US20190016460A1 - Unmanned aerial vehicle - Google Patents
Unmanned aerial vehicle Download PDFInfo
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- US20190016460A1 US20190016460A1 US15/684,814 US201715684814A US2019016460A1 US 20190016460 A1 US20190016460 A1 US 20190016460A1 US 201715684814 A US201715684814 A US 201715684814A US 2019016460 A1 US2019016460 A1 US 2019016460A1
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- peripheral
- unmanned aerial
- aerial vehicle
- printed circuit
- circuit board
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- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
- B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K7/00—Constructional details common to different types of electric apparatus
- H05K7/14—Mounting supporting structure in casing or on frame or rack
- H05K7/1417—Mounting supporting structure in casing or on frame or rack having securing means for mounting boards, plates or wiring boards
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- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D2221/00—Electric power distribution systems onboard aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U20/00—Constructional aspects of UAVs
- B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
- B64U20/83—Electronic components structurally integrated with aircraft elements, e.g. circuit boards carrying loads
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
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- B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/20—Remote controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
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- H—ELECTRICITY
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Definitions
- an unmanned aerial vehicle which has a yaw axis, a pitch axis, and a roll axis, comprises a plurality of propeller assemblies (e.g., four propeller assemblies), a base assembly coupled to each of the plurality of propeller assemblies, and a printed circuit board (PCB) coupled to the base assembly.
- Each of the plurality of propeller assemblies is configured to rotate about a respective one of a plurality of axes of rotation.
- a surface of the PCB lies in a plane defined by the yaw axis and the roll axis, and no portion of the PCB intersects any axis of rotation of any of the propeller assemblies of the UAV.
- the plane in which the surface of the PCB lies is a first plane, and the surface of the PCB does not intersect any projection, in a second plane, of a rotation circumference of any propeller assembly of the unmanned aerial vehicle, the second plane being orthogonal to the axis of rotation of the propeller assembly.
- At least a portion of the surface of the PCB is exposed. In some embodiments, at least a portion of the surface of the PCB is covered by a coating, which may be transparent or translucent.
- the PCB has a nonrectangular shape.
- the nonrectangular shape may be any shape, such as, for example, the shape of an animal (e.g., a shark, a whale, a dog, a cat, a tiger, a fish, etc.).
- the PCB shape may provide an interesting design element to the UAV.
- the PCB comprises a mechanical feature configured to engage with a peripheral or a subassembly comprising the peripheral.
- the mechanical feature may be a cutout in the PCB.
- the peripheral or peripheral subassembly may be slidably engaged in the cutout.
- the peripheral may be electrically coupled (e.g., connected) to the PCB.
- the peripheral or peripheral subassembly is soldered to the PCB.
- the peripheral may be, for example, a camera.
- the UAV weighs less than about 1 kilogram (kg).
- the UAV is a micro-drone weighing no more than approximately 250 grams (g).
- kits for a UAV that, after being assembled, has a yaw axis, a pitch axis, and a roll axis.
- the kit comprises four propeller assemblies, a base assembly configured to be coupled to each of the four propeller assemblies, and a PCB configured to be coupled to the base assembly.
- Each of the four propeller assemblies is configured to rotate about a respective one of a plurality of axes of rotation when the UAV has been assembled.
- the kit is configured such that when the PCB is coupled to the base assembly, a surface of the PCB lies in a plane defined by the yaw axis and the roll axis, and no portion of the PCB intersects any axis of rotation of any of the four propeller assemblies.
- the kit further comprises a plurality of motors already coupled to, or configured to be coupled to, the four propeller assemblies.
- the base assembly comprises a plurality of motors that, after the UAV has been assembled, are coupled to the four propeller assemblies.
- the PCB of the kit has a nonrectangular shape.
- the nonrectangular shape may be any shape, such as, for example, the shape of an animal (e.g., a shark, a whale, a dog, a cat, a tiger, a fish, etc.).
- At least a portion of the surface of the PCB of the kit is exposed. In some embodiments, at least a portion of the surface of the PCB is covered by a coating, which may be transparent or translucent.
- the PCB of the kit comprises a mechanical feature configured to engage with a peripheral or a peripheral subassembly.
- the mechanical feature may be a cutout in the PCB.
- the kit includes the peripheral, which may be, for example, a camera.
- the kit further comprises a protective ring coupled to or configured to be coupled to the camera.
- the combined weight of the four propeller assemblies, the base assembly, and the PCB of the kit is less than 1 kilogram (kg).
- the kit may be for a micro-drone that, in assembled form, weighs no more than 250 grams (g).
- an unmanned aerial vehicle comprises at least one propeller assembly, a base assembly coupled to the at least one propeller assembly, and a PCB coupled to the base assembly.
- the PCB comprises a mechanical feature (e.g., a cutout) configured to engage with a peripheral (e.g., a camera) or a subassembly coupled to the peripheral.
- a mechanical feature e.g., a cutout
- a peripheral e.g., a camera
- the PCB is oriented substantially horizontally when the UAV is at rest. In other embodiments, the PCB is oriented substantially vertically when the UAV is at rest.
- the mechanical feature is a cutout
- the UAV includes the peripheral (e.g., a camera) or a peripheral subassembly, which is slidably engaged in the cutout.
- the peripheral is electrically coupled to the printed circuit board.
- the peripheral or peripheral subassembly is soldered to the printed circuit board.
- the UAV further comprises a protective ring coupled to the camera.
- the printed circuit board has a nonrectangular shape, which may be the shape of an animal (e.g., a shark).
- a weight of the unmanned aerial vehicle is less than 1 kilogram (kg).
- a kit for an unmanned aerial vehicle comprises at least one propeller assembly, a base assembly coupled to or configured to be coupled to the at least one propeller assembly, and a printed circuit board coupled to or configured to be coupled to the base assembly.
- the printed circuit board comprises a mechanical feature (e.g., a cutout) configured to engage with a peripheral (e.g., a camera).
- the kit includes the peripheral (e.g., a camera).
- the kit in which the peripheral is a camera, the kit includes a protective ring coupled to or configured to be coupled to the camera.
- the kit includes a plurality of motors coupled to or configured to be coupled to the four propeller assemblies.
- the base assembly comprises a plurality of motors.
- the printed circuit board has a nonrectangular shape, which may be the shape of an animal (e.g., a shark).
- a coating which may be transparent or translucent.
- the combined weight of the at least one propeller assembly, the base assembly, and the PCB of the kit is less than 1 kilogram (kg).
- the kit may be for a micro-drone that, in assembled form, weighs no more than 250 grams (g).
- FIG. 1 is a perspective right, front view of an unmanned aerial vehicle (UAV) in accordance with some embodiments.
- UAV unmanned aerial vehicle
- FIG. 2 is a perspective left, rear view of an UAV in accordance with some embodiments.
- FIG. 3A is a left plan view of an UAV in accordance with some embodiments.
- FIG. 3B is a close-up left plan view of a portion of the vertically-oriented printed circuit board of the UAV shown in FIG. 3A .
- FIG. 4 is a top plan view of an UAV in accordance with some embodiments.
- FIG. 5 is a front plan view of an UAV in accordance with some embodiments.
- FIG. 6 is a perspective right, front view of an UAV having an optional protective camera ring in accordance with some embodiments.
- FIG. 7A is top plan view of an UAV in accordance with some embodiments.
- FIG. 7B is a close-up top plan view of a portion of the horizontally-oriented printed circuit board of the UAV shown in FIG. 7A .
- FIG. 8A is top plan view of an UAV in accordance with some embodiments.
- FIG. 8B is a close-up top plan view of a portion of the horizontally-oriented printed circuit board of the UAV shown in FIG. 8A .
- UAVs Unmanned aerial vehicles
- a UAV may include a camera that provides a first-person view (FPV) of the flight to a remotely-located viewer, such as, for example, the UAV's pilot or an observer.
- the viewer may view the flight using a display, such as, for example, a headset that presents the first-person view, thereby giving the viewer the sense that he or she is aboard the UAV.
- FV first-person view
- UAVs A popular use of UAVs is for FPV drone racing, in which participants (pilots) control drones (e.g., small radio-controlled aircraft or quadcopters) flown through a course. Each pilot's objective is to complete the course as quickly as possible.
- the drones are equipped with cameras that wirelessly transmit live video streams to displays accessible to the pilots.
- the display may be, for example, a head-mounted display (e.g., a headset, goggles, etc.).
- the display shows a live-stream camera feed from the drone being flown by the pilot.
- UAV designs providing such improved flight characteristics. Some embodiments described herein may provide a UAV with greater maneuverability than conventional UAVs. Some embodiments described herein may provide a UAV with more desirable aerodynamics than conventional UAVs. Some embodiments described herein may provide a UAV with greater modularity of its component parts than conventional UAVs. Based on these and other benefits, embodiments described herein may provide UAVs that better perform existing functions of UAVs and/or allow new uses of UAVs.
