WO2016077391A2 - Configuration de véhicule aérien sans pilote pour vol prolongé - Google Patents

Configuration de véhicule aérien sans pilote pour vol prolongé Download PDF

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Publication number
WO2016077391A2
WO2016077391A2 PCT/US2015/060023 US2015060023W WO2016077391A2 WO 2016077391 A2 WO2016077391 A2 WO 2016077391A2 US 2015060023 W US2015060023 W US 2015060023W WO 2016077391 A2 WO2016077391 A2 WO 2016077391A2
Authority
WO
WIPO (PCT)
Prior art keywords
uav
motor
frame
coupled
propellers
Prior art date
Application number
PCT/US2015/060023
Other languages
English (en)
Other versions
WO2016077391A3 (fr
Inventor
Ricky Dean WELSH
Daniel Buchmueller
Fabian HENSEL
Gur Kimchi
Louis Leroi Legrand, Iii
Brandon William Porter
Walker Chamberlain ROBB
Joshua White TRAUBE
Original Assignee
Amazon Technologies, Inc.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from US14/538,570 external-priority patent/US9868524B2/en
Priority claimed from US14/557,403 external-priority patent/US9889930B2/en
Application filed by Amazon Technologies, Inc. filed Critical Amazon Technologies, Inc.
Priority to CN201580061357.3A priority Critical patent/CN107207087B/zh
Priority to JP2017540990A priority patent/JP6383878B2/ja
Priority to CA2966654A priority patent/CA2966654C/fr
Priority to EP15858801.2A priority patent/EP3218262B1/fr
Publication of WO2016077391A2 publication Critical patent/WO2016077391A2/fr
Publication of WO2016077391A3 publication Critical patent/WO2016077391A3/fr

Links

Classifications

    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/60—UAVs characterised by the material
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B64U30/26—Ducted or shrouded rotors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B64U30/29—Constructional aspects of rotors or rotor supports; Arrangements thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/60—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons
    • B64U2101/64—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons for parcel delivery or retrieval
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/10—Wings

