JP6538214B2 - Method of supplying energy to UAV, and UAV - Google Patents

Description

[Background technology]
Multiple air carriers, such as multiple unmanned aerial vehicles (UAVs), can be used to perform military and commercial surveillance, reconnaissance, and search tasks. Such multiple air carriers can carry loads configured to perform particular functions.

  Conventional UAV designs can suffer from a number of drawbacks. For example, certain electrical components of a UAV, such as a controller or an inertial measurement device, can lose data if power to the components is lost. The UAV may be powered by an on-board rechargeable battery. In some situations, the battery may be removed from the UAV to be recharged or replaced with another battery. If the battery is removed, power to multiple electrical components may be lost, thereby causing data loss in the electrical components.

  There is a need to continuously provide power to certain electrical components of the UAV to prevent data loss. There is a further need to provide this power while the UAV's battery is being removed, either for recharging or for replacement with another battery. The battery may optionally be removed to reload the UAV with energy, which may optionally provide an increase in travel range for multiple UAVs. It may be particularly useful as the range of travel is increased when multiple UAVs are delivering, spraying around, or patrolling or surveying multiple items. An automatic or semi-automatic battery charging station can advantageously tolerate reloading of the battery life on the UAV. Battery life may be reloaded on the UAV by recharging the UAV's onboard battery or replacing the onboard battery with another battery. The system can be powered off during recharging of the UAV battery. Loss of power can lead to loss of data collected by multiple sensors mounted on the UAV. This may include data that may be useful for UAV navigation or other functions stored in the UAV's controller or inertial measurement device. A system that can provide consistent power to the UAV during battery recharging would be advantageous.

  One aspect of the present invention may include the following contents. A power unit having a propulsion unit configured to enable movement of the UAV; and a first battery configured to power the (1) the propulsion unit and (2) the power consuming unit of the UAV. And the power unit is configured to switch between (a) a first mode and (b) a second mode, and (a) in the first mode, the The first battery supplies power to (1) the propulsion unit and (2) the power consumption unit, and (b) in the second mode, the second battery supplies power to the power consumption unit. And no power to the propulsion unit.

  In some embodiments, the UAV may have a propulsion unit that includes one or more rotors configured to generate lift for the UAV. The UAV may comprise a power consumption unit, wherein the power consumption unit is one or more of a global positioning system (GPS) sensor, a motion sensor, an inertial measurement device sensor, a proximity sensor, and / or an image sensor. . If the UAV is stationary on the surface, the power unit may be switched to the second mode. The power unit may be configured to switch from the first mode to the second mode before or when the first battery is removed from the UAV, and continuously Power is supplied to the power consuming unit. The power unit may be configured to be switched from the second mode to the first mode when the first battery is connected to the UAV and ready to supply power. The power unit may be switched to the second mode when the UAV is not using the propulsion unit. The power unit may be configured to switch between the first mode and the second mode if the voltage of the first battery falls below the voltage of the second battery. The power unit may include a one-way diode that prevents current flow from the second battery to the power consuming unit. The one-way diode may have a positive electrode facing the second battery and a negative electrode facing the power consumption. The power unit may include an electrical switch in the closed position during the first and second modes and in the open position when the UAV is powered off.

  In some cases, the UAV may have a charge control unit between the first battery and the second battery, the charge control unit being configured to perform the second operation with the first battery. It is configured to control the charging of the battery.

  In some instances, the first battery may not supply power during the second mode. The first battery may be disconnected from the UAV during the second mode. During the first mode, the first battery may be electrically connected to the second battery. The first battery may be configured to provide power at a lower voltage than the first battery.

  Aspects of the invention may further include the following. That is, a method of supplying energy to a UAV, wherein the method comprises the steps of: supplying power to (1) the propulsion unit and (2) the power consumption unit of the UAV with the first battery; Supplying power to the propulsion unit with a battery, and supplying power to the power consuming unit of the UAV with the second battery; (1) the propulsion unit with the first battery with the first battery; And (2) stopping power supply to the power consuming unit.

  In some cases, the propulsion unit includes one or more rotors configured to generate lift for the UAV. When power is not supplied to (1) the propulsion unit and (2) the power consuming unit of the UAV with the first battery, the UAV may be stationary on the surface. The UAV may be in flight if the first battery supplies power to (1) the propulsion unit and (2) the power consuming unit of the UAV.

  The energy delivery station may include a battery replacement member configured to disconnect the first battery from the UAV.

  In some instances, the method further includes charging the second battery during the step of powering the UAV's (1) propulsion unit and (2) power consuming unit with the first battery. Good. The method may further include the step of charging the second battery with the first battery while the UAV is in flight. The power unit may include a one-way diode that prevents current flow from the second battery to the power consuming unit. The one-way diode may have a positive pole facing the second battery and a negative pole facing the power consumption. The second battery may be configured to provide a lower voltage than the first battery.

  A method may be provided for supplying energy to a UAV according to another aspect of the invention. The method may comprise the following content. That is, supplying power to the (1) propulsion unit and (2) power consumption unit of the UAV with the first battery, charging the second battery with the first battery, and the above Supplying power to the power consuming unit of the UAV with a second battery; supplying power to (1) the propulsion unit of the UAV and (2) the power consuming unit with the first battery. And the step of The second battery may provide charge to the first battery while the UAV is in flight.

  The propulsion unit may include one or more rotors configured to generate lift for the UAV.

  When power is not supplied to (1) the propulsion unit and (2) the power consuming unit of the UAV with the first battery, the UAV may be stationary on the surface. The surface may be a landing zone of an energy supply station configured to recharge the first battery and / or replace the first battery with another battery.

  In some cases, the energy delivery station may comprise a battery replacement member configured to disconnect the first battery from the UAV.

  The method may further comprise the step of charging the second battery during the step of powering the UAV's (1) propulsion unit and (2) controller and / or inertial measurement device with the first battery. .

  The power unit may include a one-way diode that prevents current flow from the second battery to the power consuming unit. The one-way diode may have a positive pole facing the second battery and a negative pole facing the power consumption.

  In another embodiment, the invention may include a method of providing continuous power supply to a UAV. The above method may include the following contents. Providing the UAV connected to a battery that supplies power to the UAV; disconnecting the battery from the UAV so that the battery does not supply power to the UAV; and set (b) A power unit is used to power the UAV before or during the disconnecting step of the UAV, whereby the UAV is powered before, during and after the battery is disconnected from the UAV. And b. Providing power.

  The method may further comprise supporting the UAV on the UAV landing zone of the energy supply station. The method may further comprise disconnecting the battery from the UAV using a battery replacement member. The method may further comprise connecting another battery to the UAV, wherein the other battery is configured to supply power to the UAV when connected to the UAV. The additional battery may be connected to the UAV using a battery replacement member that disconnects the battery from the UAV. The method may further comprise connecting the battery to the UAV using the battery replacement member after charging the battery while the battery is disconnected from the UAV. When the other battery is connected to the UAV, it may have a higher level of charge than the battery when disconnected from the UAV.

  The battery replacement member may be part of the energy supply station. In some cases, the battery replacement member may be a robotic arm.

  The UAV may be a rotorcraft capable of taking off vertically from the station. The UAV may be a rotorcraft capable of landing vertically at the station.

  The UAV landing zone may include a plurality of visible markers configured to assist the UAV in landing. The plurality of visible markers may be a plurality of LED lights or a plurality of images.

  In some cases, the energy delivery station may be portable.

  The above method may further include the following contents. That is, the method includes removing the other battery from the mobile battery storage unit, and the mobile battery storage unit collectively stores a plurality of batteries capable of supplying power to the UAV when connected to the UAV. The mobile battery storage section is configured to allow simultaneous movement of the plurality of holding stations relative to the UAV landing zone. The method may further include powering the UAV using the power unit while the battery is not connected to the UAV. The method may also include connecting the power unit to the UAV before disconnecting the battery from the UAV.

  The power unit may be an electrical line from an electrical energy source. The electrical energy source may be a renewable energy producing power source. The electrical energy source may be a power grid. The power unit may be another battery. Another battery may be mounted to the energy supply station supporting the UAV. Another battery may be mounted on the UAV.

  In some embodiments, the UAV may have a maximum dimension of up to 100 cm. The UAV may include a recessed area in which the battery is removed to be disconnected from the UAV. The UAV may include a recessed area in which the battery is inserted to connect to the UAV and to provide power to the UAV. The battery or another battery may be configured to be inserted into the recessed area to connect and power the UAV after the battery is disconnected from the UAV.

  The battery may be stored in a moveable storage unit, the moveable storage unit being configured to collectively store a plurality of batteries capable of supplying power to the UAV when connected to the UAV. A holding station is included and the mobile battery storage section is configured to allow simultaneous movement of the plurality of holding stations with respect to the UAV landing zone.

  In another embodiment, the present invention may include the following contents. A UAV energy supply station comprising a UAV landing zone, a battery replacement and a power unit, wherein the UAV landing zone supports the UAV when the UAV is stationary on the station. The UAV is connected to a battery that supplies power to the UAV, and the battery replacement member disconnects the battery from the UAV such that the battery does not supply power to the UAV. The power unit is configured to supply power to the UAV before or at the time of the disconnection, whereby the UAV is powered before, during, and after the battery is disconnected from the UAV. It is configured to be in the supplied state.

  The UAV energy supply station may further include a support for the UAV on the UAV landing zone of the energy supply station. The energy supply station may further comprise a battery replacement member. The battery replacement member may be part of the energy supply station. The battery replacement member may be a robotic arm.

  The UAV may be a rotorcraft capable of taking off vertically to the station. The UAV may be a rotorcraft capable of landing vertically from the station.

  The UAV landing zone may include a plurality of visible markers configured to assist the UAV in landing. The plurality of visible markers may be a plurality of LED lights or a plurality of images.

  In some cases, the energy delivery station may be portable.

  The UAV energy supply station may further comprise another battery connected to the UAV, wherein the other battery is configured to supply power to the UAV when connected to the UAV. The additional battery may be connected to the UAV using a battery replacement member that disconnects the battery from the UAV. When the other battery is connected to the UAV, it may have a higher level of charge than the battery when disconnected from the UAV. The UAV energy supply station may further include a mobile battery storage unit, wherein the mobile battery storage unit collectively stores a plurality of batteries capable of supplying power to the UAV when connected to the UAV. The mobile battery storage section may be configured to allow simultaneous movement of the plurality of holding stations relative to the UAV landing zone.

  In some examples, the energy supply station may further comprise a power unit configured to supply power to the UAV while the battery is not connected to the UAV. The power unit may be an electrical line from an electrical energy source. The electrical energy source may be a renewable energy producing power source. The electrical energy source may be a power grid. The power unit may be another battery. Another battery may be mounted to the energy supply station supporting the UAV. Another battery may be mounted on the UAV.

  In some cases, the UAV may have a maximum dimension of up to 100 cm. The UAV may include a recessed area in which the battery is removed to be disconnected from the UAV. The UAV may include a recessed area in which the battery is inserted to connect to the UAV and to provide power to the UAV. The battery or another battery may be configured to be inserted into the recessed area to connect and power the UAV after the battery is disconnected from the UAV.

  The battery may be in a moveable battery storage unit, the moveable battery storage unit being configured to collectively store a plurality of batteries capable of supplying power to the UAV connected to the UAV. A holding station is included and the mobile battery storage section is configured to allow simultaneous movement of the plurality of holding stations with respect to the UAV landing zone.

  In another embodiment, the present invention may include the following contents. A UAV energy delivery station comprising a UAV landing zone and a battery replacement member, wherein the UAV landing zone is configured to support the UAV when the UAV is stationary on the station. The UAV is connected to (1) a battery for supplying power to the UAV, and (2) a backup power supply for supplying power to the UAV when the battery is not connected to the UAV, The battery replacement member is configured to disconnect the battery from the UAV so that the battery does not supply power to the UAV, and the backup power supply supplies power to the UAV before or at the time of the disconnection. Supply, whereby the battery is disconnected from the UAV, during And thereafter, it is configured to a state in which the UAV is powered.

  The backup power supply may be another battery mounted on the UAV. The backup power supply may be a renewable energy generating power source mounted on the UAV.

  The UAV energy supply station may further include a support for the UAV on the UAV landing zone of the energy supply station. The energy supply station may include a battery replacement member. The battery replacement member may be part of the energy supply station. The battery replacement member may be a robotic arm.

  The UAV may be a rotorcraft capable of taking off vertically from the station. The UAV may be a rotorcraft capable of landing vertically at the station.

  The UAV landing zone may include a plurality of visible markers configured to assist the UAV in landing. The plurality of visible markers may be a plurality of LED lights or a plurality of images.

  In some cases, the energy delivery station may be portable.

  The UAV energy supply station may further comprise another battery connected to the UAV, wherein the other battery is configured to supply power to the UAV when connected to the UAV. The additional battery may be connected to the UAV using a battery replacement member that disconnects the battery from the UAV. When the other battery is connected to the UAV, it may have a higher level of charge than the battery when disconnected from the UAV. The UAV energy supply station may further comprise a mobile battery storage unit, wherein the mobile battery storage unit collectively stores a plurality of batteries capable of supplying power to the UAV when connected to the UAV. The mobile battery storage section may be configured to allow simultaneous movement of the plurality of holding stations relative to the UAV landing zone.

  In some examples, the energy supply station may further comprise a power unit configured to supply power to the UAV while the battery is not connected to the UAV. The power unit may be an electrical line from an electrical energy source. The electrical energy source may be a renewable energy producing power source. The electrical energy source may be a power grid. The power unit may be another battery. Another battery may be mounted to the energy supply station supporting the UAV. Another battery may be mounted on the UAV.

  In some cases, the UAV may have a maximum dimension of up to 100 cm. The UAV may include a recessed area in which the battery is removed to be disconnected from the UAV. The UAV may include a recessed area in which the battery is inserted to connect to the UAV and to provide power to the UAV. The battery or another battery may be configured to be inserted into the recessed area to connect and power the UAV after the battery is disconnected from the UAV.

  The battery may be in a mobile battery storage unit, and the mobile battery storage unit is configured to collectively store a plurality of batteries capable of supplying power to the UAV when connected to the UAV. The mobile battery storage section is configured to allow simultaneous movement of the plurality of holding stations relative to the UAV landing zone.

  In another case, the invention may include the following content. A method of supplying energy to a UAV, the method comprising: providing the UAV connected to a battery configured to power the UAV; and with the assistance of a processor (1) Evaluating the reliability of the first backup energy source for the UAV and (2) the second backup energy source for the UAV; and with the aid of a processor, the reliability evaluated above. Selecting the first backup energy source or the second backup energy source on the basis of the first backup energy source for the UAV, the battery is for the UAV, and A second backup for the UAV, configured to power the UAV when disconnected; Energy source, if the battery is disconnected from the UAV, is configured to power supplied to the UAV.