- Embodiments disclosed herein relate to apparatuses, systems, and methods for UAVs.
- UAVs disclosed herein include a vertically-mounted printed circuit board (PCB). With the convention that the ground is horizontal, a vertically-mounted PCB is perpendicular to the ground when the UAV is level and at rest (e.g., on the ground or on another horizontal surface). In contrast, a horizontally-mounted PCB is parallel to the ground when the UAV is level and at rest.
- PCB printed circuit board
- PCB printed circuit board
- active e.g., integrated circuits, etc.
- passive e.g., resistors, inductors, capacitors, etc.
- the electronic components may be soldered to the PCB and/or embedded in the substrate.
- a PCB may be single-sided (with one conductive layer), double-sided (with two conductive layers), or multi-layer (with inner and outer conductive layers).
- PCB is used herein to refer to both assembled (i.e., populated with components) and unassembled (i.e., bare) PCBs.
- a vertically-mounted PCB improves the stability of the UAV, particularly when the UAV flies or hovers close to surfaces (e.g., the ground) and might otherwise be negatively impacted by ground effect (e.g., vibrations or instabilities caused when rotor tip vortices are disrupted by the ground).
- a vertically-mounted PCB also helps to stabilize the UAV and helps to prevent or mitigate unintentional rotation when the UAV flies in the forward direction.
- a vertically-mounted PCB provides advantages similar to those provided by an airplane's rudder to improve the UAV's tolerance to wind.
- a vertically-mounted PCB potentially enables the UAV to fly faster, which may be particularly advantageous for applications such as drone racing.
- UAVs typically pitch forward during flight, which results in horizontally-mounted PCBs and other components presenting a significant surface area that causes air resistance.
- this resistance decreases because only the thin edge of the PCB presents a barrier to the air.
- UAVs disclosed herein include novel peripheral attachment mechanisms that provide a simple, inexpensive way to attach peripherals to the UAV.
- a PCB mounted to have any suitable orientation, including horizontally or vertically
- the UAV may include a mechanical feature to allow the connection of a peripheral (e.g., a vision sensor, such as a camera, LIDAR, or other vision system; an audio sensor, such as a microphone or other audio system, etc.) to the UAV.
- the mechanical feature may be, for example, a cutout in the PCB into which a peripheral or a peripheral subassembly containing the peripheral may be inserted.
- the disclosures herein are applicable to UAVs of various sizes.
- the application of the disclosures herein to small and/or lightweight UAVs or micro aerial vehicles (MAVs) (i.e., miniature UAVs) is specifically contemplated and may be particularly advantageous.
- the disclosures herein may be particularly useful for UAVs weighing less than about 1 kilogram (kg).
- FIG. 1 is a perspective right, front view of a UAV 100 in accordance with some embodiments
- FIG. 2 is a perspective left, rear view of the UAV 100 in accordance with some embodiments.
- the UAV 100 is described herein relative to its principal axes, namely the yaw axis 105 (also known as the vertical axis), the pitch axis 110 (also known as the lateral axis), and the roll axis 115 (also known as the longitudinal axis).
- the yaw axis 105 , pitch axis 110 , and roll axis 115 intersect at the center of mass 101 of the UAV 100 (not labeled in FIG. 1 , but labeled in FIG. 2 ).
- the plane coincident with (i.e., intersecting) the roll axis 115 and the pitch axis 110 is considered to be a horizontal plane.
- the plane coincident with the roll axis 115 and the yaw axis 105 and the plane coincident with the pitch axis 110 and the yaw axis 105 are both considered to be vertical planes.
- a plane is said to be “defined by” two specified axes if it is either coincident with those two axes or parallel to the plane that is coincident with those axes.
- the UAV comprises a plurality (i.e., at least two) propeller assemblies 120 .
- the UAV 100 includes four propeller assemblies: 120 A, 120 B, 120 C, and 120 D.
- Each of the propeller assemblies 120 comprises at least one rotor.
- each propeller assembly 120 includes a pair of rotors facing one another. In other embodiments, the propeller assemblies 120 may include more than two rotors.
- the propeller assemblies 120 may comprise any suitable materials, such as, for example, plastic, carbon fiber, high-strength steel, a magnesium (Mg) alloy, an aluminum (Al) alloy, polymer composites, or any other suitable (e.g., light-weight) material.
- each of the propeller assemblies 120 rotates about an axis of rotation 122 .
- FIG. 1 illustrates only the axes of rotation 122 C and 122 D for, respectively, the propeller assemblies 120 C and 120 D.
- FIG. 3 discussed below, illustrates the axes of rotation 122 A and 122 B for, respectively, the propeller assemblies 120 A and 120 B.
- the axis of rotation 122 of some or all of the propeller assemblies 120 is parallel to the yaw axis 105 . In other embodiments, the axis of rotation 122 of at least one of the propeller assemblies 120 is at an angle to the yaw axis 105 . In some embodiments, the axes of rotation 122 of all of the propeller assemblies 120 are at angles to the yaw axis 105 , where the angles may be the same or different.
- Each of the propeller assemblies 120 optionally may be protected by a propeller guard (not illustrated). If included, the propeller guards may be substantially rigid structures, typically mounted substantially horizontally, that surround the rotors of the propeller assemblies 120 to protect the propeller assemblies 120 in the event of collisions between the UAV 100 and other objects (flying or stationary).
- each of the propeller assemblies 120 is coupled to a base assembly 130 .
- the base assembly 130 may include, or be coupled to, four motors oriented, for example, in an “X”- or “H”-shaped pattern. Each motor is coupled to one of the propeller assemblies 120 and provides aerial propulsion to the UAV 100 . The speed of revolution of the motors may be controlled by a processor included in the circuitry 175 , discussed below.
- the base assembly 130 may also include, or be coupled to, other elements, including, for example, pads that contact a surface when the UAV 100 is at rest (e.g., not flying).
- the base assembly 130 may comprise any suitable material, such as, for example, plastic, metal, carbon fiber, polymer composites, PCB, etc.
- the base assembly 130 may include conductors that provide power and/or other signals (e.g., control signals) to the motors that drive the plurality of propeller assemblies 120 .
- the base assembly may comprise a PCB with traces that supply power and/or control signals to the motors that drive the plurality of propeller assemblies 120 .
- the UAV 100 also includes a printed circuit board (PCB) 135 coupled to the base assembly 130 .
- the PCB 135 is mounted vertically in a plane defined by the yaw axis 105 and the roll axis 115 . Because the PCB 135 is mounted vertically and lies in a plane defined by the yaw axis 105 and the roll axis 115 , the PCB 135 does not intersect any (substantially vertical) axis of rotation 122 of any of the propeller assemblies 120 of FIG. 1 .
- the PCB 135 is populated and includes circuitry 175 .
- the circuitry 175 may include components mounted directly to the surface of the PCB 135 , and/or the circuitry 175 may be mounted to a daughter card that is coupled to the surface of the PCB 135 (e.g., through a socket or by soldering).
- the circuitry 175 may include a processor that may use differences in rotational speeds of the motors, and therefore the propeller assemblies 120 , to control the flight of the UAV 100 .
- each propeller assembly 120 is provided facing another propeller assembly 120 .
- Propeller assemblies 120 that face each other may spin in opposite directions to prevent their lifting forces from canceling each other.
- the propeller assemblies 120 A and 120 D may spin clockwise while the propeller assemblies 120 B and 120 C spin counterclockwise, or vice versa.
- the circuitry 175 may include, for example, memory to store software run by a processor to control the UAV 100 and/or to communicate (e.g., using additional components, such as a transmitter and receiver) with a remote device (e.g., a display), to store data received from peripherals 165 of the UAV 100 , and/or to store commands or instructions received from a remote device (e.g., a remote user control device).
- a remote device e.g., a display
- a remote device e.g., a display
- the circuitry 175 may include, for example, communication circuitry enabling the UAV 100 to communicate wirelessly (e.g., using radio-frequency (RF) signals) with a remote user control device (e.g., a device that enables a pilot to control the UAV 100 ).
- a remote user control device e.g., a device that enables a pilot to control the UAV 100
- the circuitry 175 may include a receiver for receiving commands from the remote user control device.
- the circuitry 175 may include a transmitter for transmitting information to a remote device (e.g., the remote user control device).
- the circuitry 175 may transmit a live video stream from a camera mounted on the UAV 100 to a remote device.
- the UAV 100 may also include components in addition to circuitry 175 to enable the UAV 100 to transmit signals to or receive signals from a remote device.
- the UAV 100 may include an antenna and wiring coupling the antenna to the transmitter/receiver.
- all or a portion of the surface of the PCB 135 is exposed (i.e., visible) in the fully-assembled UAV 100 .
- all or a portion of the surface of the PCB 135 may be covered by a transparent or translucent coating that allows at least some of the circuitry 175 to be seen.
- all or a portion of the surface of the PCB 135 is partially or entirely hidden.
