabling stereoscopic (i.e., 3D) image / video capture and depth recovery (e.g., via computer vision algorithms) at multiple angles around the airborne vehicle. In some embodiments, the airborne vehicle may include some cameras dedicated to image capture of objects and other cameras dedicated to image capture for visual navigation (e.g., via visual inertial odometry).

[0144] The UAV system 1300 may also include one or more proximity sensors 1330. Figure 13 shows the proximity sensor 1330 coupled to the peripherals interface 1310. Alternatively, the proximity sensor 1330 may be coupled to an input controller 1340 in the I / O subsystem 1360. The proximity sensor 1330 may generally include remote sensing technology for proximity detection, distance measurement, target identification, etc. For example, the proximity sensor 1330 may include radar, sonar, and LIDAR.

[0145] System 1300 may also include one or more accelerometers 1326. Figure 13 shows accelerometer 1326 coupled to peripherals interface 1310. Alternatively, accelerometer 1326 may be coupled to input controller 1340 in I / O subsystem 1360.

[0146] The system 1300 may include one or more IMUs 1328. The IMUs 1328 use a combination of gyroscopes and accelerometers (e.g., accelerometer 1326) to measure the UA The velocity, acceleration, orientation, and gravity of V can be measured and reported.

[0147] System 1300 may include a global positioning system (GPS) receiver 1320. Figure 13 shows GPS receiver 1320 coupled to peripherals interface 1310. Alternatively, GPS receiver 1320 may be coupled to an input controller 1340 in I / O subsystem 1360. GPS receiver 1320 receives signals from GPS satellites in orbit around the Earth and can calculate (using GPS software) the distance to each GPS satellite, thereby determining the current global position of the air vehicle.

[0148] In some embodiments, the software components stored in memory 1316 may include an operating system, a communications module (or instruction set), a flight control module (or instruction set), a localization module (or instruction set), a computer vision module (or instruction set), a graphics module (or instruction set), and other applications (or instruction sets). For clarity, one or more modules and / or applications may not be shown in FIG. 13.

[0149] An operating system (e.g., an embedded operating system such as Darwin™, RTXC, Linux™, Unix™, Apple™ OS X, Microsoft Windows™, or VxWorks™) includes various software components and / or drivers for controlling and managing common system tasks (e.g., memory management, storage device control, power management, etc.) and facilitating communication between various hardware and software components.

[0150] The communications module may facilitate communications with other devices via one or more external ports 1344 and may also include various software components for handling data transmission via the network communications interface 1322. The external ports 1344 (e.g., Universal Serial Bus (USB), Firewire, etc.) may be adapted to couple directly to other devices or indirectly via a network (e.g., the Internet, wireless LAN, etc.).

[0151] The graphics module may include various software components for processing, rendering, and displaying graphics data. As used herein, the term "graphics" may include any object that can be displayed to a user, including, but not limited to, text, still images, video, animations, icons (such as user interface objects, including softkeys), etc. The graphics module, in conjunction with the graphics processing unit (GPU) 1312, may process the graphics data captured by the light sensor 1334 and / or the proximity sensor 1330 in real time or near real time.

[0152] The computer vision module, which may be a component of the graphics module, provides analysis and recognition of graphics data. For example, while the airborne vehicle is flying, the computer vision module, in conjunction with the graphics module (if separate), GPU 1312, and image capture device 1334, and / or proximity sensor 1330, may recognize and track captured images of objects located on the ground. The computer vision module may further communicate with the positioning / navigation module and flight control module to update the position and / or orientation of the airborne vehicle and provide course corrections for flying along a planned trajectory through the physical environment.

[0153] The positioning / navigation module determines the position and / or orientation of the air vehicle and This information can be provided for use by various modules and applications (e.g., to a flight control module to generate commands for use by flight controller 1308).

[0154] The image capture device 1334 , in conjunction with the image capture device controller 1332 and the graphics module, may be used to capture images (including still images and video) and store them in the memory 1316 .

[0155] Each of the above-identified modules and applications corresponds to a set of instructions for performing one or more functions described above. These modules (i.e., sets of instructions) need not be implemented as separate software programs, procedures, or modules; thus, various subsets of these modules may be combined or otherwise rearranged in various embodiments. In some embodiments, memory 1316 may store a subset of the above-identified modules and data structures. Additionally, memory 1316 may store additional modules and data structures not described above.