  The method may further comprise supporting the UAV on the UAV landing zone of the energy supply station. The method may also include disconnecting the battery from the UAV using a battery replacement member of the energy supply station. The first backup energy source may be another battery mounted on the UAV. The lower charge condition may correspond to lower rated reliability for the first backup energy source. The second backup energy source may be a power unit mounted to an energy supply station supporting the UAV while the UAV is not in flight. The reliability may be assessed based on the consistency of the temporal power supplied by the power unit. Greater inconsistencies may correspond to lower rated reliability for the second backup energy source. If the first backup energy source has a higher rated reliability than the second backup energy source, then the first backup energy source may be selected, and the second backup energy source may be selected as the first backup energy source. The second backup energy source is selected if it has a higher rated reliability than the first backup energy source. If the first backup energy source is a predetermined source and the evaluated reliability of the first backup energy source does not fall below a predetermined threshold, then the first backup energy source is selected and the first backup energy source is selected. The second backup energy source is selected if the second backup energy source is a predetermined source and the evaluated reliability of the second backup energy source does not fall below a predetermined threshold.

  The method may further comprise the following. That is, disconnecting the second battery from the UAV using a battery replacement member, and while the battery is not connected to the UAV, the selected first backup energy source or second backup Powering the UAV using an energy source, and in the disconnecting step, the battery is configured not to power the UAV when disconnected from the UAV.

Other objects and features of the present invention will become apparent upon reference to the specification, claims, and drawings.
[Embedded by reference]

  All publications, patents, and patent applications mentioned herein are hereby incorporated by reference to the same extent as if each individual publication, patent or patent application was specifically and expressly incorporated by reference. Incorporated by reference.

  The novel features of the present invention are set forth with particularity in the appended claims. The several features and advantages of the present invention may be better understood with reference to the following detailed description, which describes several exemplary embodiments. In the illustrative embodiment, the principles of the present invention are utilized and the following content is described in the accompanying drawings.

1 shows a battery charging system, including UAVs and energy delivery stations used in the system. The detailed example of an energy supply station is shown. 7 shows a UAV, with a recessed area for at least one battery housing. FIG. 1 shows a schematic view of first and second battery systems. Fig. 6 shows a flow chart of a procedure for charging or replacing the battery on the UAV while supplying continuous power to the UAV. Indicates a complete energy supply station. An example of a landing guide in the landing zone of an energy supply station is shown. The detail drawing which UAV engages with a landing guide is shown. Indicates self-correction when the UAV lands on the landing guide. An example of a battery storing rotation type conveyance machine is shown. An example of a battery storage container is shown. Fig. 6 shows an example of a battery-stored rotary transport located below the landing zone. FIG. 16 shows several components of a possible mechanism for replacing the battery on the UAV. FIG. 7 illustrates one embodiment of a robotic arm clamp for replacing a battery of a UAV. The detailed example which concerns on the mechanism for replacing | exchanging the battery of UAV is shown. An example of a complete energy supply station is shown. A flowchart is provided pertaining to possible communication between the UAV and the energy supply station. 1 shows a drone according to an embodiment of the present invention. 1 illustrates a moveable object, including a carrier and a load, in accordance with an embodiment of the present invention. FIG. 5 is a schematic diagram using a block diagram of a system for controlling a moveable object, in accordance with an embodiment of the present invention.

  In one embodiment, the present invention provides a plurality of systems, devices and methods related to a mechanism for continuously powering an Unmanned Aerial Vehicle (UAV). The description UAV may apply to any other type of unmanned vehicle, or any other type of movable object. The description carrier can be applied to above ground, underground, underwater, water, aerospace or space based carriers. Providing continuous power to the UAV may include interaction with the energy supply station. The exchange may include docking between the energy supply station and the UAV. Multiple communications may occur between the UAV and the energy delivery station while the UAV is disconnected from the energy delivery station and / or while the UAV is connected to the energy delivery station. The UAV may be powered by a first rechargeable battery, which may be recharged while mounted to the UAV or may be removed from the UAV prior to recharging. In addition to the first rechargeable battery, the UAV may also have a second battery or a secondary power source. The energy delivery station may replace the first or second UAV mounted battery with another battery. The energy supply station may store multiple batteries. The energy supply station may be movable relative to the UAV. The energy supply station may supply power to the UAV while removing the first or second battery from the UAV so that the UAV is continuously connected to the power supply. The energy supply station may provide power to the UAV using the onboard battery or renewable energy source of the energy supply station.

  FIG. 1 shows an example of a UAV that may be associated with an energy supply station. The UAV may land on or take off from the energy supply station. An energy supply system 100 may be provided in accordance with one embodiment of the present invention. The energy supply system may comprise a UAV 101 and an energy supply station 102. The UAV may be adapted to identify and communicate with the energy supply station.

  The description of any UAV 101 herein may apply to any type of moveable object. The description UAV may apply to any type of unmanned movable object (e.g., capable of traversing the air, ground, water, or space). The UAV may be responsive to multiple commands from the remote controller. The remote controller may not be connected to the UAV, and the remote controller may be in wireless communication with the UAV from a distance. In some instances, the UAV may be able to operate autonomously or semi-autonomously. The UAV may be able to follow a set of programmed instructions. In some examples, the UAV may operate semi-autonomously by responding to one or more commands from the remote controller or may operate autonomously. For example, one or more commands from the remote controller may initiate a series of autonomous or semi-autonomous actions by the UAV according to one or more parameters.

  UAV 101 may be an air carrier. The UAV may have one or more propulsion units that may allow the UAV to move around in the air. One or more propulsion units move about with one or more, two or more, two or more, two or more, three or more, four or more, four or more, five or more, six or more degrees of freedom May make that possible. In some instances, the UAV may be able to rotate about one, two, three or more axes of rotation. The rotation axes may be orthogonal to one another. The multiple axes of rotation may remain orthogonal to one another during UAV flight. The plurality of rotation axes may include a pitch axis, a roll axis, and / or a yaw axis. The UAV may be movable along one or more dimensions. For example, the UAV may be able to move upward by the lift generated by one or more rotors. In some examples, the UAV may be movable along the Z-axis (which may be up with respect to the orientation of the UAV), the X-axis, and / or the Y-axis (which may be transverse). The UAV may be movable along one, two, or three axes, which may be orthogonal to one another.

  UAV 101 may be a rotorcraft. In some instances, the UAV may be a multi-rotor aircraft that may include multiple rotors. The plurality of rotors may be rotatable to generate UAV lift. The rotors may be propulsion units that may allow the UAV to move freely around the air. The plurality of rotors may rotate at the same speed and / or may generate the same amount of lift or thrust. Optionally, the plurality of rotors may rotate at a plurality of different speeds, thereby generating a plurality of different amounts of lift or thrust, and / or allow the UAV to rotate. In some examples, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, or more rotors may be provided to the UAV. The plurality of rotors may be arranged such that their rotational axes are parallel to one another. In some instances, the rotors may have multiple axes of rotation, which may be at any angle to one another, which may affect the movement of the UAV.

  FIG. 2 shows a detailed view of one possible embodiment of an energy supply system comprising a UAV 201 and an energy supply station 202. UAV 201 shown in FIG. 2 is an example of a UAV that may be part of an energy delivery system. The illustrated UAV may have a plurality of rotors 203. The plurality of rotors 203 may be connected to the body of the UAV 204, which may include at least one of a control unit, an inertial measurement unit (IMU), a processor, a battery, a power supply, and a plurality of other sensors. The plurality of rotors may be connected to the body via one or more arms or extension members that may branch from the central portion of the body. For example, one or more arms may extend radially from the central body of the UAV and may have a plurality of rotors at or near the ends of the arms.

  The UAV may be located by the landing pad 205 on the surface of the energy supply station. The landing pad may be configured to support the weight of the UAV when the UAV is not in flight. The landing pad may include one or more extension members that may extend from the UAV. The plurality of extension members of the landing platform may extend from one or more arms of the UAV or from a central body of the UAV. The plurality of extension members of the landing platform may extend from below the one or more rotors, or from near one or more rotors. The plurality of extension members may extend substantially vertically.

  The energy supply station 202 may be a battery station. The energy supply station may be a ground station. The energy supply station may be a battery change station or a battery exchange station. The energy supply station may be a battery recharging station. The energy supply station may be portable. The energy supply station may be portable by humans. The energy delivery station may be liftable by a human with one or both hands. The energy supply station may be reconfigurable or collapsible to be more portable.

  The energy supply station 202 may have a landing zone of the UAV 206. Any surface of the energy supply station may be adapted to include a landing zone. For example, the top surface of the energy supply station may form a landing zone. Optionally, one or more platforms may be provided as a landing zone for the UAV. The plurality of platforms may or may not include any of the plurality of sides, ceilings, or covers.

  The energy supply station 202 may further comprise a battery storage system. The battery storage system may be configured to store one or more batteries. A battery storage system may charge the one or more stored batteries. In the example shown in FIG. 2, the battery storage system 207 is shown below the landing zone 206. Another component of the energy delivery station may be a mechanism configured to remove the battery from the UAV and replace the removed battery with a fully or partially charged battery from the battery storage system.

  The energy supply station 202 may have an on-board power source 208. The on-board power supply may be a battery, a capacitor, a generator, a wind turbine, a water turbine or a solar generator. Power the UAV while the battery is being removed from the UAV so that continuous power is supplied to the UAV while the battery is being replaced with a fully or partially charged battery from the battery storage unit In order to do so, an on-board power supply may be used. Optionally, a non-mounted power supply may be used to power the on-board power supply or directly to the UAV. Examples of non-mounted power sources may include power grids, off-site renewable energy sources, or off-site energy storage facilities.

  The vertical position and / or velocity of the UAV may be controlled by maintaining and / or adjusting the power output to the one or more propulsion units of the UAV. For example, increasing the rotational speed of one or more rotor blades of the UAV may help the UAV increase altitude or cause it to occur at a higher speed. The thrust of the plurality of rotors may be increased by increasing the rotational speed of the one or more rotors. Decreasing the rotational speed of one or more UAV rotors may help the UAV reduce altitude or cause it to fall at a higher speed. By reducing the rotational speed of the one or more rotors, the thrust of the one or more rotors may be reduced. When the UAV takes off from an energy supply station or the like, the power supplied to the plurality of propulsion units may be increased from the previous landing condition. When the UAV lands at an energy delivery station or the like, the power delivered to the plurality of propulsion units may be reduced from the previous flight conditions. The UAV may be configured to take off and / or land there from the energy supply station in a substantially vertical direction.

  The lateral position and / or velocity of the UAV may be controlled by maintaining and / or adjusting the power to the one or more propulsion units of the UAV. The altitude of the UAV and the rotational speed of one or more rotors of the UAV can affect the lateral movement of the UAV. For example, the UAV may be tilted in that direction so that it moves in a particular direction, and the speeds of the UAV's rotors may affect the speed and / or trajectory of lateral movement. The lateral position and / or velocity of the UAV may be controlled by changing or maintaining the rotational velocity of one or more UAV rotors.

  The UAV 101 may be of multiple smaller dimensions. The UAV may be liftable and / or portable by humans. The UAV may be transportable by one hand with humans. The energy supply station may have a landing zone configured to provide space for the UAV to land. Optionally, the dimensions of the plurality of UAVs may not exceed the width of the energy supply station landing zone. Optionally, the dimensions of the plurality of UAVs may not exceed the length of the energy supply station landing zone.

  The UAV 101 may have a maximum dimension (length, width, height, diagonal, diameter, etc.) of up to 100 cm. In some instances, the largest dimensions are 1 mm, 5 mm, 1 cm, 3 cm, 5 cm, 10 cm, 12 cm, 15 cm, 20 cm, 25 cm, 30 cm, 35 cm, 40 cm, 45 cm, 50 cm, 55 cm, 60 cm, 65 cm, 70 cm, 75 cm, 80 cm, 85 cm, 90 cm, 95 cm, 100 cm, 120 cm, 130 cm, 140 cm, 150 cm, 160 cm, 170 cm, 180 cm, 190 cm, 190 cm, 200 cm, 220 cm, 250 cm, or 300 cm or less. Optionally, the largest dimension of the UAV may be greater than or equal to any value described herein. A UAV may have the largest dimension within the range of any two values described herein.

  The UAV 101 may be lightweight. For example, UAV is 1 mg, 5 mg, 10 mg, 50 mg, 100 mg, 1 g, 2 g, 3 g, 5 g, 7 g, 10 g, 12 g, 12 g, 15 g, 20 g, 25 g, 30 g, 40 g, 45 g, 50 g, 60 g, 70 g 80g, 90g, 100g, 120g, 150g, 250g, 300g, 350g, 400g, 450g, 500g, 600g, 700g, 800g, 900g, 1 kg, 1.1 kg, 1.2 kg, 1.3 kg, 1.4 kg , 1.5 kg, 1.7 kg, 2 kg, 2.2 kg, 2.5 kg, 3 kg, 3.5 kg, 4 kg, 4.5 kg, 5 kg, 5.5 kg, 6 kg, 6.5 kg, 7 kg, 7.5 kg, 8 kg , 8.5 kg, 9 kg, 9.5 kg, 10 kg, 11 kg, 12 kg, 13 kg, 14 kg, 15 g, may have 17kg or less weight 20 kg,. The UAV may have a weight greater than or equal to any of the values described herein. The UAV may have a weight that is within the range of any two values described herein.

  One or more components of the UAV may be powered by a battery. For example, the entire UAV may be powered by the battery, or only the propulsion unit, controller, communication unit, inertial measurement unit (IMU), and / or multiple sensors may be powered by the battery. A battery may refer to a pack consisting of a single battery or two or more batteries. Examples of batteries may include lithium ion batteries, alkaline batteries, nickel cadmium batteries, lead batteries, or nickel hydrogen batteries. The battery may be a disposable or rechargeable battery. The life of the battery (the time the battery powers the UAV before it needs to be recharged) may be different. The lifetime may be at least 1 minute, 5 minutes, 10 minutes, 15 minutes, 30 minutes, 45 minutes, 1 hour, 2 hours, 3 hours, 4 hours, 5 hours, or 10 hours. The battery life may have a duration greater than any of the values described herein. Battery life may have a duration that is within the range of any two values described herein.