- all or a portion of the surface of the PCB 135 may be covered by an opaque coating, or all or a portion of the PCB 125 may be inside of a housing that obscures the circuitry 175 .
- the PCB 135 has a nonrectangular shape.
- the PCB 135 may have the shape of an animal. As illustrated in FIGS. 1 and 2 , the animal may be a shark. Other animal shapes are contemplated and are within the scope of the disclosures herein.
- the PCB 135 may have any desired shape, such as a regular shape (e.g., a rectangle, square, triangle) or an irregular shape.
- the PCB 135 may provide a whimsical design element to the UAV 100 .
- the PCB 135 is configured to allow the attachment of various components or devices (e.g., sensor devices) to the UAV 100 .
- the PCB 135 may include a mechanical feature to allow the connection of a peripheral 165 (e.g., a vision sensor, such as a camera, LIDAR, or other vision system; an audio sensor, such as a microphone or other audio system; etc.).
- a peripheral 165 e.g., a vision sensor, such as a camera, LIDAR, or other vision system
- an audio sensor such as a microphone or other audio system; etc.
- the UAV 100 includes a peripheral 165 .
- the peripheral 165 is a camera.
- the peripheral 165 mounts directly to the UAV 100 by engaging with a mechanical feature of the PCB 135 .
- the peripheral 165 is included in a peripheral subassembly 170 , and the peripheral subassembly 170 is coupled to the UAV 100 (e.g., by engaging with a mechanical feature of the UAV 100 , such as a mechanical feature of the PCB 135 ).
- the peripheral subassembly 170 includes conductive traces printed onto or within the material making up the peripheral subassembly 170 .
- the peripheral subassembly 170 may comprise a PCB.
- the conductive traces may provide electrical connections between the peripheral 165 mounted in the peripheral subassembly 170 and the circuitry 175 of the UAV 100 when the peripheral subassembly 170 is connected to the UAV 100 .
- the conductive traces may provide power to the peripheral 165 and/or electrical connections between the peripheral 165 and a processor of the circuitry 175 .
- the peripheral subassembly 170 engages with a mechanical feature of the PCB 135 , as shown in details A and B.
- the peripheral subassembly 170 may slide into place in a cutout of the PCB 135 .
- the attachment point or points between the peripheral subassembly 170 and the PCB 135 may provide electrical connections between components of the peripheral subassembly 170 (including the peripheral 165 itself) and the PCB 135 .
- the PCB 135 may include electrical connection points (e.g., to engage with solder pads 180 of the peripheral 165 or peripheral assembly 170 ), and the peripheral subassembly 170 or the peripheral 165 itself may include corresponding electrical connection points (e.g., solder pads 180 ) that are configured to align with the electrical connection points of the PCB 135 when the peripheral 165 or peripheral subassembly 170 engages with the PCB 135 , thereby creating a closed electrical circuit between the peripheral(s) 165 (e.g., of the peripheral subassembly 170 ) and the circuitry 175 .
- signals e.g., control, data, etc.
- power may be transferred between peripherals 165 (e.g., of the peripheral subassembly 170 ) and the circuitry 175 .
- the peripheral 165 is electrically connected to the PCB 135 through a mechanical connection made when the peripheral subassembly 170 engages with the mechanical feature of the PCB 135 .
- the peripheral subassembly 170 may include pins or other contacts that engage with a socket or other component of the PCB 135 when the peripheral subassembly 170 engages with the mechanical feature.
- one or more electrical connections are made through a bond or joint (e.g., solder).
- the peripheral 165 may be electrically connected to the PCB 135 using a cable or wires.
- the connection between the peripheral 165 and the UAV 100 is partially or completely wireless.
- the UAV 100 also includes a power source, which may be, for example, a rechargeable battery.
- a power source which may be, for example, a rechargeable battery.
- the battery may be removable to facilitate charging.
- FIG. 3A is a left plan view of a UAV 100 in accordance with some embodiments.
- the surface of the PCB 135 lies in a plane defined by the yaw axis 105 and the roll axis 115 .
- FIG. 3B illustrates the PCB 135 with a mechanical feature (illustrated as a cutout 155 ) that enables a peripheral subassembly 170 (illustrated as including a camera as the peripheral 165 ) to be mounted to the UAV 100 (also shown in detail C of FIG. 3A ).
- a mechanical feature illustrated as a cutout 155
- FIGS. 170 illustrated as including a camera as the peripheral 165
- the cutout 155 allows the peripheral subassembly 170 to slide into place laterally (i.e., from the side, perpendicularly to the PCB 135 ).
- the peripheral subassembly 170 has a form factor designed to fit within the cutout 155 .
- the cutout 155 is illustrated in FIGS. 3A and 3B as having a particular shape, but it is to be appreciated that the cutout 155 may have alternative shapes.
- the cutout 155 may have any suitable shape for engaging with the peripheral subassembly 170 (e.g., the cutout 155 may include a notch, a groove, a partial circle, a dovetail, etc.).
- FIG. 4 is a top plan view of a UAV 100 in accordance with some embodiments.
- FIG. 4 illustrates the rotation circumferences 124 of each of the propeller assemblies 120 .
- FIG. 4 illustrates the rotation circumferences 124 A, 124 B, 124 C, and 124 D of, respectively, the propeller assemblies 120 A, 120 B, 120 C, and 120 D.
- the vertically-mounted PCB 135 does not intersect any of the rotation circumferences 124 .
- no surface of the PCB 135 intersects any projection of the rotation circumferences 124 onto any plane that is orthogonal to any of the axes of rotation 122 .
- the detail D of FIG. 4 illustrates the peripheral subassembly 170 in place and engaged with the PCB 135 by the mechanical feature of the PCB 135 .
- the peripheral subassembly 170 may have any shape and configuration suitable to secure the peripheral(s) 165 it contains to the UAV 100 .
- the peripheral subassembly 170 comprises an element (e.g., a PCB) that, when the peripheral subassembly 170 is engaged with the UAV 100 , lies in a horizontal plane. It is to be understood that other peripheral subassembly 170 configurations, sizes, and shapes are also contemplated and are within the scope of the disclosures herein.
- FIG. 5 is a front plan view of a UAV 100 in accordance with some embodiments.
- the peripheral subassembly 170 illustrated as having a camera as the peripheral 165 , is coupled to the PCB 135 .
- the peripheral subassembly 170 is engaged with the PCB 135
- the top and bottom of the peripheral 165 are secured by the PCB 135
- the left and right of the peripheral 165 are secured by the peripheral subassembly 170 .
- the combination of the peripheral subassembly 170 and the PCB 135 (with cutout 155 ) enables the peripheral 165 to be mounted simply and securely to the UAV 100 .
- FIG. 6 is a perspective right, front view of a UAV 100 having an optional peripheral protection device in accordance with some embodiments.
- the peripheral subassembly 170 includes a peripheral 165 that is a camera
- the UAV 100 includes a camera protective ring 167 .
- the camera protective ring 167 is configured to engage with the peripheral subassembly 170 and/or the PCB 135 to mitigate damage to the camera (e.g., to the lens of the camera) caused by collisions (e.g., with other flying objects or with stationary objects into which the UAV 100 flies).
- the camera protective ring 167 may be coupled to the peripheral subassembly 170 and/or PCB 135 using any suitable mechanism.
- the camera protective ring 167 may include a plurality of notches shaped to allow the camera protective ring 167 to slide over protrusions of the peripheral subassembly 170 and/or the PCB 135 .
- the camera protective ring 167 may be secured to the UAV 100 by adhesive or a fastening mechanism (e.g., a screw, a snap, etc.).
- the camera protective ring 167 may be made of any suitable material, such as, for example, plastic, metal, carbon fiber, rubber, PCB (in which case it may also provide electrical connectivity), etc. It is to be appreciated that the camera protective ring 167 could alternatively be attached directly to the camera.
- other protective devices may be included to protect other types of peripherals 165 that may be included in the peripheral subassembly 170 .
- FIGS. 7A and 7B illustrate a UAV 102 in accordance with some embodiments.
- the UAV 102 includes four propeller assemblies 120 A, 120 B, 120 C, and 120 D, a base assembly 130 , and some or all of the other elements discussed previously in the description of the UAV 100 .
- the UAV 102 includes a PCB 135 .
- the PCB 135 has a rectangular shape and is mounted horizontally (i.e., in a plane defined by the pitch axis 110 and the roll axis 115 ).
- the PCB 135 may have any suitable shape, including regular geometric or irregular shapes.
- the PCB 135 may have an oval shape, or it may be shaped like an object (e.g., a bird, a fish, a shark, etc.), or it may have any other selected shape that can be coupled to the base assembly 130 and does not interfere with the propeller assemblies 120 .
- the PCB 135 is illustrated without circuitry 175 , but it is to be understood that the PCB 135 may include circuitry 175 (i.e., the PCB 135 is populated), and this circuitry 175 may be as described previously in the discussion of the UAV 100 .