[0156] Exemplary Computer Processing System 14 is a block diagram illustrating an example of a computer processing system 1400 on which at least some operations described in this disclosure may be implemented. The example computer processing system 1400 may be part of any of the aforementioned devices, including, but not limited to, the mobile device 104 or any of the aforementioned UAVs 100, 300, 500, and 800. The processing system 1400 may include one or more processors 1402 (e.g., CPUs), main memory 1406, non-volatile memory 1410, a network adapter 1412 (e.g., a network interface), a display 1418, input / output devices 1420, control devices 1422 (e.g., keyboards and pointing devices), a drive unit 1424 including a storage medium 1426, and a signal generating device 1430, which are communicatively coupled to a bus 1416. The bus 1416 is illustrated as an abstraction representing any one or more separate physical buses, point-to-point connections, or both, connected by appropriate bridges, adapters, or controllers. Thus, the bus 1416 may include, for example, a system bus, a Peripheral Component Interconnect (PCI) bus or PCI-Express bus, a HyperTransport or Industry Standard Architecture (ISA) bus, a Small Computer System Interface (SCSI) bus, a Universal Serial Bus (USB), an IIC (I2C) bus, or an Institute of Electrical and Electronics Engineers (IEEE) standard 1394 bus (also known as "Firewire"). A bus may also be responsible for relaying data packets (e.g., over full-duplex or half-duplex wires) between components of network equipment such as switching fabrics, network ports, tool ports, etc.

[0157] While main memory 1406, non-volatile memory 1410, and storage medium 1426 (also referred to as "machine-readable medium") are shown as being a single medium, the terms "machine-readable medium" and "storage medium" should be interpreted to include a single medium or multiple media (e.g., a centralized or distributed database and / or associated caches and servers) that store one or more sets of instructions 1428. The terms "machine-readable medium" and "storage medium" should also be interpreted to include any medium that can store, encode, or carry a set of instructions for execution by a computing system, causing the computing system to perform any one or more of the methodologies of the presently disclosed embodiments.

[0158] Generally, the routines executed to implement the embodiments of the present disclosure are It may be implemented as part of a system or a specific application, component, program, object, module, or sequence of instructions referred to as a "computer program." A computer program is typically stored at various times in various memory and storage devices within a computer and includes one or more instructions (e.g., instructions 1404, 1408, 1428) that, when read and executed by one or more processing units or processors 1402, cause the processing system 1400 to perform operations that implement elements comprising various aspects of the present disclosure.

[0159] Furthermore, while the embodiments are described in the context of fully functional computers and computer systems, those skilled in the art will understand that various embodiments may be distributed as program products in various forms, and that the present disclosure applies equally regardless of the particular type of machine or computer-readable medium used to actually accomplish the distribution.

[0160] Further examples of machine-readable storage media, machine-readable media, or computer-readable (storage) media include volatile and non-volatile memory devices 1410, recordable-type media such as floppy and other removable disks, hard disk drives, optical disks (e.g., compact disk read-only memories (CD-ROMs), digital versatile disks (DVDs)), and transmission-type media such as digital and analog communications links.

[0161] Network adapter 1412 enables computer processing system 1400 to broker data within network 1414 with entities external to computer processing system 1400, such as network equipment, via any known and / or convenient communication protocol supported by computer processing system 1400 and the external entities. Network adapter 1412 may include one or more of a network adapter card, a wireless network interface card, a router, an access point, a wireless router, a switch, a multi-layer switch, a protocol converter, a gateway, a bridge, a bridge router, a hub, a digital media receiver, and / or a repeater.

[0162] Network adapter 1412, in some embodiments, can include a firewall that manages and / or processes permissions to access / proxy data within a computer network and can track various levels of trust between different machines and / or applications. A firewall can be any number of modules having any combination of hardware and / or software components that can enforce a predetermined set of access rights between a particular set of machines and applications, between machines, and / or between applications, for example, to regulate traffic flow and resource sharing between these various entities. A firewall can further manage and / or access access control lists that detail permissions, including, for example, the rights of individuals, machines, and / or applications to access and manipulate objects, and the circumstances under which the permissions exist.

[0163] As mentioned above, the techniques presented herein may be implemented, for example, by programmable circuitry (e.g., one or more microprocessors) programmed with software and / or firmware, with entirely dedicated hardwired (i.e., non-programmable) circuitry, or a combination thereof. The dedicated circuitry may be in the form of, for example, one or more application specific integrated circuits (ASICs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), etc.

[0164] It should be noted that any of the above embodiments can be combined with other embodiments. except to the extent that it may be otherwise stated above or that any such embodiments may be mutually exclusive in function and / or structure.

[0165] While the invention has been described with reference to certain exemplary embodiments, it will be recognized that the invention is not limited to the described embodiments and can be practiced with modification and alteration within the spirit and scope of the appended claims. The specification and drawings are, therefore, to be regarded in an illustrative rather than a restrictive sense.

Claims

1. An unmanned aerial vehicle (UAV), A central body; a plurality of rotor arms, each rotor arm including a rotor unit at a distal end thereof, the rotor unit configured to provide propulsion to the UAV; a plurality of hinge mechanisms mechanically attaching the proximal ends of the plurality of rotor arms to the central body; each hinge mechanism is configured to rotate a respective rotor arm of the plurality of rotor arms about an axis of rotation that is at an oblique angle relative to a vertical median plane of the central body to transition between an extended state and a folded state.