  The UAV may have first and second batteries. The first battery may provide power to the propulsion unit and the power consuming unit. The power consuming unit may be a non-propelled unit. The power consuming unit may be one or more components capable of collecting and / or storing information. It may be desirable to provide the power consuming unit with continuous power for sustained information processing, acquisition, or storage. The power consuming unit may be one or more controllers (ie, control units) such as a communication unit, a navigation unit, an emitter (light or audio emitter), and / or a plurality of sensors. Examples of multiple sensors include, but are not limited to, multiple position sensors (multiple Global Positioning System (GPS) sensors, multiple mobile device transmitters, etc. that enable location triangulation), multiple visual sensors (such as multiple mobile device transmitters) Multiple imaging devices that can detect visible light, infrared light, or ultraviolet light, such as multiple cameras, multiple proximity sensors (multiple ultrasound sensors, lidars, multiple flight cameras, etc.), multiple inertial sensors (multiple Accelerometers, gyroscopes, inertial measurement units (IMUs), etc., altitude sensors, pressure sensors (pressure gauges, etc.), acoustic sensors (microphones, etc.) or A magnetic field sensor (multiple magnetometers, multiple electromagnetic sensors, etc.) may be included. Any suitable number and combination of sensors may be used, such as one, two, three, four, five or more sensors. Optionally, data may be received from a plurality of different types of sensors (such as 2, 3, 4, 5 or more types). Different types of sensors may measure different types of signals or information (position, orientation, velocity, acceleration, proximity, pressure, etc.) and / or different types of data to obtain You may use measurement technology. For example, sensors may be active sensors (such as sensors that generate and measure energy from their own source) and passive sensors (such as sensors that detect available energy) And any suitable combination of

  The second battery may be configured to supply power only to the power consuming unit. Any mention herein of a controller or IMU may apply to any type of power consuming unit and vice versa. Any mention herein of a controller and / or an IMU, or a battery that does not supply or supply a controller and / or an IMU may apply to a plurality of general or any particular type of power consuming unit . In the first mode, the UAV may operate in two modes, such as the first battery powering the propulsion unit and the energy consuming unit. In the second mode, the first battery may not supply power to the propulsion unit, and only the second battery may supply power to the energy consuming unit. The second mode may require the UAV to land. The second mode may be implemented when the propulsion unit is not in use. The first mode may be implemented while the first battery has sufficient charge to power the propulsion unit and the first battery is connected to the UAV.

  The battery may be connected to the UAV to power the UAV by electrical connection. Any mention herein of a battery may apply to one or more batteries. Where a battery pack may include one or more batteries, any mentioning of a battery may apply to the battery pack and vice versa. The plurality of batteries may be connected in series, in parallel, or any combination thereof. Electrical connections may be provided between the UAV and the battery or between components of the UAV and the battery. The battery electrical contacts may contact the UAV electrical contacts. The UAV may have a recessed area in its body that accommodates the first and / or second battery. FIG. 3 shows an example of a UAV 301 having a recessed area 302 configured to receive a first battery 303 and a recessed area 305 holding a second battery 306 in the body of the UAV 304. The first battery 303 may be configured to provide power to a propulsion unit and a power consuming unit, such as a controller and / or an inertial measurement unit (IMU). The second battery 306 may be configured to power at least one power consuming unit, such as a controller and an IMU. Optionally, the second battery may be configured to not supply power to the propulsion unit. The second battery may provide power to the power consuming unit.

  The plurality of recessed areas may have equal or unequal length, width and depth. Possible values for the length, width and depth of the recess areas are at least 1 mm, 5 mm, 1 cm, 3 cm, 5 cm, 10 cm, 12 cm, 15 cm, 20 cm, 25 cm, 30 cm, 35 cm, 40 cm It may be 45 cm, 50 cm, 55 cm, 60 cm, 65 cm, 70 cm, 75 cm, 80 cm, 85 cm, 90 cm, 95 cm or 100 cm. The recessed areas of the first and second batteries may be equal or unequal in size. The plurality of recessed areas may be configured to hold one or more batteries. The first battery may be configured to be inserted into the recess area and removed therefrom. The second battery may be configured to be inserted into the recess area and removed therefrom. Optionally, a second battery may be fitted inside the recess area and configured not to be easily removed from the recess area. The first battery may be configured to be replaced at the energy supply station. The second battery may be configured to remain in the recessed area while the UAV is landing at the energy delivery station.

  The plurality of recessed areas may include a plurality of electrical contacts for connecting the battery to the UAV power system. Additionally, the plurality of recessed areas may comprise a plurality of electrical connections for communicating with a sensor that may dynamically read and record the remaining charge of the battery. The plurality of recessed areas may include one or more electrical contacts that may be in electrical contact with the UAV mounted battery. A plurality of electrical contacts may be connected to the battery while the battery is inside the recessed area, and the contacts may be disconnected from the battery if the battery is removed.

  The UAV may comprise an on-board battery system which may consist of a first battery and a second battery. The first battery may be a main power source, and the second battery may be a backup power source. For example, while the first battery is not connected to the UAV, such as while the first battery is being removed for charging, the second battery (backup power supply) may supply power to the UAV. The first battery may provide power to the propulsion unit and the controller and / or the inertial measurement unit (IMU). The second battery may be configured to provide power to the controller and / or the IMU. The UAV may operate in two modes so that in a first mode, the first battery supplies power to the propulsion unit and the controller and / or the IMU. Further, in the first mode, the first battery may be electrically connected to the second battery such that the first battery can charge the second battery. The first battery may charge the second battery while the UAV is in flight or while the UAV is landing. In the second mode, the first battery may not supply power to the propulsion unit, and the second battery may supply power to the controller and / or the IMU and not to the propulsion unit. The second mode may require the UAV to land. During the second mode of operation, the first battery does not supply power to any system on the UAV, and while the second battery supplies continuous power to the controller and / or the IMU, The battery may be removed from the UAV.

  The UAV-equipped battery system may switch between the first and second modes. The system may switch from the first mode to the second mode prior to or upon removal of the first battery. The system may switch from the second mode back to the first mode when the first battery is connected to the UAV and is ready to power the UAV. Alternatively, the system may be switched from the first mode to the second mode even though the first battery is not removed from the UAV. For example, if the UAV lands and the propulsion system is off, the system may be switched to the second mode.

  FIG. 4 shows a schematic of a preferred UAV-mounted battery or power system. The system has a first battery 401 and a second battery 402, and any additional number of batteries may be provided. The first battery 401 may be a battery of higher voltage than the second battery 402. The first battery 401 may provide power directly to the propulsion system 403. Additionally, the first battery 401 may provide power to the power consuming unit 404 through an electrical path that includes the first diode 408. The first diode may allow current flow in only one direction, such as, for example, from the first battery 401 to the power consuming unit 404. A voltage regulator module (VRM) 406 may be disposed between the first battery 401 and the power consuming unit 404 in the circuit. The second battery 402 may be electrically connected to the power consumption unit 404. The second battery 402 may have a second diode 409 between the second battery 402 and the power consuming unit 404 in the electrical line. The electrical lines extending from the first diode 408 and the electrical lines extending from the second diode 409 may intersect at the intersection point 410 and a single electrical line may continue from the intersection point 410 to the power consuming unit 404. A switch 405 may be disposed between the second battery 402 and the second diode 409. During multiple operating situations, the switch 405 may remain closed.

  The first diode 408 and the second diode 409 may operate as a control system that switches between the first battery 401 and the second battery 402. For example, the first battery 401 may have a higher voltage than the second battery 402. In this case, the voltage at the first diode 408 and at a location in the circuit before the power consumption unit 404 may be higher than the voltage of the second battery. The second diode 409 does not allow the flow of current in the direction from the intersection point 410 to the second battery 402 so that no current may flow to the second battery 402. As long as the voltage of the first battery 401 remains higher than that of the second battery 402, only the first battery 401 supplies power to the power consuming unit 404. When the charge or voltage of the first battery is depleted, the voltage of the first battery 401 may decrease, so that the second battery 402 has more voltage than the depleted first battery. Will be able to supply. In this case, the second battery 402 supplies power to the power consumption unit 404. In some embodiments, the first diode may have a positive pole, which may be on the diode side connected to the first battery. The first diode may have a negative pole, which may be present at the end of the diode facing the power consumption unit. Optionally, the second diode may have a positive pole, which may be present at the end of the diode leading to the second battery. The second diode may have a negative pole, which may be present on the diode side facing the power consumption unit. This may result in unidirectional current flow through the diode.

  The circuit shown in FIG. 4 shows that while the first battery powers the propulsion system and the power consuming unit from the first mode, the second battery powers while the first battery power consuming unit does not power. It may be configured to automatically switch to a second mode of supplying power only to the consuming unit. In one example, the first battery may have a higher voltage than the second battery so that the first battery can supply a consistent voltage of 5.1 volts (V) to the power consuming unit. The second battery may have a voltage of 5V. The second battery may not be allowed to supply power to the power consuming unit while the first battery can supply 5.1 V voltage. For example, if the charge of the first battery is depleted and the first battery can no longer supply 5.1 V, for example, the first battery can supply 4.7 V at a specific charge level Only the second battery may supply more charge than the depleted first battery. In this case, the second battery may supply power to the power consuming unit. The procedure is reversed when the first battery is recharged. For example, when the first battery is recharged, the first battery may be able to supply 5.1 V of consistent power, and the system supplies power to the propulsion system and the power consumption unit. Meanwhile, the second battery may return to the situation where it is not necessary to power components on the UAV until the first battery is exhausted.

  If the UAV is not running, both the first battery 401 and the second battery 402 may be electrically disconnected from the system components of the UAV, so that if the UAV is not running, these batteries Power will not be supplied to multiple system components. The second battery 402 may be electrically disconnected from the system by opening the switch 405. Similarly, the first battery 401 may be electrically disconnected from the system by another switch not shown.

  In another embodiment, the system shown in FIG. 4 may function without multiple diodes. For example, in this case, the first battery may supply power to the propulsion unit 403 and the power consumption unit 404. In a first mode, switch 405 may be opened so that second battery 402 is electrically isolated from power consuming unit 404. In a first mode, the first battery 401 may provide power to both the propulsion unit 403 and the power consuming unit 404. The first battery may be at a higher voltage than the second battery, and the voltage regulator module 406 may be configured to reduce the voltage from the first battery before powering the controller and / or the IMU. May be included. In the second mode of operation, switch 405 may be closed so that the second battery is electrically connected to the power consuming unit.

  The system may have a charge control unit 407 between the first and second batteries. The charge control unit 407 may control the charging of the second battery by the first battery. In addition to the first and second batteries, a plurality of additional batteries may be included in the system. The plurality of additional batteries may be configured as a plurality of additional backup batteries. Multiple additional backup batteries may be used if both the first and second batteries are exhausted. The plurality of additional backup batteries may be configured to provide charging for the first and second batteries and / or the plurality of components on the UAV. The battery system described herein may provide continuous power to the UAV while the UAV is in operation (e.g., during flight or landing).

  In some examples, a communication link 411 may be provided between the first battery 401 and the power consuming unit 404. The power consuming unit in communication with the first battery may optionally be a controller. The first battery may optionally be an intelligent battery. Circuit control may occur. In some embodiments, the controller may query the first battery for its state of charge or the amount of power remaining in the battery. The first battery may be responsive to the controller to provide information that may be used to determine the state of charge of the first battery, or the amount of power remaining in the battery.

  The method of replacing the battery on the UAV by the energy supply station may include the following steps. The steps of landing the UAV on the energy delivery station; providing power to the UAV using the power unit so that the UAV remains powered during battery replacement; components of the energy delivery station From the UAV, removing the onboard battery from the UAV, replacing the onboard battery with another battery supplied to the energy supply station, connecting the other battery to the UAV, and from the energy supply station And a step of causing the UAV to take off. All or any one of these steps may be fully or partially automated.

  An example of a method of battery replacement with continuous power to the UAV is shown in the flowchart of FIG. The stages shown in FIG. 5 may occur in the order shown, or they may occur in a different order. With continuous power to the UAV, the method of battery replacement may include all the displayed steps or part of the displayed steps. First, a UAV may land on the landing zone of the energy supply station 501. After the UAV lands, the exhausted battery may be removed by a mechanism on the energy supply station 503. Prior to or at the time of removal of the depleted battery 502, power from either the backup power system with the UAV (such as a second battery with the UAV) or the on-board energy supply system may provide power to the UAV. When the depleted battery is removed, it may be stored in the battery storage unit. The battery storage unit may comprise a container for the battery, and the container may include a plurality of electrical connections configured to supply the battery with charge. As an example of a battery storage area, it may be a rotary carrier mounted with an energy supply station. The rotary transport may be configured to rotate to position the charged battery in order to carry away the exhausted battery and align it with a mechanism configured to install the charged battery on the UAV. In some instances, such a mechanism may be a robotic arm. The robotic arm transporting the charged battery to the UAV may be identical to the robotic arm removing the depleted battery from the UAV. After rotation of the carousel, the robotic arm may install a battery charged to the UAV 504. The backup power supply may be disconnected from the UAV 505 when the charged battery is fully installed and able to power the UAV. The final step may be to take off from the LZ with the UAV fully charged battery 506 installed.

  The UAV may be able to communicate with the energy supply station. For example, the UAV may provide information on the UAV battery status, multiple current flight status, current mission remaining time or distance, multiple battery specifications, battery temperatures, multiple UAV specifications, or flight plans to the energy supply station. May be sent. For low battery charge, the UAV may be instructed to land at the energy delivery station. Instruct the UAV to land at the energy delivery station if the battery charge is too low to allow the UAV to accommodate the time or distance of the UAV's current mission or the remaining UAV's flight plan May be done. Several UAV operating parameters may be considered, such as a predicted ratio of energy consumption or a current ratio of energy consumption. For example, the UAV may fly in a relatively "low power" mode where one or more sensors are not active, but the UAV is expected to use more sensors later in flight Good. The expected rate of increase in energy consumption may affect the expected depletion rate of battery charging, which is taken into account when determining whether a UAV needs to land at an energy delivery station May be done. Optionally, the UAV may be instructed to land at the energy supply station if the state of charge of the battery falls below a predetermined threshold.

  The UAV may identify the energy supply station landing zone by sensing the marks, for example, the marks may be convex patterns, concave patterns, images, symbols, decals, one dimensional, two dimensional, on the energy supply station landing zone. Or a three-dimensional barcode, a QR code (registered trademark), or a plurality of visible lights. The mark may indicate that the energy supply station has a plurality of available charged batteries. For example, the mark may be a light or a plurality of light bands, which may be turned on only if the energy supply station has a plurality of available charged batteries.

  The UAV may take off and land vertically in the energy supply station landing zone. The landing zone may include a plurality of recessed mating features for guiding the UAV during landing. Multiple mating mechanisms may reduce the need for accuracy in landing the UAV in the landing zone. Multiple indentation mechanisms may be configured to mate with multiple UAVs, or multiple mating features may be unique to a single UAV manufacturer, a single UAV machine, or one specific UAV May be there.