- the UAV 102 when the UAV 102 is fully assembled (i.e., in finished form, ready to fly), all or a portion of the surface of the PCB 135 is exposed (i.e., visible) in the fully-assembled UAV 102 .
- all or a portion of the surface of the PCB 135 may be covered by a transparent or translucent coating that allows at least some of the circuitry 175 to be seen.
- all or a portion of the surface of the PCB 135 is partially or entirely hidden.
- all or a portion of the surface of the PCB 135 may be covered by an opaque coating, or all or a portion of the PCB 125 may be inside of a housing that obscures the circuitry 175 .
- the PCB 135 includes a mechanical feature, shown as a cutout 155 , that enables the peripheral subassembly 170 to be coupled to the PCB 135 (and therefore to the UAV 102 ).
- the cutout 155 shown in FIGS. 7A and 7B has a shape that is similar to the shape of the cutout 155 shown in FIGS. 1-6 , but it is to be appreciated that the cutout 155 may have a different shape as explained previously.
- the peripheral 165 is illustrated as a camera, it is to be understood that other peripherals 165 are contemplated and may be coupled to the UAV 102 as described above.
- FIGS. 8A and 8B illustrate UAV 103 in accordance with some embodiments.
- the UAV 103 includes four propeller assemblies 120 A, 120 B, 120 C, and 120 D, a base assembly 130 , and some or all of the other elements discussed previously in the description of the UAV 100 .
- the UAV 103 includes a PCB 135 .
- FIGS. 8A and 8B illustrate UAV 103 in accordance with some embodiments.
- the UAV 103 includes four propeller assemblies 120 A, 120 B, 120 C, and 120 D, a base assembly 130 , and some or all of the other elements discussed previously in the description of the UAV 100 .
- the UAV 103 includes a PCB 135 .
- the PCB 135 has a substantially square shape and is mounted horizontally (i.e., in a plane defined by the pitch axis 110 and the roll axis 115 ) with one corner of the PCB 135 aligned with the roll axis 115 , and two corners of the PCB 135 aligned with the pitch axis 110 .
- the PCB 135 is illustrated without circuitry 175 , but it is to be understood that the PCB 135 may include circuitry 175 (i.e., the PCB 135 is populated), and this circuitry 175 may be as described previously in the discussion of the UAV 100 .
- the UAV 103 when the UAV 103 is fully assembled (i.e., in finished form, ready to fly), all or a portion of the surface of the PCB 135 is exposed (i.e., visible) in the fully-assembled UAV 103 .
- all or a portion of the surface of the PCB 135 may be covered by a transparent or translucent coating that allows at least some of the circuitry 175 to be seen.
- all or a portion of the surface of the PCB 135 is partially or entirely hidden.
- all or a portion of the surface of the PCB 135 may be covered by an opaque coating, or all or a portion of the PCB 125 may be inside of a housing that obscures the circuitry 175 .
- the PCB 135 includes a mechanical feature, shown as a cutout 155 , that enables the peripheral subassembly 170 to be coupled to the PCB 135 (and therefore to the UAV 103 ).
- the cutout 155 shown in FIGS. 8A and 8B has a shape that is similar to the shape of the cutout 155 shown in FIGS. 1-7 , but it is to be appreciated that the cutout 155 may have a different shape as explained previously.
- the peripheral 165 is illustrated once again as a camera, it is to be understood that other peripherals 165 are contemplated and may be coupled to the UAV 103 as described above.
- the mechanical feature may comprise a protrusion, where the protrusion that fits within a cutout, slot, or hole in the peripheral subassembly 170 or peripheral 165 ; a hook providing a compressive fit with the peripheral subassembly 170 or peripheral 165 ; a first portion of a joint (e.g., one of two parts of: a ball joint, a bridle joint, an open tenon joint, an open mortise and tenon joint, a tongue and fork joint, a dowel joint, a finger joint, a dovetail joint, dado joint, groove joint, tongue and groove joint, birdsmouth joint, cross lap joint, splice joint, biscuit joint, stitch and glue joint, etc.) that mates with a second portion of the joint on the peripheral subassembly 170 or the peripheral 165 itself; or a first portion of any permanent, semi-permanent, or temporary fastener (i.e., a hardware device that mechanically joins or aff
- the peripheral 165 may comprise one or more of: a clock, a timer (e.g., to detect time of flight), lidar, a light source (e.g., an OLED, a bulb, a LED, etc.), a radio transmitter, a Bluetooth module, an altimeter, a temperature sensor, a sample collector (e.g., to collect a sample of fluid, gas, soil, etc.), a mechanical device (e.g., to grip a payload or perform a task), an audio device (e.g., a microphone, a speaker, etc.), an accelerometer, a sensor, etc.
- a peripheral subassembly 170 may include or accommodate multiple peripherals 165 (e.g., a camera and an audio device).
- peripheral subassembly 170 the peripheral 165 may not need such a peripheral subassembly 170 . In such cases, the peripheral subassembly 170 and the peripheral 165 are one and the same.
- a kit may include the PCB 135 detached from the base assembly 130 .
- a kit may provide a fully populated PCB 135 (i.e., the circuitry 175 is attached to or incorporated in the PCB 135 ), or the PCB 135 may be partially populated or not populated at all (e.g., for a “do it yourself” kit).
- the base assembly 130 may be included in a kit in a partially or fully disassembled form.
- the base assembly 130 may be provided without the propeller assemblies 120 attached.
- a kit may provide the peripheral subassembly 170 separate from the PCB 135 .
- the propeller assemblies 120 may be in a disassembled form that a user then assembles.
- a kit may provide separate motors, housing elements, power source (e.g., battery), wiring, peripherals 165 , etc. that a user then includes in assembling the UAV 100 , 102 , 103 .
- UAVs can incorporate the disclosed mechanical features (e.g., cutouts) in PCBs having other orientations than vertical or horizontal (e.g., a PCB 135 could be mounted at a 45 degree angle relative to horizontal and incorporate a mechanical feature (e.g., cutout 155 ) to couple a peripheral 165 to the UAV).
- mechanical features e.g., cutouts
- PCB 135 could be mounted at a 45 degree angle relative to horizontal and incorporate a mechanical feature (e.g., cutout 155 ) to couple a peripheral 165 to the UAV).
- phrases of the form “at least one of A, B, and C,” “at least one of A, B, or C,” “one or more of A, B, or C,” and “one or more of A, B, and C” are interchangeable, and each encompasses all of the following meanings: “A only,” “B only,” “C only,” “A and B but not C,” “A and C but not B,” “B and C but not A,” and “all of A, B, and C.”
- Coupled is used herein to express a direct connection as well as a connection through one or more intervening parts or structures. Elements that are “communicatively coupled” are capable of communicating but are not necessarily physically coupled. To the extent that the terms “include(s),” “having,” “has,” “with,” and variants thereof are used in the detailed description or the claims, such terms are intended to be inclusive in a manner similar to the term “comprising,” i.e., meaning “including but not limited to.” The terms “exemplary” and “embodiment” are used to express examples, not preferences or requirements. The term “plurality” means “at least two.” The abbreviation “e.g.” means “for example.” The abbreviation “i.e.” means “that is.”
- over refers to a relative position of one feature with respect to other features.
- one feature disposed “over” or “under” another feature may be directly in contact with the other feature or may have intervening material.
- one feature disposed “between” two features may be directly in contact with the two features or may have one or more intervening features or materials.
- a first feature “on” a second feature is in contact with that second feature.
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Abstract
Description
- This application claims the benefit of, and hereby incorporates by reference the contents of, U.S. Design patent application Nos. 29/610,543, filed Jul. 13, 2017 and entitled “UNMANNED AERIAL VEHICLE,” and 29/610,554, filed Jul. 13, 2017 and entitled “PRINTED CIRCUIT BOARD.”
- Disclosed herein are embodiments of unmanned aerial vehicles having vertically-mounted printed circuit boards. In some embodiments, an unmanned aerial vehicle (UAV), which has a yaw axis, a pitch axis, and a roll axis, comprises a plurality of propeller assemblies (e.g., four propeller assemblies), a base assembly coupled to each of the plurality of propeller assemblies, and a printed circuit board (PCB) coupled to the base assembly. Each of the plurality of propeller assemblies is configured to rotate about a respective one of a plurality of axes of rotation. A surface of the PCB lies in a plane defined by the yaw axis and the roll axis, and no portion of the PCB intersects any axis of rotation of any of the propeller assemblies of the UAV.
- In some embodiments, the plane in which the surface of the PCB lies is a first plane, and the surface of the PCB does not intersect any projection, in a second plane, of a rotation circumference of any propeller assembly of the unmanned aerial vehicle, the second plane being orthogonal to the axis of rotation of the propeller assembly.
- In some embodiments, at least a portion of the surface of the PCB is exposed. In some embodiments, at least a portion of the surface of the PCB is covered by a coating, which may be transparent or translucent.