2. 2. The UAV of claim 1, wherein in the folded state, a rotor arm of the plurality of rotor arms extends laterally along the center body such that the rotor arm is aligned substantially flush with a sidewall of the center body.

3. The UAV of claim 1 , wherein the UAV is configured in an operational configuration for flight when each of the plurality of rotor arms is in the extended state.

4. The UAV of claim 1 , wherein the UAV is configured in a non-operational folded configuration when each of the plurality of rotor arms is in the folded state.

5. The UAV of claim 4 , wherein in the non-operational folded configuration, the overall size and shape of the UAV is not substantially larger than the size and shape of the center body.

6. The UAV of claim 1 , wherein each of the plurality of rotor arms further includes an image capture device.

7. 7. The UAV of claim 6, wherein each hinge mechanism of the plurality of hinge mechanisms is further configured to securely lock the respective rotor arm in position such that the image capture devices do not move substantially relative to one another or the central body.

8. The UAV of claim 1 , wherein the plurality of rotor arms includes two forward rotor arms and two aft rotor arms.

9. The plurality of hinge mechanisms include: a forward hinge mechanism configured to rotate the forward rotor arm about a rotation axis in a first direction upward or downward relative to a horizontal median plane of the centerbody; an aft hinge mechanism configured to rotate the aft rotor arm about an axis of rotation in a second direction opposite the first direction, either upward or downward relative to the horizontal midplane of the centerbody.

10. 9. The UAV of claim 8, wherein the rotor unit at the distal end of the forward rotor arm faces downward and the rotor unit at the distal end of the aft rotor arm faces upward.

11. An unmanned aerial vehicle (UAV), A central body; a plurality of rotor arms, a front set of rotor arms each including a downward-facing rotor unit and an upward-facing image capture device directed toward the distal end of said rotor arm; a plurality of rotor arms including a rear set of rotor arms each including an upward-facing rotor unit and a downward-facing image capture device directed at a distal end of the rotor arm; a plurality of hinge mechanisms operable to transition the plurality of rotor arms between a folded position and an extended position; The plurality of hinge mechanisms include: a first set of hinge mechanisms mechanically coupling proximal ends of the first set of rotor arms to a front portion of the centerbody, each hinge mechanism configured to rotate a respective rotor arm of the first set about a rotation axis at a first oblique angle relative to a vertical median plane of the centerbody and upwardly relative to a horizontal median plane of the centerbody; a second set of hinge mechanisms mechanically coupling proximal ends of the second set of rotor arms to the aft portion of the centerbody, each hinge mechanism configured to rotate a respective rotor arm of the second set of rotor arms about a rotation axis at a second oblique angle relative to the vertical midplane of the centerbody and downward relative to the horizontal midplane of the centerbody.

12. 12. The UAV of claim 11, wherein in the folded position, a rotor arm of the plurality of rotor arms extends laterally along the center body such that the rotor arm is aligned substantially flush with a sidewall of the center body.

13. 12. The UAV of claim 11, wherein the UAV is configured in an operational configuration for flight when each of the plurality of rotor arms is in the extended position, and configured in a non-operational folded configuration when each of the plurality of rotor arms is in the folded position.

14. The UAV of claim 13 , wherein in the non-operational folded configuration, the overall size and shape of the UAV is not substantially larger than the size and shape of the center body.

15. 14. The UAV of claim 13, wherein in the operational configuration for flight, each hinge mechanism of the plurality of hinge mechanisms is further configured to securely lock the respective rotor arm in position such that the image capture devices do not move substantially relative to one another or the central body.

16. further including an image capture assembly including an image capture device and one or more motors associated with the mechanical gimbal; The UAV of claim 11.

17. At least one of the plurality of hinge mechanisms A hinge housing; a hinge bearing / motor; A lock arm and a lock arm bearing / motor; and a connecting pin.

18. An unmanned aerial vehicle (UAV), A central body; a plurality of rotatable arm assemblies; Each rotatable arm assembly includes: a rotor arm including a rotor unit at a distal end thereof; a hinge mechanism for mechanically coupling the proximal end of the rotor arm to the center body; the hinge mechanism is configured to rotate the rotor arms about an axis of rotation that is at an oblique angle relative to a vertical median plane of the central body to transition between an extended state and a folded state; an unmanned aerial vehicle (UAV), wherein in the folded state, the rotor arms extend laterally along the centerbody such that the rotor arms are aligned substantially flush with a sidewall of the centerbody.

19. 20. The UAV of claim 18, wherein the UAV is configured in an operational configuration for flight when each of the plurality of rotatable arm assemblies is in the extended state, and the UAV is configured in a non-operational folded configuration when each of the plurality of rotatable arm assemblies is in the folded state.

20. 20. The UAV of claim 19, wherein in the non-operational folded configuration, the overall size and shape of the UAV is not substantially larger than the size and shape of the center body.

Images