  Communication between the UAV and the energy delivery station may be used to place the UAV at the approximate location of the energy delivery station. Communication between the UAV and the energy delivery station may occur wirelessly. The UAV may use GPS or other localization software to locate the energy delivery station. GPS or other multiple location techniques may be used to get the UAV close to the energy delivery station. The plurality of wireless communications may place the UAV within range for sensing one or more portions of the plurality of energy delivery stations. For example, the UAV may be brought to the LOS (line-of-sight) of the energy supply station. The marker or markers on the landing zone may help to more accurately indicate the location of the energy supply station. The marker may serve as a confirmation of the energy supply station to which the UAV can land. Also, the plurality of markers may distinguish the energy supply station or the landing zone of the energy supply station from other objects or areas.

  The markers may be useful to indicate the landing position of the UAV on the energy supply station. The marker may be used as a reference marker, which may assist the UAV to navigate to the proper landing position of the energy supply station. In some instances, a plurality of markers may be provided that may assist in landing at the location where the UAV is desired. In some instances, it is desirable for the UAV to have a particular orientation when docked with the energy delivery station. In one example, the marker may include an asymmetric image or code that is recognizable by the UAV. The reference marker may indicate the orientation of the energy delivery station relative to the UAV. Thus, the UAV may be able to properly orient itself when landing at the energy supply station. The marker may also be able to indicate the distance of the energy supply station to the UAV. This may be used separately from or in combination with one or more other sensors of the UAV to determine the altitude of the UAV. For example, if the size of the reference marker is known, the distance from the UAV to the marker may be measured according to the size of the marker displayed on the plurality of sensors of the UAV.

  In one example, markers may be provided at specific locations with respect to the desired landing spot of the UAV on the energy supply station. This may be a specific location for the desired landing spot on the landing zone of the energy supply station. The UAV may be able to land very accurately on the landing zone. The markers may help guide the UAV to the desired exact spot. For example, the marker may be located 10 cm before the center of the desired landing point of the UAV. The UAV may use the markers to guide the UAV to the correct landing spot. In some instances, multiple markers may be provided. The desired landing spot may be between the plurality of markers. The UAV may use multiple markers to help orient the UAV and / or position its landings between multiple markers. The distance between the markers may help the UAV measure the distance to the landing zone of the UAV.

  Markers may be provided at any location of the energy supply station or landing zone. The markers may be placed at locations that are easily recognizable from above. In some examples, markers may be provided on the outer surface of the energy supply station. The marker may comprise a radio signal emitted by the energy supply station. The source of the signal may be from outside the energy supply station or from inside the energy supply station. Alternatively, the energy supply station may emit an infrared signal and / or an ultraviolet light signal, a radio signal or an audio signal.

  The markers may be located near where the UAV docks with the energy delivery station. In one example, from where the UAV lands at the energy delivery station, approximately 100 cm, 90 cm, 80 cm, 75 cm, 70 cm, 65 cm, 60 cm, 55 cm, 50 cm, 45 cm, 40 cm, 35 cm, 30 cm, 25 cm, 20 cm, 15 cm, 12 cm, 10 cm The markers may be positioned less than 8 cm, 7 cm, 6 cm, 5 cm, 4 cm, 3 cm, 2 cm or 1 cm.

  Data regarding detected markers may be provided to one or more processors. Multiple processors may be included in the UAV. Based on the detected information regarding the detected marker, the plurality of processors may generate command signals individually or collectively. The command signal may drive multiple propulsion units of the UAV. For example, if it is determined that the detected marker belongs to the energy supply station, a plurality of propulsion units may be driven to land the UAV on the energy supply station with the detected marker. The detected marker may indicate the charging status of the plurality of stored batteries at the energy supply station. For example, if the energy supply station has a fully charged available battery, the detected marker may provide a command from the processor to land the UAV. In another example, if the energy delivery station does not have an available battery charged, the detected marker may provide a command from the processor to continue moving to the next energy delivery station. Thus, in response to the detected marker, the UAV may be able to land autonomously or semi-autonomously. The UAV may be landable without receiving any commands or manual input from the user.

  In some embodiments, multiple sensors mounted on the UAV may be used to detect markers, and processing may occur on the UAV. Once the UAV confirms that the marker belongs to the energy delivery station, the UAV may be able to land itself at the energy delivery station without requiring further guidance or information from the energy delivery station.

  The energy supply station may include a marker and one or more connection components. The energy supply station may send information about its location to the UAV. The energy supply station may comprise a location unit capable of determining position information. The energy delivery station may receive information from the UAV regarding the location of the UAV and the status of the UAV-equipped battery. For example, coordinate information such as a plurality of UAV GPS coordinates may be provided to the energy delivery station. In another example, the UAV may communicate the remaining charge rate of the battery currently in use at the UAV. The energy supply station may comprise a communication unit capable of communicating with the UAV. The energy supply station may have a processor capable of identifying and / or calculating the location of the UAV. Furthermore, the energy supply station may have a processor capable of identifying and / or calculating the location of the next closest battery exchange station. For example, the UAV may communicate to the energy supply station that the battery with the current UAV has a remaining charge rate of 18%, and the processor of the energy supply station recharges the UAV. The distance to the next battery exchange station in the flight path of the UAV may be determined to determine if it should stop or continue to the next energy supply station.

  FIG. 6 shows a possible embodiment of the energy supply station. The energy supply station may have four basic components: battery replacement member 601, UAV landing zone 602, battery storage unit 603, and power supply 604. The battery replacement member may be a mechanical arm 601 that may be configured to remove the battery from the UAV and / or place the charged battery in the UAV. In some instances, the mechanical arm may both remove the battery from the UAV and place the charged battery in the UAV. Alternatively, different mechanical components may be used to remove the battery from the UAV and place the battery charged to the UAV. The mechanical arm may have at least one, two, three, four, five or six degrees of freedom. The mechanical arm may move autonomously or semi-autonomously.

  The UAV landing 602 zone may comprise a plurality of markers that may be uniquely recognized by the approaching UAV. The landing zone may be equipped with a passive landing guide 605. The plurality of passive landing guides may be configured to interact with components of the UAV as the UAV lands to guide the UAV to its final resting position. The UAV may include a landing that may be fitted to a passive landing guide, and the UAV may be guided to a final resting position. The UAV may include the surface on which the UAV can land. The UAV may be stationary on the surface, or all or most of the weight of the UAV may be supported by multiple passive landing guides.

  The battery storage unit 603 may store a plurality of batteries. The battery storage unit may simultaneously store a plurality of batteries and charge a plurality of stored batteries. The battery storage unit may move the plurality of batteries relative to one another. The battery storage unit may move the plurality of batteries relative to the UAV landing zone and / or the UAV on the landing zone. Multiple batteries may be moved simultaneously using a battery storage unit. When the UAV lands on the energy delivery station, a fully charged battery may be present where the mechanical arm 601 can install the battery in the UAV. For example, the mechanical arm may transport the depleted battery from the UAV to a specific location relative to the battery storage unit. The battery storage unit may receive a depleted battery. The battery storage unit may cause movement of the plurality of batteries such that different batteries (such as fully charged batteries) are moved to the place where the depleted battery is received. The mechanical arm may receive different batteries. In some examples, the movement may include rotation of the battery storage unit about an axis.

  The power source 604 may be a battery, connection to distributed power, or an onboard renewable energy source. Examples of the plurality of on-board renewable energy sources may include at least one wind turbine, a water turbine, or a solar generator. The power supply may provide power to the UAV while the UAV-equipped battery is being replaced with an alternative battery with more remaining charge. The power supply may provide power to the propulsion system and the controller and / or the IMU, or the power supply may provide power only to the controller / IMU or other power consuming unit. The power supply may provide continuous power to the UAV. Alternatively, continuous power may be supplied to the UAV from the backup power supply or the UAV-equipped battery. The UAV mounted backup power supply may operate in the same manner as the method shown in FIG. 4 so that the system may operate in the first and second modes. In a first mode, the first battery may provide power to the propulsion unit and the controller and / or the IMU. In the second mode, the UAV may land at the energy supply station and the second battery is controller while the first battery is removed for charging and replaced with a fully or partially charged battery And / or may power the IMU or other power consuming unit. The power system described herein may provide continuous power to one or more power consuming units onboard the UAV. Providing continuous power to these components would be advantageous as these components may have multiple settings and / or data storage that may be lost if they lose power. .

  The UAV landing zone of the energy supply station may be configured to include a passive landing guide. The UAV may have at least one protruding feature that can be mated with a corresponding cavity on the landing zone of the energy supply station. For example, the UAV may have four rounded conical stop members that can fit inside the four rounded conical recesses on the landing zone. The ejection mechanism may be a launch pad configured to support the weight of the UAV. FIG. 7 illustrates an example of the UAV 701 landing at the energy delivery station 702 such that the plurality of conical stop members 703 mate with the plurality of conical depressions 704 on the landing zone. In alternative embodiments, the stop member and the recess may comprise various other mating shapes. The stop member may be made of rubber, plastic, metal, wood or composite material. The stop member is 1 mm, 5 mm, 1 cm, 3 cm, 5 cm, 12 cm, 15 cm, 20 cm, 25 cm, 30 cm, 35 cm, 40 cm, 45 cm, 50 cm, 55 cm, 60 cm, 65 cm, 70 cm, 75 cm, 80 cm, 85 cm, 90 cm, It may have a height and width of 95 cm or 100 cm or less. The plurality of indentations may have corresponding plurality of dimensions to be adapted to fit on the stop member.

  In another example, the UAV may include a protrusion that does not fit perfectly into a recess on the landing strip. In this example, the UAV may have a mechanism that projects from the bottom of the UAV, which is designed to be smaller than the depressions on the landing zone. The protruding feature of the bottom of the UAV may fit into the recess. In a particular example of this configuration, the UAV may have a protruding rod and the landing zone may have a conical recess. On landing, the protruding rod may be rolled back to the bottom of the conical recess. For example, when the protruding rod strikes the side of the recess, gravity may cause the protruding rod to slide to the bottom of the recess. FIG. 8 shows a detailed side view (left) and a top view (right) according to a possible embodiment of a landing strip 801 with a UAV 802 docked. It shows how the projecting rod fits inside the conical recess 803. Optionally, the protruding rod may be the landing pad of a UAV. The plurality of protruding rods may support the weight of the UAV while the UAV is stationary on the landing zone. The plurality of indentations may support the weight of the plurality of projecting rods and / or the UAV while the UAV is stationary on the landing zone.

  Passive landing guides can reduce the need for high precision control of UAV landing procedures. The passive landing guides may be configured such that the UAV can be corrected if the station is approached in such a way that the UAV is installed away from the desired landing position. A passive landing guide may take the UAV to the desired location with the aid of gravity. FIG. 9 shows an example of how a passive landing guide can correct the UAV when the UAV approaches the landing position in an offset manner. In the example shown in FIG. 9, the UAV approaches the landing guide by turning to the right (1). The UAV partially mates with the passive landing guide, and after contact with the landing guide, the UAV may slide down to the correct location (2). This process of correcting the UAV to the correct landing position may rely on gravity and may not create the need for moving parts or additional mechanisms.

  The energy supply station may comprise a battery storage system. The battery storage system may be a rotary carrier. The plurality of batteries in the battery storage system may be fully charged, partially charged, or depleted of charge. A plurality of batteries may be connected to the power source to restore from a depleted or partially charged state to a fully charged state. The plurality of batteries may be identical in size, shape, and battery type (lithium ion, nickel cadmium, etc.). Alternatively, multiple different battery sizes, shapes or types may be accommodated. The battery storage system may be configured to store at least 2, 3, 4, 5, 6, 7, 8, 9, 10, 15, 20, 25, 30, 35, 40, 45 or 50 batteries. . In some embodiments, the battery system may store less than any of the number of batteries described. The battery system may store the number of batteries within the range of any two of the listed values.

  The battery storage system may comprise a plurality of individual ports for each battery. The plurality of ports may be movable relative to one another. Multiple ports may move simultaneously. The plurality of ports may rotate clockwise, counterclockwise, or both around the axis. The axis of rotation may be oriented horizontally (parallel to the support surface or ground, perpendicular to the direction of gravity, etc.), or vertically oriented (perpendicular to the support surface or ground, Etc. parallel to the direction of gravity). The plurality of ports may translate in any direction. Optionally, they may translate and rotate simultaneously. The plurality of ports may have a plurality of electrical connections connectable to a processor that measures the available charge of the battery, or the plurality of ports may be connected to a power source to charge the battery . The power source may be mounted or not mounted at the energy supply station. For example, the power source may be a generator, a rechargeable battery, a battery, a disposable battery, or a connection to a distributed power line. The energy supply station may be installed permanently or may be temporary. In the case of a temporary energy supply station, the station may be configured to be portable and may be carried away by the user.

  The plurality of stored batteries may move relative to one another. In one example, the plurality of batteries may move relative to one another in the rotary carrier. FIG. 10 shows an example of a possible battery carousel 1001 used in a battery storage system. The rotary transport shown in FIG. 10 can hold eight batteries 1002. Alternatively, the carousel may be selected to hold at least 4, 5, 6, 7, 8, 9, 10, 15, 20, 25, 30, 35, 40, 45 or 50 batteries. The rotary transporter may be configured to hold a battery that has fewer than the values described herein, or the rotary transporter may have any of the values described herein. It may be configured to hold battery numbers in the range of one value. The multiple batteries of the carousel may be identical in size, shape, voltage, and composition. Each battery may be stored in the compartment 1003. During installation and removal from the UAV, the battery may be slid into and out of the compartment. For example, the battery may be slid in and out laterally through the side openings of the compartments. The battery may be storable in the compartment during storage. The battery may be charged with the UAV installed, or the battery may be charged within the storage compartment of the battery storage system. The battery storage compartment may be configured to supply charge to the battery via the plurality of electrical contacts. FIG. 11 shows an example of a possible battery storage compartment 1101 having a plurality of electrical contacts 1102 configured to supply charge to the battery. The plurality of electrical contacts may be connected to a battery-free power supply 1103. The battery may be connected simultaneously to a meter that determines when the battery is fully charged. The container may provide sufficient power to charge or partially charge the stored battery. The battery storage compartment may be part of a rotary carrier or other battery storage unit. The battery storage compartment may be movable relative to other parts of the energy supply station.

  The battery rotary carrier 1001 may rotate about the shaft 1004. The rotary transport may rotate counterclockwise or clockwise. The carousel may be capable of rotating in either or both directions. The rotation may be driven by an actuator such as a motor. The actuator may receive a command signal that controls movement of the battery storage system from the on-board or off-board controller of the energy delivery station. The rotary transporter may be configured to be perpendicular to the base of the energy supply station 1005. For example, the length of the shaft may be parallel to the base of the energy delivery station. Alternatively, the rotary transport may be oriented parallel to the base of the energy supply station or at any other angle to the base of the energy supply station. FIG. 12 shows a possible embodiment of a complete energy supply station. FIG. 12 shows that the landing zone 1201 can be placed on top of the rotary transport 1202. The battery carousel may be partially or completely closed by the housing.