- In some embodiments, the PCB has a nonrectangular shape. The nonrectangular shape may be any shape, such as, for example, the shape of an animal (e.g., a shark, a whale, a dog, a cat, a tiger, a fish, etc.). The PCB shape may provide an interesting design element to the UAV.
- In some embodiments, the PCB comprises a mechanical feature configured to engage with a peripheral or a subassembly comprising the peripheral. For example, the mechanical feature may be a cutout in the PCB. In some such embodiments, the peripheral or peripheral subassembly may be slidably engaged in the cutout. In embodiments in which the peripheral or peripheral subassembly is slidably engaged in the cutout, the peripheral may be electrically coupled (e.g., connected) to the PCB. In some embodiments, the peripheral or peripheral subassembly is soldered to the PCB. The peripheral may be, for example, a camera.
- In some embodiments, the UAV weighs less than about 1 kilogram (kg). For example, in some embodiments, the UAV is a micro-drone weighing no more than approximately 250 grams (g).
- Some embodiments disclose a kit for a UAV that, after being assembled, has a yaw axis, a pitch axis, and a roll axis. The kit comprises four propeller assemblies, a base assembly configured to be coupled to each of the four propeller assemblies, and a PCB configured to be coupled to the base assembly. Each of the four propeller assemblies is configured to rotate about a respective one of a plurality of axes of rotation when the UAV has been assembled. The kit is configured such that when the PCB is coupled to the base assembly, a surface of the PCB lies in a plane defined by the yaw axis and the roll axis, and no portion of the PCB intersects any axis of rotation of any of the four propeller assemblies.
- In some embodiments, the kit further comprises a plurality of motors already coupled to, or configured to be coupled to, the four propeller assemblies. In some embodiments, the base assembly comprises a plurality of motors that, after the UAV has been assembled, are coupled to the four propeller assemblies.
- In some embodiments, the PCB of the kit has a nonrectangular shape. The nonrectangular shape may be any shape, such as, for example, the shape of an animal (e.g., a shark, a whale, a dog, a cat, a tiger, a fish, etc.).
- In some embodiments, at least a portion of the surface of the PCB of the kit is exposed. In some embodiments, at least a portion of the surface of the PCB is covered by a coating, which may be transparent or translucent.
- In some embodiments, the PCB of the kit comprises a mechanical feature configured to engage with a peripheral or a peripheral subassembly. For example, the mechanical feature may be a cutout in the PCB. In some such embodiments, the kit includes the peripheral, which may be, for example, a camera. In some embodiments that include a camera, the kit further comprises a protective ring coupled to or configured to be coupled to the camera.
- In some embodiments, the combined weight of the four propeller assemblies, the base assembly, and the PCB of the kit is less than 1 kilogram (kg). For example, the kit may be for a micro-drone that, in assembled form, weighs no more than 250 grams (g).
- In some embodiments, an unmanned aerial vehicle comprises at least one propeller assembly, a base assembly coupled to the at least one propeller assembly, and a PCB coupled to the base assembly. The PCB comprises a mechanical feature (e.g., a cutout) configured to engage with a peripheral (e.g., a camera) or a subassembly coupled to the peripheral. In some embodiments, the PCB is oriented substantially horizontally when the UAV is at rest. In other embodiments, the PCB is oriented substantially vertically when the UAV is at rest.
- In some embodiments, the mechanical feature is a cutout, and the UAV includes the peripheral (e.g., a camera) or a peripheral subassembly, which is slidably engaged in the cutout. In some embodiments, the peripheral is electrically coupled to the printed circuit board. In some embodiments, the peripheral or peripheral subassembly is soldered to the printed circuit board. In some embodiments, in which the peripheral is a camera, the UAV further comprises a protective ring coupled to the camera.
- In some embodiments, the printed circuit board has a nonrectangular shape, which may be the shape of an animal (e.g., a shark).
- In some embodiments, a weight of the unmanned aerial vehicle is less than 1 kilogram (kg).
- In some embodiments, a kit for an unmanned aerial vehicle comprises at least one propeller assembly, a base assembly coupled to or configured to be coupled to the at least one propeller assembly, and a printed circuit board coupled to or configured to be coupled to the base assembly. The printed circuit board comprises a mechanical feature (e.g., a cutout) configured to engage with a peripheral (e.g., a camera). In some embodiments, the kit includes the peripheral (e.g., a camera). In some embodiments, in which the peripheral is a camera, the kit includes a protective ring coupled to or configured to be coupled to the camera.
- In some embodiments, the kit includes a plurality of motors coupled to or configured to be coupled to the four propeller assemblies. In some embodiments, the base assembly comprises a plurality of motors.
- In some embodiments, the printed circuit board has a nonrectangular shape, which may be the shape of an animal (e.g., a shark).
- In some embodiments, at least a portion of the surface of the printed circuit board is covered by a coating, which may be transparent or translucent.
- In some embodiments, the combined weight of the at least one propeller assembly, the base assembly, and the PCB of the kit is less than 1 kilogram (kg). For example, the kit may be for a micro-drone that, in assembled form, weighs no more than 250 grams (g).
- Objects, features, and advantages of the disclosure will be readily apparent from the following description of certain embodiments taken in conjunction with the accompanying drawings in which:
-
FIG. 1 is a perspective right, front view of an unmanned aerial vehicle (UAV) in accordance with some embodiments. -
FIG. 2 is a perspective left, rear view of an UAV in accordance with some embodiments. -
FIG. 3A is a left plan view of an UAV in accordance with some embodiments. -
FIG. 3B is a close-up left plan view of a portion of the vertically-oriented printed circuit board of the UAV shown inFIG. 3A . -
FIG. 4 is a top plan view of an UAV in accordance with some embodiments. -
FIG. 5 is a front plan view of an UAV in accordance with some embodiments. -
FIG. 6 is a perspective right, front view of an UAV having an optional protective camera ring in accordance with some embodiments. -
FIG. 7A is top plan view of an UAV in accordance with some embodiments. -
FIG. 7B is a close-up top plan view of a portion of the horizontally-oriented printed circuit board of the UAV shown inFIG. 7A . -
FIG. 8A is top plan view of an UAV in accordance with some embodiments. -
FIG. 8B is a close-up top plan view of a portion of the horizontally-oriented printed circuit board of the UAV shown inFIG. 8A . - The detailed description set forth below in connection with the appended drawings is intended as a description of various configurations and is not intended to represent the only configurations in which the concepts described herein may be practiced. The detailed description includes specific details for providing a thorough understanding of various concepts. It will be apparent to those skilled in the art that these concepts may be practiced without these specific details. In some instances, well-known structures and components are shown in block diagram form in order to avoid obscuring such concepts.
- Unmanned aerial vehicles (UAVs) are aircraft without an on-board human pilot. UAVs have many uses, including in military, commercial (e.g., package deliveries, land surveys, etc.), scientific, recreational, agricultural, and other applications. One type of UAV is known as a “quadcopter,” which has four rotors (also referred to herein as propellers). A UAV may include a camera that provides a first-person view (FPV) of the flight to a remotely-located viewer, such as, for example, the UAV's pilot or an observer. The viewer may view the flight using a display, such as, for example, a headset that presents the first-person view, thereby giving the viewer the sense that he or she is aboard the UAV.
- A popular use of UAVs is for FPV drone racing, in which participants (pilots) control drones (e.g., small radio-controlled aircraft or quadcopters) flown through a course. Each pilot's objective is to complete the course as quickly as possible. The drones are equipped with cameras that wirelessly transmit live video streams to displays accessible to the pilots. The display may be, for example, a head-mounted display (e.g., a headset, goggles, etc.). The display shows a live-stream camera feed from the drone being flown by the pilot.
- For drone racing and other applications, the flight characteristics of the UAV are important. Both the speed and maneuverability of the UAV can impact the user experience. Therefore, there is an ongoing need for UAV's with improved flight characteristics.
- Disclosed herein are UAV designs providing such improved flight characteristics. Some embodiments described herein may provide a UAV with greater maneuverability than conventional UAVs. Some embodiments described herein may provide a UAV with more desirable aerodynamics than conventional UAVs. Some embodiments described herein may provide a UAV with greater modularity of its component parts than conventional UAVs. Based on these and other benefits, embodiments described herein may provide UAVs that better perform existing functions of UAVs and/or allow new uses of UAVs.
- Embodiments disclosed herein relate to apparatuses, systems, and methods for UAVs. In particular, some embodiments of UAVs disclosed herein include a vertically-mounted printed circuit board (PCB). With the convention that the ground is horizontal, a vertically-mounted PCB is perpendicular to the ground when the UAV is level and at rest (e.g., on the ground or on another horizontal surface). In contrast, a horizontally-mounted PCB is parallel to the ground when the UAV is level and at rest. As used herein, the term “printed circuit board” (or “PCB”) refers to a board that mechanically supports and electrically connects electronic components (including active (e.g., integrated circuits, etc.) and/or passive (e.g., resistors, inductors, capacitors, etc.)) using conductive tracks, pads, and/or other features etched from conductive sheets (typically copper) laminated onto a non-conductive substrate (e.g., silicon oxide, aluminum oxide, FR-4 glass epoxy, etc.). The electronic components may be soldered to the PCB and/or embedded in the substrate. A PCB may be single-sided (with one conductive layer), double-sided (with two conductive layers), or multi-layer (with inner and outer conductive layers). The term “PCB” is used herein to refer to both assembled (i.e., populated with components) and unassembled (i.e., bare) PCBs.