  The battery storage system may be driven to rotate by an actuator. The battery storage system may include a steering lock to prevent battery storage from rotating and lock the battery storage when needed to be locked. The steering lock may be positioned along the bottom, top, or sides of the carousel.

  The energy supply station may comprise a mechanism configured to move the plurality of batteries. The mechanism may be an automatic battery changer. The mechanism may be a robotic arm, an actuator or a pulley. The mechanism may be a mechanical elevator. In one embodiment, the mechanism configured to move the plurality of batteries may be a robotic arm. The robotic arm may have at least two degrees of freedom. For example, a robot arm having two degrees of freedom may be movable (1) horizontally and (2) vertically. The up and down movement may be realized by a linear actuator or any other type of actuator. Horizontal movement may be realized by a rack and pinion mechanism driven by an actuator. Horizontal motion may be linear motion. A horizontal actuator may be mounted on the vertical motion actuator so that the robot arm can move horizontally next to the vertical direction. Optionally, the robotic arm may allow the battery to move vertically and / or horizontally without causing rotation of the battery. The battery may be translated without being rotated by the robotic arm. In alternative embodiments, the robotic arm may allow rotation or change of battery orientation.

  The mechanism configured to move the plurality of batteries may comprise an end member adapted to attach to the battery to be removed from the UAV. For example, the end member may be a magnet, a hook, or a suction device. In a preferred embodiment, the end member may be a clamp. Clamps may be placed at the front and back of the module so that the battery can be tightened or released after the robot arm is advanced or retracted. The fastening movement may be driven by the steering gear and coupling system. The clamp may adhere to the battery by pressing the battery between the two sides of the clamp at a pressure sufficient to hold the battery. Alternatively, the battery and clamp may be provided with complementary mating features. Examples of complementary mating mechanisms may be pegs and holes. A similar mating mechanism may be used to hold multiple batteries in the battery storage unit.

  FIG. 13 shows a schematic view of a possible robot arm. The robotic arm may be lifted by the post 1301 from the base of the energy delivery station. The robotic arm may be configured to move up and down along the post. The robot arm may move up and down autonomously or semi-autonomously. The robotic arm may be attached to the post via a secondary rail 1302, and the post may be configured to advance and reverse on the secondary rail. The robotic arm may advance and reverse autonomously or semi-autonomously. The third feature of the robotic arm may be an end clamp 1303. The end clamp may have a C-shaped opening that can open towards the embedded battery of the docked UAV. The end clamps can be opened and closed and attached to the battery.

  FIG. 14 shows a detailed view according to one embodiment of a robotic arm. The example shown in FIG. 14 shows a clamp 1401 mounted on a rack and pinion mechanism 1402. The clamp may be horizontally oriented such that the ends of the clamp surround the sides of the battery. The clamp may include a rotatable portion at the rear portion 1403 to move the ends of the clamp 1404 closer together or farther apart. The rear control portion may rotate with the aid of the actuatable actuator in response to a command signal from the on-board or off-board controller of the energy delivery station.

  FIG. 15 provides a complete view of a robotic arm including a clamp 1501 mounted to a rack and pinion mechanism 1502. An assembly comprising a clamp and a rack and pinion supported on an actuator 1503 is configured to move the assembly in a vertical up and down path. In addition to vertical movement, the entire assembly may be rotated clockwise or counterclockwise about pivot point 1504. The pivot point may be oriented such that the entire assembly is rotatable about a vertical axis of rotation. This may allow the assembly to change orientation. In some instances, the assembly may rotate about a limited range. In some instances, the robotic arm may not rotate about an axis and may be rotationally fixed.

  The UAV may be connected to a backup power source before or during removal of the battery from the UAV by a mechanism configured to move multiple batteries so that continuous power is supplied to the UAV during the battery replacement procedure. . The backup power source may be a battery or UAV mounted renewable energy generating power source. Alternatively, the backup power supply may be a connection to distributed power by electrical lines (such as a power supply grid), a battery, or a renewable energy source mounted on an energy supply station. The backup power supply may supply power to the UAV through an electrical connection. The backup power supply may provide power to the UAV before, during and after the first battery is disconnected from the UAV. The backup power supply may have a higher level of charge or available voltage than the battery removed or disconnected from the UAV during the battery replacement procedure.

  The system may include two possible backup power supplies so that the first backup power supply may be a battery and the second backup power supply may be a renewable energy generator. The backup power supply may be configured to provide power to the UAV before, during, and after the first battery is disconnected from the UAV. The processor on the energy delivery station or on the UAV may instruct the system whether to use the first backup power supply or the second backup power supply based on the reliability evaluation. The first backup power source may be a UAV mounted battery. The reliability of the first energy source may be proportional to the remaining charge of the battery. For example, if the remaining charge of the battery is below a predetermined threshold, the battery may be considered to have low reliability. The second backup power source may be a power source mounted on the energy supply station. The second backup power source may be a battery. The reliability of the second energy source may be proportional to the remaining charge of the battery. Alternatively, the second backup power source may be a renewable energy generator. If the second backup power source is a renewable energy generator, the reliability of the second backup power source may be proportional to the consistency of the power source. Power supply consistency may correspond to power generation provided by the source at fixed time intervals. For example, if the backup power source is a solar energy generator, the processor may determine that the power source has high reliability on sunny days and low reliability during multiple cloudy situations or nights. In another example, if the backup power source is a wind turbine, the processor may determine that the power source has high reliability in constant high wind conditions and low reliability on windless days .

  The processor may instruct the energy supply system and / or the UAV to supply power to the UAV using a more reliable power source. Alternatively, the processor may be programmed to supply power to the UAV using a predetermined, predefined backup power supply. Using a default backup power supply may be conditioned on the default power supply having a reliability that exceeds a predetermined threshold. For example, as a result of the first backup power supply having a reliability higher than a predetermined threshold, the first backup power supply may be the default backup power supply, which may be selected to provide backup power to the UAV. A second backup power supply may be used if the default backup power supply has a reliability lower than a predetermined threshold. During the battery replacement procedure, the first or second backup power supply may provide power to the UAV so that the UAV is continuously powered, including when the battery is not connected to the UAV. The first battery may be disconnected from the UAV using a battery replacement member. The first battery may be configured to not supply power to the UAV while disconnected from the UAV. A backup power (or energy) source selected by the processor may supply power to the UAV while the first battery is disconnected from the UAV.

  FIG. 16 shows a complete energy delivery station assembly that includes a landing zone 1601, a battery storage system 1602, and a robotic arm 1603. In the embodiment shown in FIG. 16, the battery storage system is below the landing zone and the robot arm is adjacent to the battery storage system and the landing zone so that the robot arm is in both areas of the energy delivery station. It is adapted to access. While performing the battery replacement procedure, the robotic arm may move vertically between the UAV landing zone and the battery storage system. Optionally, a notch or opening 1604 may be provided in the UAV landing zone, thereby allowing the robotic arm and / or battery to traverse the area between the UAV landing zone and the battery storage system.

  The UAV may locate the energy supply station from the air. Having located the energy delivery station, the UAV may communicate with the energy delivery station to determine if the UAV should approach and land on the energy delivery station to initiate a battery replacement procedure. If the UAV docks to the landing zone of the energy supply station, a battery life reloading procedure may be initiated. Reloading the battery life of the UAV may include raising the overall battery charge state for the UAV. It consists of (1) recharging the existing battery while the battery is installed in the UAV, (2) removing the existing battery from the UAV and recharging the existing battery not installed in the UAV, It may include connecting an existing battery back to the UAV, or (3) removing the existing battery from the UAV, taking a new battery with a higher state of charge, and connecting the new battery to the UAV. A landing zone docked UAV may be in communication with a processor on the energy delivery station. Alternatively, the UAV may be in remote communication with the processor not equipped with the energy supply station. The processor may communicate with sensors in contact with the battery to determine the remaining charge of the battery currently in use on the UAV. The remaining charge of the battery may be sensed by a voltmeter. Based on the percentage of remaining charge of the battery, the processor may start responding, which may replace the battery with a fully charged battery from the storage system or charge the current battery May be included. The decision to charge or replace the UAV-equipped battery may be based on a percentage of the remaining charge threshold. The threshold may be 50%, 40%, 30%, 20%, 10% or 5% of the remaining charge. The threshold may be fixed or variable as a function, such as battery age, battery type, multiple flight conditions, ambient temperature, or distance to the next energy delivery station. After determining the optimal response, battery replacement or charging may occur at the energy delivery station. Once battery replacement or charging is complete, the processor may indicate that the UAV can be taken off of the landing zone.

  FIG. 17 shows a flowchart outlining the decision process performed individually or collectively by one or more processors when the UAV approaches the landing zone. The UAV may communicate with the energy delivery station if the UAV detects the energy delivery station near itself. The UAV may communicate 1701 multiple variables to the energy delivery station such as flight time, flight distance, time since last charge, or remaining distance of the mission. Based on this information, the processors, which may or may not be on the energy delivery station, may instruct 1702 the UAV to land on the energy delivery station for further evaluation. Once the UAV docks to the LZ, the energy delivery station may measure 1703 the remaining charge of the battery. If the charge amount exceeds a predetermined threshold, the energy supply station may supply 1704 the battery currently installed in the UAV. If the battery is below the threshold charging rate, the energy delivery station may initiate a battery replacement procedure to replace the UAV-equipped battery with a fully or partially charged battery from the battery storage system 1705.

  The instructions to replace or charge the UAV-equipped battery may be based entirely on the remaining charge of the battery relative to a predetermined threshold, or the instructions may be based on one or more other factors. For example, the current charge of multiple batteries in a battery storage system may affect multiple commands. For example, the number of available batteries in battery storage can affect multiple instructions. If no battery is available, the onboard battery may be charged regardless of the state of charge. If only a single battery is available, the state of charge of the onboard battery may be compared to a single battery supplied by the battery storage system. The battery charge of the battery storage may affect the instruction to replace or charge the battery, so that if the energy delivery station only has a plurality of partially charged batteries in the storage system, the processor Instead of replacing the battery with a partially charged battery, instructions may be given to charge the UAV-equipped battery. In other instances, the time taken to replace the battery may be considered relative to the time taken to charge the battery. The decision to replace the battery or charge the battery may be selected to optimize the duration. Other factors that may affect the outcome of the instruction from the processor are the number of other UAVs detected nearby by the energy supply station, the mission of the UAV landed at the energy supply station, and / or multiple current Flight conditions (backwind, afterwind, temperature etc).

  The battery replacement procedure may use a robotic arm mechanism. The first step in the procedure may be moving the robotic arm vertically so that the robotic arm may be aligned with the embedded battery storage. The embedded battery depot may be the location of the battery removed from the UAV. The robotic arm may then move horizontally to approach the battery being removed from the UAV. When the robot arm is close enough to the battery to be removed from the UAV, the clamp may be opened and closed to attach to the battery. Once the robotic arm is attached to the battery, the arm may be retracted horizontally from the UAV and moved vertically to align with an empty storage bin in the battery storage system. The robotic arm may place the exhausted battery removed from the UAV in the empty storage of the battery storage system. The battery storage system may then rotate so that the charged or partially charged battery aligns with the robot arm. To remove the charged or partially charged battery from the battery storage system, the robotic arm may repeat the steps used to remove the battery from the UAV. After the robotic arm has engaged the charged or partially charged battery, the robotic arm may move vertically to align with the embedded battery compartment of the UAV. The robotic arm may then be moved horizontally to press the charged or partially charged battery against the embedded battery mounted on the UAV. Once the battery is fitted into the embedded battery storage, the robotic arm may then release the clamp on the battery and retract from the UAV. After the robot arm retracts, the UAV may take off vertically from the landing zone and continue its mission.

  The multiple systems, devices, and methods described herein may be applied to a variety of moveable objects. As mentioned above, any description of an air carrier such as a UAV applies to any moveable object and may be used for any moveable object. Any mention of an air carrier may in particular apply to multiple UAVs. The movable object according to the present invention may be air (fixed-wing aircraft, rotary-wing aircraft, or an aircraft having none of a plurality of fixed wings or a plurality of rotary wings), underwater (such as a ship or submarine), ground (car, truck) , Motor vehicles such as buses, small trucks, motorcycles, bicycles; movable structures or frames such as control rods or fishing rods; or trains), underground (such as subways), space (space planes, satellites, space probes, etc. Or any combination of these environments may be configured to move within any suitable environment. The moveable object may be a transporter, such as the transporters described elsewhere herein. In some embodiments, the moveable object can be carried by or taken off from a living being, such as a human or an animal. Suitable animals may include birds, canines, felines, equine animals, bovine animals, sheep, pigs, oranges, rodents, or insects.

  The movable object may be freely moveable in the environment with six degrees of freedom (eg, three translational degrees of freedom and three rotation degrees of freedom). Alternatively, the movement of the moveable object may be constrained to one or more degrees of freedom, such as a predetermined path, track or orientation. The movement may be actuated by any suitable actuation mechanism, such as an engine or a motor. The actuation mechanism of the movable object may be powered by any suitable energy source, such as electrical energy, magnetic energy, solar energy, wind energy, gravity energy, chemical energy, nuclear energy, or any suitable combination of these. . Movable objects may be self-propelled through the propulsion system as described elsewhere herein. Optionally, the propulsion system can operate optimally with an energy source such as electrical energy, magnetic energy, solar energy, wind energy, gravity energy, chemical energy, nuclear energy, or any suitable combination of these. . Alternatively, the moveable object may be carried by a living being.

  In some instances, the moveable object may be an air carrier. For example, a plurality of air carriers may be fixed wing aircraft (airplanes, multiple gliders, etc.), rotary wing aircraft (plural helicopters, rotary wing aircraft etc.), aircraft with both fixed wings and rotors, or they An aircraft that does not have anything (a plurality of small airships, a plurality of hot air balloons, etc.). Air carriers can be self-propelled as they are self-propelled via air. A self-propelled air vehicle can utilize a propulsion system such as a propulsion system that includes one or more engines, motors, wheels, axles, magnets, rotors, propellers, blades, nozzles, or any suitable combination of these. . In some instances, a propulsion system may be used to take off, land on, maintain its current position and / or orientation (such as hovering), change orientation, and / or position relative to a moveable object. It can be changed.

  The moveable object may be controlled remotely by a user, or locally by an occupant in or on the moveable object. Movable objects may be remotely controlled by occupants in separate vehicles. In some embodiments, the moveable object is an unmanned moveable object such as a UAV. An unmanned movable object such as a UAV may not have an occupant mounted on the movable object. The moveable object may be controlled by a human or an autonomous control system (such as a computer control system), or any suitable combination of these. The moveable object may be an autonomous or semi-autonomous robot, such as a robot configured with artificial intelligence.

  The moveable object may have any of a plurality of suitable sizes and / or dimensions. In some embodiments, the movable object may be sized and / or sized to have a crew member within or on the transporter. Alternatively, the moveable object may be smaller in size and / or dimensions than may have a crew member on or in the transporter. The moveable object may be of a size and / or dimensions suitable for being lifted or carried by a human. Alternatively, the moveable object may be larger than a size and / or dimensions suitable for being lifted or carried by a human. In some examples, the movable object may have maximum dimensions (length, width, height, diameter, diagonal, etc.) of about 2 cm, 5 cm, 10 cm, 50 cm, 1 m, 2 m, 5 m, or 10 m or less . The largest dimension may be about 2 cm, 5 cm, 10 cm, 50 cm, 1 m, 2 m, 5 m, or 10 m or more. For example, the distance between the shafts of the plurality of opposing rotors of the movable object may be less than or equal to about 2 cm, 5 cm, 10 cm, 50 cm, 1 m, 2 m, 5 m, or 10 m. Alternatively, the distance between the shafts of the opposed rotors may be about 2 cm, 5 cm, 10 cm, 50 cm, 1 m, 2 m, 5 m or 10 m or more.

In some embodiments, the moveable object may have a volume less than 100 cm × 100 cm × 100 cm, a volume less than 50 cm × 50 cm × 30 cm, or a volume less than 5 cm × 5 cm × 3 cm. The total volume of movable objects is about 1 cm ³ , 2 cm ³ , 5 cm ³ , 10 cm ³ , 20 cm ³ , 30 cm ³ , 40 cm ³ , 50 cm ³ , 60 cm ³ , 70 cm ³ , 80 cm ³ , 90 cm ³ , 100 cm ³ , 150 cm ³ , ^{200cm 3, 300cm 3, 500cm 3} , 750cm 3, 1000cm 3, 5000cm 3, 10,000cm 3, 100,000cm 3, 1m 3 or may be at 10 m ³ or less. Conversely, the total volume of the movable object is about 1 cm ³ , 2 cm ³ , 5 cm ³ , 10 cm ³ , 20 cm ³ , 30 cm ³ , 40 cm ³ , 50 cm ³ , 60 cm ³ , 70 cm ³ , 80 cm ³ , 90 cm ³ , 100 cm ³ , ^{150cm 3, 200cm 3, 300cm 3} , 500cm 3, 750cm 3, 1000cm 3, 5000cm 3, 10,000cm 3, may be at 100,000 ^3, 1 m ³ or 10 m ³ or more.

In some embodiments, the movable object is about ^{32,000cm 2, 20,000cm 2, 10,000cm 2} , 1,000cm 2, 500cm 2, 100cm 2, 50cm 2, 10cm 2 , or 5 cm ² or less of Foot, It may have a print (which may refer to the cross-sectional area enclosed by the moveable object). Conversely, ^{footprint, 32,000cm 2, 20,000cm 2, 10,000cm} 2, 1,000cm 2, 500cm 2, 100cm 2, 50cm 2, 10cm 2, or may be at 5 cm ² or more.

  In some instances, the moveable object may have a weight of up to 1000 kg. The weight of the movable object is about 1000 kg, 750 kg, 500 kg, 200 kg, 150 kg, 100 kg, 80 kg, 70 kg, 60 kg, 50 kg, 45 kg, 40 kg, 35 kg, 30 kg, 25 kg, 20 kg, 15 kg, 12 kg, 10 kg, 9 kg, 8 kg, It may be 7 kg, 6 kg, 5 kg, 4 kg, 3 kg, 2 kg, 1 kg, 0.5 kg, 0.1 kg, 0.05 kg, or 0.01 kg or less. Conversely, the weight is about 1000 kg, 750 kg, 500 kg, 200 kg, 150 kg, 100 kg, 80 kg, 70 kg, 60 kg, 50 kg, 45 kg, 40 kg, 35 kg, 30 kg, 25 kg, 20 kg, 15 kg, 12 kg, 10 kg, 9 kg, 8 kg 7 kg, 6 kg, 5 kg, 4 kg, 3 kg, 2 kg, 1 kg, 0.5 kg, 0.1 kg, 0.05 kg, or 0.01 kg or more.

  In some embodiments, the moveable object may be small compared to the load carried by the moveable object. The load may include a load and / or carrier, as described in more detail elsewhere herein. In some embodiments, the ratio of the weight of the moveable object to the weight of the load may be greater than, less than or equal to about 1: 1. In some examples, the ratio of the weight of the moveable object to the weight of the load may be greater than, less than, or equal to about 1: 1. Optionally, the ratio of carrier weight to load weight may be greater than, less than or equal to about 1: 1. If desired, the ratio of the weight of the movable object to the weight of the load may be less than 1: 2, 1: 3, 1: 4, 1: 5, 1:10, or much less . Conversely, the ratio of the weight of the movable object to the weight of the load may be more than 2: 1, 3: 1, 4: 1, 5: 1, 10: 1 or even more.

  In some embodiments, movable objects may have low energy consumption. For example, moveable objects may use less than or about 5 w / h, 4 w / h, 3 w / h, 2 w / h, 1 w / h or less. In some instances, the carrier of the movable object may have a low energy consumption. For example, the carrier may be used in amounts less than or less than about 5 w / h, 4 w / h, 3 w / h, 2 w / h, 1 w / h. Optionally, the payload of movable objects may have low energy consumption, for example about 5 w / h, 4 w / h, 3 w / h, 2 w / h, less than 1 w / h, or less Amount.

  FIG. 18 illustrates an unmanned aerial vehicle (UAV) 1800 in accordance with embodiments of the present invention. The UAV may be an example of a moveable object as described herein. The UAV 1800 may include a propulsion system having four rotors 1802, 1804, 1806 and 1808. Any number of rotors may be provided (1, 2, 3, 4, 5, 6, or more, etc.). The drone rotors, rotor assemblies, or other propulsion systems allow the drone to hover or maintain position, change direction, and / or change location with the drone. Good. The distance between the shafts of the plurality of opposing rotors may be any suitable length 410. For example, the length 1810 may be 2 m or less, or 5 m or less. In some embodiments, the length 1810 can be in the range of 40 cm to 1 m, 10 cm to 2 m, or 5 cm to 5 m. The description of a UAV herein may apply to movable objects, such as different types of movable objects, and vice versa. The UAV may use the assisted takeoff system or method described herein.

  In some embodiments, the moveable object may be configured to carry a load. The load may include one or more passengers, cargo, devices, instruments, and the like. The load may be provided in a housing. The housing may be separate from the housing of the movable object or may be part of the housing for the movable object. Alternatively, if the moveable object does not have a housing, the load may be provided with the housing. Alternatively, multiple parts of the load or the entire load may be provided without the housing. The load may be rigidly fixed to the moveable object. Optionally, the load may be movable (such as translatable or rotatable relative to the movable object) relative to the movable object. As described elsewhere herein, the load may include a load and / or a carrier.

  In some embodiments, movement of the moveable object, the carrier, and the fixed reference system (ambient environment) of the load and / or relative to each other may be controlled by the terminal. The terminal may be a remote control device at a location remote from the moveable object, the carrier, and / or the load. The terminal may be located on or attached to the support platform. Alternatively, the terminal may be a handheld or wearable device. For example, the terminal may include a smartphone, a tablet, a laptop, a computer, glasses, gloves, a helmet, a microphone, or any suitable combination thereof. The terminal may include a user interface such as a keyboard, mouse, joystick, touch screen, or display. It can interact with the terminal using any suitable user input such as manually input multiple commands, voice control, gesture control, or position control (movement of the terminal, location, tilt, etc.).

  The terminal can be used to control any suitable state of the moveable object, the carrier and / or the load. For example, the terminal may be used to control the position and / or orientation of the moveable object, the carrier, and / or the load relative to one another with respect to a fixed reference system and / or each other. In some embodiments, the terminal can be used to control individual multiple elements of the moveable object, the carrier, and / or the load. As such, there may be an actuation assembly of the carrier, a load sensor, or a load emitter. The terminal may include a wireless communication device adapted to communicate with one or more movable objects, carriers, or payloads.

  The terminal may include a suitable display unit for displaying information of the movable object, the carrier and / or the load. For example, the terminal may be configured to display information on the position of the moveable object, the carrier, and / or the load, translational velocity, translational acceleration, orientation, angular velocity, angular acceleration, or any suitable combination thereof. In some embodiments, the terminal displays information provided by the load, such as data provided by the functional load (e.g., multiple images recorded by a camera or other image capturing device). obtain.

  Optionally, the same terminal may control both the movable object, the carrier and / or the load, or the state of the movable object, the carrier and / or the load, and also the movable object, the carrier and / or the load. Information from objects may be received and / or displayed. For example, the terminal may control the position of the load relative to the environment while displaying image data captured by the load or information about the position of the load. Alternatively, different terminals may be used for different functions. For example, while the first terminal controls movement or status of the moveable object, carrier, and / or load, the second terminal receives and / or receives information from the moveable object, carrier, and / or load. Or may be displayed. For example, a first terminal may be used to control the position of the load relative to the environment, while the second terminal displays image data captured by the load. Various communication modes may be used between the movable object and the integrated terminal, or between the movable object and the plurality of terminals. The integrated terminal performs both control of movable objects and reception of data. Multiple terminals both control the movable object and receive data. For example, at least two different communication modes may be formed between the movable object and the terminal, the terminal performing both control of the movable object and reception of data from the movable object.

  FIG. 19 shows a moveable object 1900 that includes a carrier 1902 and a load 1904, according to embodiments. Although moveable object 1900 is depicted as an aircraft, this depiction is not intended to be limiting, and any suitable type of moveable object may be used, as described hereinabove. Those skilled in the art will appreciate that any of the embodiments described in the context of multiple aircraft systems are applicable to any suitable moveable object (such as a UAV). In some examples, a load 1904 may be provided to the moveable object 1900 without the need for the carrier 1902. Movable object 1900 may include a propulsion mechanism 1906, a sensing system 1908, and a communication system 1910.

  The plurality of propulsion mechanisms 1906 may include one or more rotors, propellers, blades, engines, motors, wheels, axles, magnets, or nozzles as described above. The moveable object may have one or more, two or more, two or more, three or more, or four or more than four propulsion mechanisms. The multiple propulsion mechanisms may all be of the same type. Alternatively, one or more propulsion mechanisms may be multiple different types of propulsion mechanisms. The plurality of propulsion mechanisms 1906 may be mounted to the moveable object 1900 using any suitable means, such as a support element (such as a drive shaft) as described elsewhere herein. The plurality of propulsion mechanisms 1906 may be mounted to any suitable portion of the moveable object 1900, such as top, bottom, front, back, sides, or any suitable combination thereof.

  In some embodiments, the plurality of propulsion mechanisms 1906 do not require horizontal movement of the moveable object 1800 (do not move the runway), and the moveable object 1900 takes off vertically from the plane or perpendicular to the plane You may be able to land in the direction. Optionally, the plurality of propulsion mechanisms 1906 are moveable to allow the moveable object 1900 to hover in the air at a particular position and / or orientation. One or more propulsion mechanisms 1900 may be controlled independently of other propulsion mechanisms. Alternatively, multiple propulsion mechanisms 1900 may be configured to be controlled simultaneously. For example, the moveable object 1900 may have a plurality of horizontally oriented rotors capable of providing lift and / or thrust to the moveable object. A plurality of horizontally oriented rotors may be actuated to provide the movable object 1900 with vertical takeoff, vertical landing and hovering functions. In some embodiments, one or more horizontally oriented rotors may rotate in a clockwise direction, while one or more horizontal rotors rotate in a counterclockwise direction. You may For example, the number of clockwise rotors may be equal to the number of counterclockwise rotors. The rotational speed of each of the plurality of horizontally oriented rotors may be independently different to control the lift and / or thrust generated by each rotor, and thereby the spatial nature of movable object 1800 Adjust placement, velocity, and / or acceleration (for a maximum of 3 translational degrees of freedom and a maximum of 3 rotational degrees of freedom).

  The sensing system 1908 may include one or more sensors capable of sensing the spatial arrangement, velocity, and / or acceleration of the moveable object 1900 (such as for a maximum of 3 translational degrees of freedom and 3 maximum degrees of rotational freedom). The one or more sensors may include multiple global positioning system (GPS) sensors, multiple motion sensors, multiple inertial sensors, multiple proximity sensors, or multiple image sensors. The sensing data provided by the sensing system 1908 can be used to control the spatial arrangement, velocity, and / or orientation of the moveable object 1900 (e.g., using suitable processing units and / or control modules described below). Alternatively, using sensing system 1908, data about the environment surrounding movable objects, such as weather conditions, proximity to potential obstacles, locations of geographic features, locations of artificial structures, etc. Can provide

  Communication system 1910 enables communication with terminal 1912 having communication system 1914 via wireless signal 1916. Communication system 1910, 1914 may include any number of transmitters, receivers, and / or transceivers suitable for wireless communication. The communication may be a one way communication in which data may be transmitted in one direction only. For example, one-way communication may involve only the movable object 1900 sending data to the terminal 1912 or vice versa. Data may be transmitted from one or more transmitters of communication system 1910 to one or more receivers of communication system 1912 or vice versa. Alternatively, the communication may be a two-way communication such that data may be transmitted in both directions between the moveable object 1900 and the terminal 1912. Two-way communication may involve transmitting data from one or more transmitters of communication system 1910 to one or more receivers of communication system 1914 or vice versa.