- The use of a vertically-mounted PCB in a UAV offers a number of potential advantages. For example, a vertically-mounted PCB improves the stability of the UAV, particularly when the UAV flies or hovers close to surfaces (e.g., the ground) and might otherwise be negatively impacted by ground effect (e.g., vibrations or instabilities caused when rotor tip vortices are disrupted by the ground). A vertically-mounted PCB also helps to stabilize the UAV and helps to prevent or mitigate unintentional rotation when the UAV flies in the forward direction. A vertically-mounted PCB provides advantages similar to those provided by an airplane's rudder to improve the UAV's tolerance to wind. In addition, a vertically-mounted PCB potentially enables the UAV to fly faster, which may be particularly advantageous for applications such as drone racing. For example, UAVs typically pitch forward during flight, which results in horizontally-mounted PCBs and other components presenting a significant surface area that causes air resistance. By mounting the PCB vertically, this resistance decreases because only the thin edge of the PCB presents a barrier to the air. Most of the air flows around the vertically-mounted PCB when the UAV flies in the forward direction, regardless of whether or how much the UAV pitches forward.
- Some embodiments of UAVs disclosed herein include novel peripheral attachment mechanisms that provide a simple, inexpensive way to attach peripherals to the UAV. For example, a PCB (mounted to have any suitable orientation, including horizontally or vertically) of the UAV may include a mechanical feature to allow the connection of a peripheral (e.g., a vision sensor, such as a camera, LIDAR, or other vision system; an audio sensor, such as a microphone or other audio system, etc.) to the UAV. The mechanical feature may be, for example, a cutout in the PCB into which a peripheral or a peripheral subassembly containing the peripheral may be inserted.
- The disclosures herein are applicable to UAVs of various sizes. The application of the disclosures herein to small and/or lightweight UAVs or micro aerial vehicles (MAVs) (i.e., miniature UAVs) is specifically contemplated and may be particularly advantageous. In particular, the disclosures herein may be particularly useful for UAVs weighing less than about 1 kilogram (kg).
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FIG. 1 is a perspective right, front view of aUAV 100 in accordance with some embodiments, andFIG. 2 is a perspective left, rear view of theUAV 100 in accordance with some embodiments. TheUAV 100 is described herein relative to its principal axes, namely the yaw axis 105 (also known as the vertical axis), the pitch axis 110 (also known as the lateral axis), and the roll axis 115 (also known as the longitudinal axis). Theyaw axis 105,pitch axis 110, and rollaxis 115 intersect at the center ofmass 101 of the UAV 100 (not labeled inFIG. 1 , but labeled inFIG. 2 ). The plane coincident with (i.e., intersecting) theroll axis 115 and thepitch axis 110 is considered to be a horizontal plane. The plane coincident with theroll axis 115 and theyaw axis 105 and the plane coincident with thepitch axis 110 and theyaw axis 105 are both considered to be vertical planes. Herein, a plane is said to be “defined by” two specified axes if it is either coincident with those two axes or parallel to the plane that is coincident with those axes. - The UAV comprises a plurality (i.e., at least two) propeller assemblies 120. In the exemplary embodiment of
FIGS. 1 and 2 , theUAV 100 includes four propeller assemblies: 120A, 120B, 120C, and 120D. Each of the propeller assemblies 120 comprises at least one rotor. In some embodiments, such as illustrated inFIGS. 1 and 2 , each propeller assembly 120 includes a pair of rotors facing one another. In other embodiments, the propeller assemblies 120 may include more than two rotors. The propeller assemblies 120 may comprise any suitable materials, such as, for example, plastic, carbon fiber, high-strength steel, a magnesium (Mg) alloy, an aluminum (Al) alloy, polymer composites, or any other suitable (e.g., light-weight) material. When theUAV 100 is in operation, each of the propeller assemblies 120 rotates about an axis of rotation 122.FIG. 1 illustrates only the axes ofrotation propeller assemblies FIG. 3 , discussed below, illustrates the axes ofrotation propeller assemblies yaw axis 105. In other embodiments, the axis of rotation 122 of at least one of the propeller assemblies 120 is at an angle to theyaw axis 105. In some embodiments, the axes of rotation 122 of all of the propeller assemblies 120 are at angles to theyaw axis 105, where the angles may be the same or different. - Each of the propeller assemblies 120 optionally may be protected by a propeller guard (not illustrated). If included, the propeller guards may be substantially rigid structures, typically mounted substantially horizontally, that surround the rotors of the propeller assemblies 120 to protect the propeller assemblies 120 in the event of collisions between the
UAV 100 and other objects (flying or stationary). - As illustrated in
FIGS. 1 and 2 , each of the propeller assemblies 120 is coupled to abase assembly 130. Thebase assembly 130 may include, or be coupled to, four motors oriented, for example, in an “X”- or “H”-shaped pattern. Each motor is coupled to one of the propeller assemblies 120 and provides aerial propulsion to theUAV 100. The speed of revolution of the motors may be controlled by a processor included in thecircuitry 175, discussed below. Thebase assembly 130 may also include, or be coupled to, other elements, including, for example, pads that contact a surface when theUAV 100 is at rest (e.g., not flying). Thebase assembly 130 may comprise any suitable material, such as, for example, plastic, metal, carbon fiber, polymer composites, PCB, etc. Thebase assembly 130 may include conductors that provide power and/or other signals (e.g., control signals) to the motors that drive the plurality of propeller assemblies 120. For example, the base assembly may comprise a PCB with traces that supply power and/or control signals to the motors that drive the plurality of propeller assemblies 120. - The
UAV 100 also includes a printed circuit board (PCB) 135 coupled to thebase assembly 130. In the embodiment illustrated inFIG. 1 , thePCB 135 is mounted vertically in a plane defined by theyaw axis 105 and theroll axis 115. Because thePCB 135 is mounted vertically and lies in a plane defined by theyaw axis 105 and theroll axis 115, thePCB 135 does not intersect any (substantially vertical) axis of rotation 122 of any of the propeller assemblies 120 ofFIG. 1 . - As shown in
FIG. 1 , thePCB 135 is populated and includescircuitry 175. Thecircuitry 175 may include components mounted directly to the surface of thePCB 135, and/or thecircuitry 175 may be mounted to a daughter card that is coupled to the surface of the PCB 135 (e.g., through a socket or by soldering). Thecircuitry 175 may include a processor that may use differences in rotational speeds of the motors, and therefore the propeller assemblies 120, to control the flight of theUAV 100. As illustrated inFIG. 1 , each propeller assembly 120 is provided facing another propeller assembly 120. Propeller assemblies 120 that face each other may spin in opposite directions to prevent their lifting forces from canceling each other. For example, thepropeller assemblies propeller assemblies - The
circuitry 175 may include, for example, memory to store software run by a processor to control theUAV 100 and/or to communicate (e.g., using additional components, such as a transmitter and receiver) with a remote device (e.g., a display), to store data received fromperipherals 165 of theUAV 100, and/or to store commands or instructions received from a remote device (e.g., a remote user control device). - The
circuitry 175 may include, for example, communication circuitry enabling theUAV 100 to communicate wirelessly (e.g., using radio-frequency (RF) signals) with a remote user control device (e.g., a device that enables a pilot to control the UAV 100). For example, thecircuitry 175 may include a receiver for receiving commands from the remote user control device. In addition or alternatively, thecircuitry 175 may include a transmitter for transmitting information to a remote device (e.g., the remote user control device). For example, thecircuitry 175 may transmit a live video stream from a camera mounted on theUAV 100 to a remote device. TheUAV 100 may also include components in addition tocircuitry 175 to enable theUAV 100 to transmit signals to or receive signals from a remote device. For example, theUAV 100 may include an antenna and wiring coupling the antenna to the transmitter/receiver. - In some embodiments, when the
UAV 100 is fully assembled (i.e., in finished form, ready to fly), all or a portion of the surface of thePCB 135 is exposed (i.e., visible) in the fully-assembledUAV 100. For example, all or a portion of the surface of thePCB 135 may be covered by a transparent or translucent coating that allows at least some of thecircuitry 175 to be seen. In other embodiments, all or a portion of the surface of thePCB 135 is partially or entirely hidden. For example, all or a portion of the surface of thePCB 135 may be covered by an opaque coating, or all or a portion of the PCB 125 may be inside of a housing that obscures thecircuitry 175. - In some embodiments, the
PCB 135 has a nonrectangular shape. For example, thePCB 135 may have the shape of an animal. As illustrated inFIGS. 1 and 2 , the animal may be a shark. Other animal shapes are contemplated and are within the scope of the disclosures herein. In general, thePCB 135 may have any desired shape, such as a regular shape (e.g., a rectangle, square, triangle) or an irregular shape. Thus, thePCB 135 may provide a whimsical design element to theUAV 100. - In some embodiments, the
PCB 135 is configured to allow the attachment of various components or devices (e.g., sensor devices) to theUAV 100. For example, thePCB 135 may include a mechanical feature to allow the connection of a peripheral 165 (e.g., a vision sensor, such as a camera, LIDAR, or other vision system; an audio sensor, such as a microphone or other audio system; etc.). - In some embodiments, the
UAV 100 includes a peripheral 165. For example, in the embodiment illustrated inFIGS. 1 and 2 , the peripheral 165 is a camera. In some embodiments, the peripheral 165 mounts directly to theUAV 100 by engaging with a mechanical feature of thePCB 135. In some embodiments, and as illustrated inFIGS. 1 and 2 , the peripheral 165 is included in aperipheral subassembly 170, and theperipheral subassembly 170 is coupled to the UAV 100 (e.g., by engaging with a mechanical feature of theUAV 100, such as a mechanical feature of the PCB 135). In some such embodiments, theperipheral subassembly 170 includes conductive traces printed onto or within the material making up theperipheral subassembly 170. For example, theperipheral subassembly 170 may comprise a PCB. The conductive traces may provide electrical connections between the peripheral 165 mounted in theperipheral subassembly 170 and thecircuitry 175 of theUAV 100 when theperipheral subassembly 170 is connected to theUAV 100. For example, the conductive traces may provide power to the peripheral 165 and/or electrical connections between the peripheral 165 and a processor of thecircuitry 175. - In the example embodiment of
FIGS. 1 and 2 , theperipheral subassembly 170 engages with a mechanical feature of thePCB 135, as shown in details A and B. For example, theperipheral subassembly 170 may slide into place in a cutout of thePCB 135. The attachment point or points between theperipheral subassembly 170 and thePCB 135 may provide electrical connections between components of the peripheral subassembly 170 (including the peripheral 165 itself) and thePCB 135. For example, thePCB 135 may include electrical connection points (e.g., to engage withsolder pads 180 of the peripheral 165 or peripheral assembly 170), and theperipheral subassembly 170 or the peripheral 165 itself may include corresponding electrical connection points (e.g., solder pads 180) that are configured to align with the electrical connection points of thePCB 135 when the peripheral 165 orperipheral subassembly 170 engages with thePCB 135, thereby creating a closed electrical circuit between the peripheral(s) 165 (e.g., of the peripheral subassembly 170) and thecircuitry 175. Thus, signals (e.g., control, data, etc.) and/or power may be transferred between peripherals 165 (e.g., of the peripheral subassembly 170) and thecircuitry 175. - In some embodiments, the peripheral 165 is electrically connected to the
PCB 135 through a mechanical connection made when theperipheral subassembly 170 engages with the mechanical feature of thePCB 135. For example, theperipheral subassembly 170 may include pins or other contacts that engage with a socket or other component of thePCB 135 when theperipheral subassembly 170 engages with the mechanical feature. In some embodiments, after theperipheral subassembly 170 engages with the mechanical feature, one or more electrical connections are made through a bond or joint (e.g., solder). As another example, the peripheral 165 may be electrically connected to thePCB 135 using a cable or wires. In some embodiments, the connection between the peripheral 165 and theUAV 100 is partially or completely wireless. - The
UAV 100 also includes a power source, which may be, for example, a rechargeable battery. In embodiments in which the power source is a rechargeable battery, the battery may be removable to facilitate charging. -
FIG. 3A is a left plan view of aUAV 100 in accordance with some embodiments. As shown inFIG. 3A , the surface of thePCB 135 lies in a plane defined by theyaw axis 105 and theroll axis 115.FIG. 3B illustrates thePCB 135 with a mechanical feature (illustrated as a cutout 155) that enables a peripheral subassembly 170 (illustrated as including a camera as the peripheral 165) to be mounted to the UAV 100 (also shown in detail C ofFIG. 3A ). As shown inFIGS. 3A and 3B , thecutout 155 allows theperipheral subassembly 170 to slide into place laterally (i.e., from the side, perpendicularly to the PCB 135). In the embodiment shown inFIGS. 3A and 3B , theperipheral subassembly 170 has a form factor designed to fit within thecutout 155. Thecutout 155 is illustrated inFIGS. 3A and 3B as having a particular shape, but it is to be appreciated that thecutout 155 may have alternative shapes. In general, thecutout 155 may have any suitable shape for engaging with the peripheral subassembly 170 (e.g., thecutout 155 may include a notch, a groove, a partial circle, a dovetail, etc.). -
FIG. 4 is a top plan view of aUAV 100 in accordance with some embodiments. In addition to features previously discussed in the context of other drawings herein,FIG. 4 illustrates the rotation circumferences 124 of each of the propeller assemblies 120. Specifically,FIG. 4 illustrates therotation circumferences propeller assemblies FIG. 4 , the vertically-mountedPCB 135 does not intersect any of the rotation circumferences 124. Moreover, no surface of thePCB 135 intersects any projection of the rotation circumferences 124 onto any plane that is orthogonal to any of the axes of rotation 122. In other words, if the rotation circumference 124 of any of thepropeller assemblies rotation PCB 135 would not intersect the projection. - The detail D of
FIG. 4 illustrates theperipheral subassembly 170 in place and engaged with thePCB 135 by the mechanical feature of thePCB 135. Theperipheral subassembly 170 may have any shape and configuration suitable to secure the peripheral(s) 165 it contains to theUAV 100. In the embodiment shown inFIGS. 1-4 , theperipheral subassembly 170 comprises an element (e.g., a PCB) that, when theperipheral subassembly 170 is engaged with theUAV 100, lies in a horizontal plane. It is to be understood that otherperipheral subassembly 170 configurations, sizes, and shapes are also contemplated and are within the scope of the disclosures herein. -
FIG. 5 is a front plan view of aUAV 100 in accordance with some embodiments. As illustrated byFIG. 5 and in detail E, theperipheral subassembly 170, illustrated as having a camera as the peripheral 165, is coupled to thePCB 135. In the embodiment illustrated inFIG. 5 , when theperipheral subassembly 170 is engaged with thePCB 135, the top and bottom of the peripheral 165 are secured by thePCB 135, and the left and right of the peripheral 165 are secured by theperipheral subassembly 170. Thus, the combination of theperipheral subassembly 170 and the PCB 135 (with cutout 155) enables the peripheral 165 to be mounted simply and securely to theUAV 100. -
FIG. 6 is a perspective right, front view of aUAV 100 having an optional peripheral protection device in accordance with some embodiments. In the embodiment ofFIG. 6 , theperipheral subassembly 170 includes a peripheral 165 that is a camera, and theUAV 100 includes a cameraprotective ring 167. As illustrated inFIG. 6 , the cameraprotective ring 167 is configured to engage with theperipheral subassembly 170 and/or thePCB 135 to mitigate damage to the camera (e.g., to the lens of the camera) caused by collisions (e.g., with other flying objects or with stationary objects into which theUAV 100 flies). The cameraprotective ring 167 may be coupled to theperipheral subassembly 170 and/orPCB 135 using any suitable mechanism. For example, the cameraprotective ring 167 may include a plurality of notches shaped to allow the cameraprotective ring 167 to slide over protrusions of theperipheral subassembly 170 and/or thePCB 135. As another example, the cameraprotective ring 167 may be secured to theUAV 100 by adhesive or a fastening mechanism (e.g., a screw, a snap, etc.). The cameraprotective ring 167 may be made of any suitable material, such as, for example, plastic, metal, carbon fiber, rubber, PCB (in which case it may also provide electrical connectivity), etc. It is to be appreciated that the cameraprotective ring 167 could alternatively be attached directly to the camera. Moreover, other protective devices may be included to protect other types ofperipherals 165 that may be included in theperipheral subassembly 170. -
FIGS. 7A and 7B illustrate aUAV 102 in accordance with some embodiments. TheUAV 102 includes fourpropeller assemblies base assembly 130, and some or all of the other elements discussed previously in the description of theUAV 100. In addition, theUAV 102 includes aPCB 135. In the embodiment of theUAV 102 shown inFIGS. 7A and 7B , thePCB 135 has a rectangular shape and is mounted horizontally (i.e., in a plane defined by thepitch axis 110 and the roll axis 115). AlthoughFIG. 7A illustrates aPCB 135 with a rectangular shape, it is to be appreciated that thePCB 135 may have any suitable shape, including regular geometric or irregular shapes. For example, thePCB 135 may have an oval shape, or it may be shaped like an object (e.g., a bird, a fish, a shark, etc.), or it may have any other selected shape that can be coupled to thebase assembly 130 and does not interfere with the propeller assemblies 120. - In