  In some embodiments, the terminal 1912 can provide control data for one or more movable objects 1900, carriers 1902, and payloads 1904, and one or more movable objects 1900, carriers 1902, and payloads Information may be received from 1904 (eg, location and / or movement information of the movable object, carrier or load, data sensed by the load such as image data captured by the load camera, etc.). In some instances, the control data from the terminal may be commands for multiple relative positions, multiple movements, multiple actuations, or multiple controls of the moveable object, carrier and / or load. May be included. For example, control data may result in corrections (via control of multiple propulsion mechanisms 1906) as to the location and / or orientation of the moveable object, or movement of the load relative to the moveable object (via control of the carrier 1902) . Control data from the terminal may provide control of the load. As such, control the operation of the camera or other image capturing device (capture multiple still or moving images, zoom in or out, switch on or off, switch multiple imaging modes, change image resolution, Change in focus, change in depth of field, change in exposure time, change in viewing angle or view, etc. In some examples, the plurality of communications from the moveable object, carrier and / or load may include information from one or more sensors (of the sensing system 1908 or load 1904). The plurality of communications may include sensed information from one or more different types of sensors (a plurality of GPS sensors, a plurality of motion sensors, an inertial sensor, a plurality of proximity sensors, or a plurality of image sensors). Such information may relate to the position (location, orientation, etc.), movement or acceleration of the moveable object, carrier and / or load. Such information from the load may include data captured by the load or sensed status of the load. Control data provided and transmitted by terminal 1912 may be configured to control the state of one or more movable objects 1900, carriers 1902, or payload 1904. Alternatively, or in combination, carrier 1902 and load 1904 can also each include a communication module configured to communicate with terminal 1912, such that the terminal is movable object 1900, carrier 1902, and load 1904. Communicate and control individually with each of the

  In some embodiments, the moveable object 1900 may be configured to communicate with another remote device that is not the terminal 1912 or is not the terminal 1912. Terminal 1912 may also be configured to communicate with other remote devices in addition to moveable object 1900. For example, movable object 1900 and / or terminal 1912 may be in communication with another movable object, or the carrier or payload of another movable object. If desired, the remote device may be a second terminal or other computing device (such as a computer, laptop, tablet, smartphone, or other mobile device). The remote device may be configured to transmit data to movable object 1900, receive data from movable object 1900, transmit data to terminal 1912, and / or receive data from terminal 1912. Optionally, the remote device is connectable to the Internet or other telecommunications network, so that data received from the moveable object 1900 and / or the terminal 1912 may be uploaded to a website or server.

  FIG. 20 is a schematic diagram according to a block diagram of a system 2000 for controlling movable objects in accordance with embodiments. System 2000 may be used in combination with any of the preferred systems, devices, and methods described herein. System 2000 may include a sensing module 2002, a processing unit 2004, a non-transitory computer readable medium 2006, a control module 2008, and a communication module 2010.

  The sensing module 2002 can use a plurality of different types of sensors that collect information about moveable objects in a plurality of different ways. Different types of sensors may sense different types of signals or signals from different sources. For example, the plurality of sensors may include a plurality of inertial sensors, a plurality of GPS sensors, a plurality of proximity sensors (such as a rider), or a plurality of vision / image sensors (such as a camera). The sensing module 2002 may be operatively connected to a processing unit 2004 having a plurality of processors. In some embodiments, the sensing module may be operatively connected to a transmission module 2012 (such as a Wi-Fi image transmission module) configured to transmit sensed data directly to a suitable external device or system. For example, the transmitting module 2012 can be used to transmit multiple images captured by the camera of the sensing module 2002 to a remote terminal.

  The processing unit 2004 may comprise one or more processors, such as a programmable processor (central processing unit (CPU)). Processing unit 2004 may be operatively connected to non-transitory computer readable medium 2006. Non-transitory computer readable medium 2006 can store logic, code and / or program instructions executable by processing unit 2004 for performing one or more steps. Non-transitory computer readable media may include one or more memory units (eg, removable media such as an SD card or random access memory (RAM) or external storage). In some embodiments, data from sensing module 2002 may be communicated directly to and stored in multiple memory units of non-transitory computer readable medium 2006. The plurality of memory units of the non-transitory computer readable medium 2006 execute logic, code and / or code executable by the processing unit 2004 to carry out any of the preferred embodiments of the plurality of methods described herein. It can store multiple program instructions. For example, processing unit 2004 may be configured to execute a plurality of instructions that cause one or more processors of processing unit 2004 to analyze sensed data generated by the sensing module. The plurality of memory units can store sensing data from the sensing module to be processed by the processing unit 2004. In some embodiments, multiple memory units of non-transitory computer readable medium 2006 can be used to store multiple processing results generated by processing unit 2004.

  In some embodiments, the processing unit 2004 can be operatively connected to a control module 2008 configured to control the state of the moveable object. For example, to adjust the spatial placement, velocity, and / or acceleration of the moveable object relative to six degrees of freedom, control module 2008 may be configured to control multiple propulsion mechanisms of the moveable object. Alternatively or in combination, control module 2008 can control one or more states of the carrier, load, or sensing module.

  The processing unit 2004 may be operatively connected to a communication module 2010 configured to transmit and / or receive data from one or more external devices (terminals, display devices, or other remote controllers). Any suitable communication means may be used, such as wired communication or wireless communication. For example, the communication module 2010 can use one or more local area networks (LANs), wide area networks (WANs), infrared, wireless, WiFi, point-to-point networks (P2P), telecommunications networks, cloud communications, etc. Optionally, multiple relay stations such as multiple towers, multiple satellites, or multiple mobile stations may be used. Multiple wireless communications may be proximity dependent or proximity independent. In some embodiments, line-of-sight (LOS) may be necessary or unnecessary for multiple communications. The communication module 2010 transmits and / or receives sensing data from the sensing module 2002, processing results generated by the processing unit 2004, predetermined control data, user commands from a terminal or a remote controller, etc. it can.

  Multiple components of system 2000 may be arranged in any suitable configuration. For example, one or more components of system 2000 may be positioned on a moveable object, carrier, load, terminal, sensing system, or additional external device to communicate with one or more of the above. Furthermore, although a single processing unit 2004 and a single non-transitory computer readable medium 2006 are displayed in FIG. 20, those skilled in the art are not intended to be limiting. It will be appreciated that system 2000 may include multiple processing units and / or non-transitory computer readable media. In some embodiments, one or more of the plurality of processing units and / or non-transitory computer readable media may be located at a plurality of different locations. For example, it may be located on a moveable object, carrier, load, terminal, sensing module, additional external device to communicate with one or more of the above or in any suitable combination of these. As a result, any suitable aspects of processing functionality and / or memory functionality performed by system 2000 may occur at one or more of the above locations.

  It will be apparent to those skilled in the art that while preferred embodiments of the present invention are shown and described herein, such embodiments are provided by way of illustration only. Numerous variations, changes and substitutions will now occur to those skilled in the art without departing from the invention. It should be understood that various alternatives to the embodiments of the invention described herein may be employed in practicing the invention. The following claims define the scope of the present invention, and a plurality of methods and structures belonging to the claims and their equivalents are intended to be covered by the claims.
[Item 1]
A propulsion unit that enables UAV movement,
A power unit comprising: (1) the propulsion unit; and (2) a power unit having a first battery for supplying power to the power consumption unit.
The power unit is configured to switch between (a) a first mode and (b) a second mode,
(A) In the first mode, the first battery supplies power to (1) the propulsion unit and (2) the power consumption unit,
(B) In the second mode, the second battery supplies power to the power consuming unit and does not supply power to the propulsion unit.
[Item 2]
The UAV of claim 1, wherein the propulsion unit includes one or more rotors that generate lift for the UAV.
[Item 3]
The UAV of claim 1, wherein the power consuming unit is one or more of a Global Positioning System (GPS) sensor, a motion sensor, an inertial measurement device sensor, a proximity sensor, and an image sensor.
[Item 4]
The UAV of claim 1, wherein during said second mode, said first battery does not supply power.
[Item 5]
The UAV of claim 1, wherein during said second mode, said first battery is disconnected from said UAV.
[Item 6]
The UAV of claim 1, wherein the power unit is switched to the second mode when the UAV is stationary on the surface.
[Item 7]
The power unit is configured to be switched from the first mode to the second mode before or when the first battery is removed from the UAV, and continuously 7. A UAV according to item 6, wherein power is supplied to the power consuming unit.
[Item 8]
The power unit is configured to be switched from the second mode to the first mode when the first battery is connected to the UAV and ready to supply power, item 7 Described UAV.
[Item 9]
The UAV of claim 1, wherein the power unit is switched to the second mode if the UAV is not using the propulsion unit.
[Item 10]
The power unit may be configured to switch between the first mode and the second mode if the voltage of the first battery is less than the voltage of the second battery. UAV.
[Item 11]
11. The UAV of claim 10, wherein the power unit comprises a one way diode having a positive electrode facing the second battery and a negative electrode facing the power consuming unit.
[Item 12]
The power unit comprises a one-way diode having a positive electrode facing the second battery and a negative electrode facing the power consuming unit, and
11. A UAV according to item 10, comprising at least one of: a positive electrode facing the first battery and another unidirectional diode having a negative electrode facing the power consuming unit.
[Item 13]
11. The UAV of claim 10, wherein the power unit comprises an electrical switch in a closed position during the first mode and the second mode.
[Item 14]
Furthermore,
A charge control unit is provided between the first battery and the second battery,
The UAV according to Item 1, wherein the charge control unit controls charging of the second battery by the first battery.
[Item 15]
The UAV of claim 1, wherein during said first mode, said first battery is electrically connected to said second battery.
[Item 16]
The UAV of claim 15, wherein the second battery supplies power at a lower voltage than the first battery.
[Item 17]
A method of supplying energy to a UAV, said method comprising
Powering the UAV's (1) propulsion unit and (2) power consuming unit with a first battery;
Supplying power to the power consumption unit of the UAV with the second battery without supplying power to the propulsion unit with the second battery;
And d) de-energizing the (1) propulsion unit and (2) the power consuming unit of the UAV with the first battery.
[Item 18]
18. A method according to item 17, wherein the propulsion unit comprises one or more rotors generating lift for the UAV.
[Item 19]
When the first battery stops supplying power to (1) the propulsion unit and (2) the power consuming unit of the UAV, the UAV is stationary on the surface, item 17 Method described.
[Item 20]
20. The method of claim 19, wherein the UAV is in flight if the first battery powers (1) the propulsion unit and (2) the power consuming unit of the UAV.
[Item 21]
20. The method according to item 19, wherein the surface is a landing zone of an energy supply station that performs at least one of recharging the first battery and replacing the first battery with another battery.
[Item 22]
Furthermore,
22. The method of claim 21 including disconnecting the first battery from the UAV using a battery replacement member.
[Item 23]
Item 17. A method according to item 17, including the step of charging the second battery during the step of supplying power to the (1) the propulsion unit and the (2) power consuming unit of the UAV with the first battery. the method of.
[Item 24]
24. A method according to item 23, comprising the step of charging the second battery with the first battery while the UAV is in flight.
[Item 25]
18. A method according to item 17, wherein the power unit comprises a one way diode having a positive electrode facing said second battery and a negative electrode facing said power consumption.
[Item 26]
A power unit comprises a one-way diode having a positive electrode facing said second battery and a negative electrode facing said power consuming unit, and
18. A method according to item 17 comprising at least one of: a positive electrode facing the first battery and another one-way diode having a negative electrode facing the power consuming unit.
[Item 27]
18. A method according to item 17, wherein the second battery supplies a lower voltage than the first battery.
[Item 28]
A method of supplying energy to a UAV, said method comprising
Powering the UAV's (1) propulsion unit and (2) power consuming unit with a first battery;
Charging the second battery with the first battery;
Powering the power consuming unit of the UAV with the second battery;
And D. stopping power supply to (1) the propulsion unit and (2) the power consuming unit of the UAV with the first battery.
[Item 29]
29. A method according to item 28, wherein the propulsion unit comprises one or more rotors configured to generate lift for the UAV.
[Item 30]
In the case where the first battery stops supplying power to (1) the propulsion unit and (2) the power consuming unit of the UAV, the UAV is stationary on the surface, item 28 Method described.
[Item 31]
31. The method of claim 30, wherein the UAV is in flight if the first battery powers (1) the propulsion unit and (2) the power consuming unit of the UAV.
[Item 32]
31. A method according to item 30, wherein the surface is a landing zone of an energy supply station at least one of recharging the first battery and replacing the first battery with another battery.
[Item 33]
33. The method of item 32, wherein the energy supply station includes a battery replacement member configured to disconnect the first battery from the UAV.
[Item 34]
Item 34. The method according to item 34, comprising the step of charging the second battery during the step of supplying power to the (1) the propulsion unit and the (2) power consuming unit of the UAV with the first battery. the method of.
[Item 35]
35. A method according to item 34, comprising charging the second battery with the first battery while the UAV is in flight.
[Item 36]
29. A method according to item 28, wherein the power unit comprises a one way diode having a positive electrode facing said second battery and a negative electrode facing said power consumption.
[Item 37]
A power unit comprises a one-way diode having a positive electrode facing said second battery and a negative electrode facing said power consuming unit, and
29. A method according to item 28, comprising at least one of: a positive electrode facing the first battery and another unidirectional diode having a negative electrode facing the power consuming unit.
[Item 38]
29. A method according to item 28, wherein the second battery is configured to supply a lower voltage than the first battery.
[Item 39]
A method for providing continuous power supply to a UAV, said method comprising
(A) providing the UAV coupled to a battery for powering the UAV;
(B) disconnecting the battery from the UAV such that the battery does not supply power to the UAV;
(C) Powering the UAV using a power unit prior to or at the time of the disconnecting step of set (b), thereby, before, during and after the battery is disconnected from the UAV And thereafter leaving the UAV powered.
[Item 40]
Furthermore,
40. A method according to item 39, comprising supporting the UAV on a UAV landing zone of an energy supply station.
[Item 41]
The above method is also
40. A method according to item 39, comprising disconnecting the battery from the UAV using a battery replacement member.
[Item 42]
42. A method according to item 41, wherein the battery replacement member is part of an energy supply station.
[Item 43]
42. A method according to item 41, wherein the battery replacement member is a robotic arm.
[Item 44]
40. A method according to item 39, wherein the UAV is a rotorcraft capable of landing vertically at an energy supply station.
[Item 45]
40. Method according to claim 39, wherein the UAV is a rotorcraft capable of moving vertically away from the energy supply station.
[Item 46]
39. The method of clause 39, wherein the UAV landing zone includes a plurality of visible markers configured to assist the UAV in landing.
[Item 47]
46. The method of item 46, wherein the plurality of visible markers comprises a plurality of images.
[Item 48]
47. The method of item 46, wherein the plurality of visible markers comprises a plurality of LED lights.
[Item 49]
40. The method according to item 40, wherein the UAV energy supply station is portable.
[Item 50]
Furthermore,
Connecting another battery to the UAV,
40. The method of claim 39, wherein the further battery is configured to supply power to the UAV when coupled to the UAV.
[Item 51]
51. The method of item 50, wherein the another battery is coupled to the UAV using a battery replacement member that disconnects the battery from the UAV.
[Item 52]
Furthermore,
56. A method according to item 51, comprising: charging the battery while the battery is disconnected from the UAV, then connecting the battery to the UAV using the battery replacement member.
[Item 53]
61. The method according to item 50, wherein if the further battery is connected to the UAV, it has a higher level of charge than the battery when disconnected from the UAV.
[Item 54]
Removing the additional battery from the mobile battery storage unit;
The mobile battery storage unit includes a plurality of holding stations configured to collectively store a plurality of batteries capable of powering the UAV when coupled to the UAV;
50. The method according to item 50, wherein the mobile battery storage unit is configured to allow simultaneous movement of the plurality of holding stations with respect to the UAV landing zone.
[Item 55]
40. A method according to item 39, comprising powering the UAV using the power unit while the battery is not connected to the UAV.
[Item 56]
40. A method according to item 39, comprising coupling the power unit to the UAV prior to disconnecting the battery from the UAV.
[Item 57]
40. A method according to item 39, wherein the power unit is an electrical line from an electrical energy source.
[Item 58]
58. A method according to item 57, wherein the electrical energy source is a renewable energy generation power source.
[Item 59]
58. A method according to item 57, wherein the electrical energy source is a power grid.
[Item 60]
40. A method according to item 39, wherein the power unit is another battery.
[Item 61]
61. A method according to item 60, wherein the further battery is mounted at an energy supply station supporting the UAV.
[Item 62]
61. The method of item 60, wherein said another battery is mounted on said UAV.
[Item 63]
40. A method according to item 39, wherein said UAV has a maximum dimension of up to 100 cm.
[Item 64]
40. A method according to item 39, wherein the UAV includes a recessed area in which the battery is removed to disconnect from the UAV.
[Item 65]
40. The method according to claim 39, wherein the UAV includes a recessed area in which the battery is inserted to connect to the UAV and to power the UAV.
[Item 66]
70. The item according to item 65, wherein the battery or another battery is configured to be inserted into the recess area to connect to the UAV and power the UAV after the battery is disconnected from the UAV. Method.
[Item 67]
Storing the battery in a mobile battery storage unit;
The mobile battery storage unit includes a plurality of holding stations configured to collectively store a plurality of batteries capable of powering the UAV when coupled to the UAV;
40. A method according to item 39, wherein the mobile battery storage unit is configured to allow simultaneous movement of the plurality of holding stations relative to the UAV landing zone.
[Item 68]
UAV landing zone,
A battery replacement member,
A UAV energy supply station comprising a power unit,
The UAV landing zone is configured to support the UAV when the UAV is stationary on the station, and the UAV is coupled to a battery that provides power to the UAV,
The battery replacement member is configured to disconnect the battery from the UAV, such that the battery does not supply power to the UAV.
The power unit supplies power to the UAV before or during disconnection, thereby leaving the UAV powered prior to, during, and after the battery is disconnected from the UAV. As configured, the UAV energy supply station.
[Item 69]
69. The UAV energy supply station according to item 68, further comprising a support for the UAV on the UAV landing zone of the energy supply station.
[Item 70]
UAV energy delivery station according to item 68, wherein the battery replacement member is a robot arm.
[Item 71]
The UAV energy supply station according to item 68, wherein the UAV is a rotary wing aircraft capable of landing vertically to the station.
[Item 72]
70. The UAV energy delivery station of item 68, wherein said UAV is a rotary wing aircraft capable of moving vertically away from said station.
[Item 73]
Item 68. The UAV energy supply station of item 68, wherein the UAV landing zone includes a plurality of visible markers configured to assist the UAV in landing.
[Item 74]
73. The UAV energy delivery station of item 73, wherein the plurality of visible markers comprises a plurality of images.
[Item 75]
73. The UAV energy delivery station of item 73, wherein the plurality of visible markers comprises a plurality of LED lights.
[Item 76]
Item 68. The UAV energy supply station according to item 68, wherein the UAV energy supply station is portable.
[Item 77]
Furthermore,
Equipped with another battery connected to the above UAV,
70. The UAV energy delivery station of item 68, wherein the further battery is configured to provide power to the UAV when coupled to the UAV.
[Item 78]
76. The UAV energy delivery station of claim 77, wherein the another battery is coupled to the UAV using a battery replacement member that disconnects the battery from the UAV.
[Item 79]
76. The UAV energy delivery station of item 77, having a higher level of charge than the battery when disconnected from the UAV when the other battery is connected to the UAV.
[Item 80]
Furthermore,
It has a mobile battery storage unit,
The mobile battery storage unit includes a plurality of holding stations configured to collectively store a plurality of batteries capable of powering the UAV when coupled to the UAV;
UAV energy delivery station according to item 68, wherein the mobile battery storage unit is configured to allow simultaneous movement of the plurality of holding stations with respect to the UAV landing zone.
[Item 81]
Furthermore,
UAV energy supply station according to item 68, comprising a power unit configured to supply power to the UAV while a battery is not connected to the UAV.
[Item 82]
UAV energy supply station according to item 68, wherein the power unit is an electrical line from an electrical energy source.
[Item 83]
80. The UAV energy supply station of item 81, wherein the electrical energy source is a renewable energy generation power source.
[Item 84]
83. A UAV energy supply station according to item 83, wherein the electrical energy source is a power supply network.
[Item 85]
70. The UAV energy delivery station of item 68, wherein said power unit is another battery.
[Item 86]
91. The UAV energy supply station of item 85, wherein said another battery is mounted on said energy supply station supporting said UAV.
[Item 87]
A UAV energy delivery station according to item 85, wherein said another battery is mounted on said UAV.
[Item 88]
UAV energy delivery station according to item 68, wherein the UAV has a maximum dimension of up to 100 cm.
[Item 89]
70. A UAV energy delivery station according to item 68, wherein the UAV comprises a recessed area in which the battery is removed to disconnect from the UAV.
[Item 90]
70. The UAV energy delivery station of item 68, wherein the UAV includes a recessed area in which the battery is inserted to couple to the UAV and power the UAV.
[Item 91]
91. The apparatus according to item 90, wherein the battery or another battery is configured to be inserted into the recess area to connect to the UAV and power the UAV after the battery is disconnected from the UAV. UAV energy supply station.
[Item 92]
The battery is in the mobile battery storage unit,
The mobile battery storage unit includes a plurality of holding stations configured to collectively store a plurality of batteries capable of powering the UAV when coupled to the UAV;
UAV energy delivery station according to item 68, wherein the mobile battery storage unit is configured to allow simultaneous movement of the plurality of holding stations with respect to the UAV landing zone.
[Item 93]
UAV landing zone,
A UAV energy supply station comprising a battery replacement member,
The UAV landing zone is configured to support the UAV when the UAV is stationary on the station, and the UAV supplies power to the UAV (1) a battery, and the battery is the battery. If it is not connected to the UAV, it is connected to (2) a backup power supply that supplies power to the UAV,
The battery replacement member is configured to disconnect the battery from the UAV such that the battery does not supply power to the UAV, and the backup power supply supplies power to the UAV before or when disconnected. A UAV energy supply station configured to supply and thereby leave the UAV powered prior to, during, and after the battery is disconnected from the UAV.
[Item 94]
The UAV energy supply station according to Item 93, wherein the backup power supply is another battery mounted on the UAV.
[Item 95]
The UAV energy supply station according to Item 93, wherein the backup power source is a renewable energy generation power source mounted on the UAV.
[Item 96]
Furthermore,
100. A UAV energy delivery station according to claim 93, comprising a support for the UAV on the UAV landing zone of the energy delivery station.
[Item 97]
The UAV energy supply station according to item 93, wherein the battery replacement member is part of the energy supply station.
[Item 98]
The UAV energy delivery station according to item 93, wherein the battery replacement member is a robot arm.
[Item 99]
110. A UAV energy delivery station according to item 93, wherein said UAV is a rotary wing aircraft capable of landing vertically from said station.
[Item 100]
110. A UAV energy delivery station according to item 93, wherein said UAV is a rotary wing aircraft capable of moving vertically away from said station.
[Item 101]
91. The UAV energy delivery station of item 93, wherein the UAV landing zone includes a plurality of visible markers configured to assist the UAV in landing.
[Item 102]
101. The UAV energy delivery station of item 101, wherein the plurality of visible markers comprises a plurality of images.
[Item 103]
The UAV energy delivery station of claim 101, wherein the plurality of visible markers comprises a plurality of LED lights.
[Item 104]
The UAV energy supply station according to item 93, wherein the UAV energy supply station is portable.
[Item 105]
Furthermore,
Equipped with another battery connected to the above UAV,
110. The UAV energy delivery station of item 93, wherein the further battery is configured to provide power to the UAV when coupled to the UAV.
[Item 106]
The UAV energy delivery station of item 105, wherein the another battery is coupled to the UAV using a battery replacement member that disconnects the battery from the UAV.
[Item 107]
A UAV energy delivery station according to item 105, having a higher level of charge than the battery when disconnected from the UAV when the other battery is connected to the UAV.
[Item 108]
Furthermore,
It has a mobile battery storage unit,
The mobile battery storage unit includes a plurality of holding stations configured to collectively store a plurality of batteries capable of powering the UAV when coupled to the UAV;
The UAV energy delivery station of item 93, wherein the mobile battery storage unit is configured to allow simultaneous movement of the plurality of holding stations relative to the UAV landing zone.
[Item 109]
Furthermore,
The UAV energy delivery station of item 93, comprising a power unit configured to provide power to the UAV while a battery is not coupled to the UAV.
[Item 110]
110. A UAV energy delivery station according to item 93, wherein the power unit is an electrical line from an electrical energy source.
[Item 111]
110. A UAV energy delivery station according to item 110, wherein the electrical energy source is a renewable energy generation power source.
[Item 112]
110. A UAV energy supply station according to item 110, wherein the electrical energy source is a power supply network.
[Item 113]
The UAV energy supply station according to item 93, wherein the power unit is another battery.
[Item 114]
113. A UAV energy supply station according to item 113, wherein the further battery is mounted on the energy supply station supporting the UAV.
[Item 115]
13. A UAV energy delivery station according to item 113, wherein said another battery is mounted on said UAV.
[Item 116]
110. A UAV energy delivery station according to item 93, wherein said UAV has a maximum dimension of up to 100 cm.
[Item 117]
100. The UAV energy delivery station according to item 93, wherein the UAV includes a recessed area in which the battery is removed to disconnect from the UAV.
[Item 118]
100. A UAV energy delivery station according to item 93, wherein the UAV comprises a recessed area in which the battery is inserted to connect to the UAV and to power the UAV.
[Item 119]
99. The UAV of claim 93, wherein the battery or another battery is configured to be inserted into the recessed area to connect to the UAV and power the UAV after the battery is disconnected from the UAV. Energy supply station.
[Item 120]
A method of supplying energy to a UAV, said method comprising
Providing the UAV coupled to a battery configured to power the UAV;
Evaluating the reliability of (1) a first backup energy source for the UAV, and (2) a second backup energy source for the UAV, with the assistance of a processor.
Selecting the first backup energy source or the second backup energy source based on the evaluated reliability with the aid of a processor.
The first backup energy source for the UAV is configured to power the UAV when the battery is disconnected from the UAV,
The second backup energy source for the UAV is configured to power the UAV when a battery is disconnected from the UAV.
[Item 121]
Furthermore
120. A method according to item 120, comprising supporting the UAV on a UAV landing zone of an energy supply station.
[Item 122]
126. A method according to item 121, comprising disconnecting the battery from the UAV using a battery replacement member of the energy supply station.
[Item 123]
120. The method of item 120, wherein the first backup energy source is another battery mounted on the UAV.
[Item 124]
123. A method according to item 123, wherein the lower state of charge corresponds to a lower rated reliability for the first backup energy source.
[Item 125]
120. The method according to item 120, wherein the second backup energy source is a power unit mounted to an energy supply station supporting the UAV while the UAV is not in flight.
[Item 126]
125. A method according to item 125, wherein the reliability is assessed on the basis of the consistency of the temporal power supplied by the power unit.
[Item 127]
127. A method according to item 126, wherein greater inconsistencies correspond to lower rated reliability for the second backup energy source.
[Item 128]
If the first backup energy source has a higher rated reliability than the second backup energy source, then the first backup energy source is selected,
120. The method according to item 120, wherein the second backup energy source is selected if the second backup energy source has a higher rated reliability than the first backup energy source.
[Item 129]
If the first backup energy source is a predetermined source and the estimated reliability of the first backup energy source does not fall below a predetermined threshold, then the first backup energy source is selected,
The second backup energy source is selected if the second backup energy source is a predetermined source and the evaluated reliability of the second backup energy source does not fall below a predetermined threshold. The method according to item 120.
[Item 130]
Furthermore
Disconnecting the battery from the UAV using a battery replacement member;
Powering the UAV using the selected first backup energy source or the second backup energy source while the battery is not connected to the UAV;
120. A method according to item 120, wherein in the disconnecting step, the battery is configured not to power the UAV when disconnected from the UAV.

Claims (12)

A method of supplying energy to a UAV, said method comprising
In the first mode, supplying power to the UAV's (1) propulsion unit and (2) power consumption unit with the first battery;
Charging a second battery with the first battery in the first mode ;
Powering the power consuming unit of the UAV with the second battery in a second mode ;
Stopping the supply of power to the (1) the propulsion unit and the (2) the power consumption unit of the UAV with the first battery in the second mode ;
Bringing an electrical switch, which electrically connects and disconnects the second battery and the power consuming unit, to the closed position in the second mode;
Bringing the electrical switch into the open position if the UAV is powered off;
Method including.   The method of claim 1, wherein the propulsion unit comprises one or more rotors configured to generate lift for the UAV.   The UAV is stationary on the surface when power is not supplied to (1) the propulsion unit and (2) the power consumption unit of the UAV with the first battery. Or the method described in 2.   4. The method of claim 3, wherein the UAV is in flight if the first battery is powering the (1) the propulsion unit and (2) the power consuming unit of the UAV.   The method according to claim 3, wherein the surface is a landing zone of an energy supply station configured to recharge the first battery and / or replace the first battery with another battery.   6. The method of claim 5, wherein the energy delivery station includes a battery replacement member configured to disconnect the first battery from the UAV.   The method according to claim 1, comprising charging the second battery during the step of powering the first battery with the (1) the propulsion unit and (2) the power consuming unit of the UAV. The method according to any one of 6.   The method of claim 7, comprising charging the second battery with the first battery while the UAV is in flight.   9. A method according to any one of the preceding claims, wherein the power consuming unit comprises a one-way diode having a positive electrode facing the second battery and a negative electrode facing the power consuming unit. The power consumption unit includes a one-way diode having a positive electrode facing the second battery and a negative electrode facing the power consumption unit, and / or
9. A method according to any one of the preceding claims, wherein the power consumption unit comprises another one-way diode having a positive electrode facing the first battery and a negative electrode facing the power consumption unit.   The method according to any one of claims 1 to 10, wherein the second battery is configured to supply a lower voltage than the first battery.   A UAV, comprising the first battery, the second battery, the propulsion unit, and the power consumption unit, performing the method according to any one of the preceding claims.

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