FIG. 7A , thePCB 135 is illustrated withoutcircuitry 175, but it is to be understood that thePCB 135 may include circuitry 175 (i.e., thePCB 135 is populated), and thiscircuitry 175 may be as described previously in the discussion of theUAV 100. In some embodiments, when theUAV 102 is fully assembled (i.e., in finished form, ready to fly), all or a portion of the surface of thePCB 135 is exposed (i.e., visible) in the fully-assembledUAV 102. For example, all or a portion of the surface of thePCB 135 may be covered by a transparent or translucent coating that allows at least some of thecircuitry 175 to be seen. In other embodiments, all or a portion of the surface of thePCB 135 is partially or entirely hidden. For example, all or a portion of the surface of thePCB 135 may be covered by an opaque coating, or all or a portion of the PCB 125 may be inside of a housing that obscures thecircuitry 175. - As shown in the detail G, the
PCB 135 includes a mechanical feature, shown as acutout 155, that enables theperipheral subassembly 170 to be coupled to the PCB 135 (and therefore to the UAV 102). Thecutout 155 shown inFIGS. 7A and 7B has a shape that is similar to the shape of thecutout 155 shown inFIGS. 1-6 , but it is to be appreciated that thecutout 155 may have a different shape as explained previously. Moreover, although the peripheral 165 is illustrated as a camera, it is to be understood thatother peripherals 165 are contemplated and may be coupled to theUAV 102 as described above. -
FIGS. 8A and 8B illustrateUAV 103 in accordance with some embodiments. TheUAV 103 includes fourpropeller assemblies base assembly 130, and some or all of the other elements discussed previously in the description of theUAV 100. In addition, theUAV 103 includes aPCB 135. In the embodiment of theUAV 103 shown inFIGS. 8A and 8B , thePCB 135 has a substantially square shape and is mounted horizontally (i.e., in a plane defined by thepitch axis 110 and the roll axis 115) with one corner of thePCB 135 aligned with theroll axis 115, and two corners of thePCB 135 aligned with thepitch axis 110. - In
FIG. 8A , thePCB 135 is illustrated withoutcircuitry 175, but it is to be understood that thePCB 135 may include circuitry 175 (i.e., thePCB 135 is populated), and thiscircuitry 175 may be as described previously in the discussion of theUAV 100. In some embodiments, when theUAV 103 is fully assembled (i.e., in finished form, ready to fly), all or a portion of the surface of thePCB 135 is exposed (i.e., visible) in the fully-assembledUAV 103. For example, all or a portion of the surface of thePCB 135 may be covered by a transparent or translucent coating that allows at least some of thecircuitry 175 to be seen. In other embodiments, all or a portion of the surface of thePCB 135 is partially or entirely hidden. For example, all or a portion of the surface of thePCB 135 may be covered by an opaque coating, or all or a portion of the PCB 125 may be inside of a housing that obscures thecircuitry 175. - As shown in the detail H, the
PCB 135 includes a mechanical feature, shown as acutout 155, that enables theperipheral subassembly 170 to be coupled to the PCB 135 (and therefore to the UAV 103). Thecutout 155 shown inFIGS. 8A and 8B has a shape that is similar to the shape of thecutout 155 shown inFIGS. 1-7 , but it is to be appreciated that thecutout 155 may have a different shape as explained previously. Furthermore, although the peripheral 165 is illustrated once again as a camera, it is to be understood thatother peripherals 165 are contemplated and may be coupled to theUAV 103 as described above. - Although the drawings herein illustrate a
cutout 155 as the mechanical feature enabling a peripheral 165 to be attached to theUAV cutout 155. For example, the mechanical feature may comprise a protrusion, where the protrusion that fits within a cutout, slot, or hole in theperipheral subassembly 170 or peripheral 165; a hook providing a compressive fit with theperipheral subassembly 170 or peripheral 165; a first portion of a joint (e.g., one of two parts of: a ball joint, a bridle joint, an open tenon joint, an open mortise and tenon joint, a tongue and fork joint, a dowel joint, a finger joint, a dovetail joint, dado joint, groove joint, tongue and groove joint, birdsmouth joint, cross lap joint, splice joint, biscuit joint, stitch and glue joint, etc.) that mates with a second portion of the joint on theperipheral subassembly 170 or the peripheral 165 itself; or a first portion of any permanent, semi-permanent, or temporary fastener (i.e., a hardware device that mechanically joins or affixes two or more objects together) that has a suitable size and strength to affix the peripheral subassembly 170 (or the peripheral 165 itself) to theUAV - It is also to be understood that although the drawings herein illustrate a camera as the peripheral 165 in the
peripheral subassembly 170, the disclosures apply as well toother peripherals 165 that might be attached to theUAV peripheral subassembly 170 may include or accommodate multiple peripherals 165 (e.g., a camera and an audio device). - It is also to be understood that although the drawings herein illustrate a
peripheral subassembly 170, the peripheral 165 may not need such aperipheral subassembly 170. In such cases, theperipheral subassembly 170 and the peripheral 165 are one and the same. - It is also to be understood that although the drawings herein illustrate a
UAV UAV PCB 135 detached from thebase assembly 130. As another example, a kit may provide a fully populated PCB 135 (i.e., thecircuitry 175 is attached to or incorporated in the PCB 135), or thePCB 135 may be partially populated or not populated at all (e.g., for a “do it yourself” kit). Likewise, thebase assembly 130 may be included in a kit in a partially or fully disassembled form. For example, thebase assembly 130 may be provided without the propeller assemblies 120 attached. As another example, a kit may provide theperipheral subassembly 170 separate from thePCB 135. As another example, the propeller assemblies 120 may be in a disassembled form that a user then assembles. A kit may provide separate motors, housing elements, power source (e.g., battery), wiring,peripherals 165, etc. that a user then includes in assembling theUAV - Furthermore, it is to be understood that although the drawings herein illustrate PCBs that are either vertically-mounted or horizontally-mounted, many embodiments do not require vertical or horizontal PCBs. For example, it should be appreciated that UAVs can incorporate the disclosed mechanical features (e.g., cutouts) in PCBs having other orientations than vertical or horizontal (e.g., a
PCB 135 could be mounted at a 45 degree angle relative to horizontal and incorporate a mechanical feature (e.g., cutout 155) to couple a peripheral 165 to the UAV). - To avoid obscuring the present disclosure unnecessarily, well-known components of the
UAVs - Unless otherwise specifically defined herein, all terms are to be given their broadest possible interpretation, including meanings implied from the specification and drawings and meanings understood by those skilled in the art and/or as defined in dictionaries, treatises, etc. As set forth explicitly herein, some terms may not comport with their ordinary or customary meanings.
- As used in the specification and the appended claims, the singular forms “a,” “an” and “the” do not exclude plural referents unless otherwise specified. The word “or” is to be interpreted as inclusive unless otherwise specified. Thus, the phrase “A or B” is to be interpreted as meaning all of the following: “both A and B,” “A but not B,” and “B but not A.” Any use of “and/or” herein does not mean that the word “or” alone connotes exclusivity.
- As used herein, phrases of the form “at least one of A, B, and C,” “at least one of A, B, or C,” “one or more of A, B, or C,” and “one or more of A, B, and C” are interchangeable, and each encompasses all of the following meanings: “A only,” “B only,” “C only,” “A and B but not C,” “A and C but not B,” “B and C but not A,” and “all of A, B, and C.”
- The term “coupled” is used herein to express a direct connection as well as a connection through one or more intervening parts or structures. Elements that are “communicatively coupled” are capable of communicating but are not necessarily physically coupled. To the extent that the terms “include(s),” “having,” “has,” “with,” and variants thereof are used in the detailed description or the claims, such terms are intended to be inclusive in a manner similar to the term “comprising,” i.e., meaning “including but not limited to.” The terms “exemplary” and “embodiment” are used to express examples, not preferences or requirements. The term “plurality” means “at least two.” The abbreviation “e.g.” means “for example.” The abbreviation “i.e.” means “that is.”
- The terms “over,” “under,” “between,” and “on” are used herein refer to a relative position of one feature with respect to other features. For example, one feature disposed “over” or “under” another feature may be directly in contact with the other feature or may have intervening material. Moreover, one feature disposed “between” two features may be directly in contact with the two features or may have one or more intervening features or materials. In contrast, a first feature “on” a second feature is in contact with that second feature.
- The drawings are not necessarily to scale, and the dimensions, shapes, and sizes of the features may differ substantially from how they are depicted in the drawings.
- Although specific embodiments have been disclosed, it will be evident that various modifications and changes may be made thereto without departing from the broader spirit and scope of the disclosure. For example, features or aspects of any of the embodiments may be applied, at least where practicable, in combination with any other of the embodiments or in place of counterpart features or aspects thereof. Accordingly, the specification and drawings are to be regarded in an illustrative rather than a restrictive sense.
Claims (25)
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