Definitions

  • Multi-propeller aerial vehicles e.g., quad-copters, octo-copters
  • All such vehicles require a body configuration that will support the separation of the multiple propellers, the control components, the power supply (e.g., battery), etc.
  • the power supply e.g., battery
  • FIG. 1 A depicts a block diagram of a top-down view of an unmanned aerial vehicle, according to an implementation.
  • FIG. 1 B depicts a block diagram of a top-down view of an unmanned aerial vehicle, according to an implementation.
  • FIG. 2 depicts another view of an unmanned aerial vehicle, according to an implementation.
  • FIG. 3 depicts a view of a power supply container of an unmanned aerial vehicle coupled to a frame of the unmanned aerial vehicle, according to an
  • FIG. 4 depicts a view of a power supply container of the unmanned aerial vehicle, according to an implementation.
  • FIG. 5 depicts a bottom view of a frame of the unmanned aerial vehicle, according to an implementation.
  • FIG. 6 depicts a lifting motor and lifting motor housing of the unmanned aerial vehicle, according to an implementation.
  • FIG. 7 depicts a lifting motor housing of the unmanned aerial vehicle, according to an implementation.
  • FIG. 8 is a block diagram of an illustrative implementation of a server system that may be used with various implementations.
  • FIG. 9 is a block diagram of a protection circuit, according to an
  • FIG. 10 depicts a view of an unmanned aerial vehicle configuration, according to an implementation.
  • FIG. 1 1 depicts a view of an unmanned aerial vehicle frame, according to an implementation.
  • FIG. 12 depicts another view of an unmanned aerial vehicle frame, according to an implementation.
  • FIG. 13 depicts a view of another unmanned aerial vehicle configuration, according to an implementation.
  • FIG. 14 depicts a view of another unmanned aerial vehicle frame, according to an implementation.
  • FIG. 15 depicts a view of another unmanned aerial vehicle configuration, according to an implementation.
  • FIG. 16 depicts another view of an unmanned aerial vehicle configuration, according to an implementation.
  • the words “include,” “including,” and “includes” mean including, but not limited to.
  • the term “coupled” may refer to two or more components connected together, whether that connection is permanent (e.g., welded) or temporary (e.g., bolted), direct or indirect (i.e., through an intermediary), mechanical , chemical, optical, or electrical.
  • horizontal flight refers to flight traveling in a direction substantially parallel to the ground (i.e., sea level), and that "vertical” flight refers to flight traveling substantially radially outward from the earth's center. It should be understood by those having ordinary skill that trajectories may include components of both “horizontal” and “vertical” flight vectors.
  • the UAV may have any number of lifting motors.
  • the UAV may include four lifting motors (also known as a quad-copter), eight lifting motors (also known as an octo-copter), etc.
  • the UAV may also include a pushing motor and propeller assembly that is oriented at approximately ninety degrees to one or more of the lifting motors, the frame of the UAV and/or the motor arm of the UAV.
  • the pushing motor may be engaged and the pushing propeller will aid in the horizontal propulsion of the UAV.
  • the rotational speed of the lifting motors may be reduced when the pushing motor is engaged, thereby improving efficiency and reducing power consumption of the UAV.
  • the UAV may include a wing to aid in the vertical lift of the UAV while the UAV is moving horizontally.
  • the frame, motor arms, fuselage, wing, propellers, and/or other components of the UAV may be formed of one or more lightweight materials, such as carbon fiber, graphite, machined aluminum, titanium, fiberglass, etc.
  • the frame may be formed of a thermally conductive material to enable use of the frame for heat dissipation.
  • each of the motor arms, motor housing, and/or fuselage may be hollow, thereby reducing weight and providing a cavity through which one or more wires and/or cables may be passed and/or in which other components may be housed.
  • wires that connect the motors e.g., lifting motors, pushing motors
  • components located in or around the frame e.g., electronic speed control (“ESC")
  • ESC electronic speed control
  • the UAV assembly may be configured so that the wires passing through the motor housings and/or motor arms have multiple junctions to enable easy disassembly and/or part replacements.
  • the motor wires may be configured with multiple separable junctions.
  • the motor wires may extend from the motor and have a separable junction at or near the end of the motor arm near where the motor is mounted, rather than having only a single junction where the motor wires connect to the ESC. By having a separable junction for the motor wires near the motor, the motor can be easily removed and replaced without having to disassemble any other components (e.g., fuselage, motor arms) of the UAV.
  • the fuselage may be aerodynamically designed to mount on an underneath or bottom side of the frame and be configured to contain components and power supplies of the UAV.
  • the fuselage may be formed from carbon fiber and mount to ridges or grooves in the frame, as illustrated and discussed below with respect to FIG. IB.
  • FIG. 1 A illustrates a block diagram of a top-down view of a UAV 100, according to an implementation.
  • the UAV 100 includes a frame 104.
  • the frame 104 or body of the UAV 100 may be formed of any suitable material, such as graphite, carbon fiber, aluminum, etc., or any combination thereof.
  • the frame 104 of the UAV 100 is formed of machined aluminum in a rectangular shape.
  • the underneath or bottom side of the frame 104 may be machined into a grid or hash pattern to reduce the weight of the frame, provide support, and provide locations for mounting other components of the UAV 100.
  • motor arms 105-1, 105-2 Mounted to the frame are two motor arms 105-1, 105-2.
  • the motor arms 105-1, 105-2 are approximately the same length, are arranged substantially parallel to one another and perpendicular to the frame 104.
  • the motor arms 105 may be of different lengths (e.g., the front motor arm 105-1 may be shorter than the rear motor arm 105-2 and/or arranged at different locations on the UAV 100.
  • the lifting motor housings 106 may be formed of any material, such as carbon fiber, aluminum, graphite, etc. In this example, the lifting motor housings 106 are aerodynamically shaped to reduce friction of air flow during horizontal flight of the UAV. The lifting motor housings 106 are discussed further below with respect to FIGs. 6 - 7.
  • each lifting motor housing 106 Mounted inside each lifting motor housing 106 is a lifting motor 602 (not shown in FIG. 1A, but illustrated and discussed in FIG. 6).
  • the lifting motors are mounted so that propeller shaft of the lifting motor that mounts to the propeller 102 is facing downward with respect to the UAV 100.
  • the lifting motors may be mounted with the propeller shaft facing upwards with respect to the UAV 100.
  • one or more of the lifting motors may be mounted with the propeller shaft facing downward and one or more of the lifting motors may be mounted with the propeller shaft facing upward.
  • the lifting motors may be mounted at other angles with respect to the frame of the UAV 100.
  • the lifting motors may be any form of motor capable of generating enough rotational speed with the propellers to lift the UAV 100 and any engaged payload, thereby enabling aerial transport of the payload.
  • the lifting motors may each be a FX-4006- 13 740kv multi-rotor motor, or a Tiger U-l 1 motor.
  • the lifting propellers 102 may be any form of propeller (e.g., graphite, carbon fiber) and of a size sufficient to lift the UAV 100 and any payload engaged by the UAV 100 so that the UAV 100 can navigate through the air, for example, to deliver a payload to a delivery location.
  • the lifting propellers 102 may each be carbon fiber propellers having a dimension or diameter of twenty-nine inches. While the illustration of FIG. 1 shows the lifting propellers 102 all of a same size, in some implementations, one or more of the lifting propellers 102 may be different sizes and/or dimensions.
  • this example includes four lifting propellers, in other implementations, more or fewer propellers may be utilized as lifting propellers. Likewise, in some implementations, the propellers may be positioned at different locations on the UAV 100. In addition, alternative methods of propulsion may be utilized as "motors" in implementations described herein. For example, fans, jets, turbojets, turbo fans, jet engines, internal combustion engines, and the like may be used (either with propellers or other devices) to provide thrust for the UAV.
  • antennas 108 Mounted to a first end, or front end, of the frame 104 of the UAV 100 is one or more antennas 108.
  • the antennas 108 may be used to transmit and/or receive wireless communications.
  • the antennas 108 may be utilized for Wi-Fi, satellite, near field communication ("NFC"), cellular communication, or any other form of wireless communication.
  • Other components, such as cameras, time of flight sensors, distance determining elements, gimbals, etc. may likewise be mounted to the front of the frame 104 of the UAV 100.
  • pushing motor mounted to a second end, or rear end, of the frame 104 of the UAV 100
  • the term “pushing motor” is used, those having ordinary skill will appreciate that the position of motor 110 and antennas 108 may be reversed and reconfigured such that pushing motor 1 10 actually “pulls” the UAV 100 in a horizontal direction rather than pushes it.
  • the term pushing motor shall be construed to include implementations configured for either "push” horizontal thrust or "pull” horizontal thrust.
  • the pushing motor housing 1 11 may be aerodynamically shaped and configured to encase the pushing motor 110.
  • the pushing motor 110 and the pushing propeller 1 12 may be the same or different than the lifting motors and lifting propellers 102.
  • the pushing motor 1 10 may be a Tiger U-8 motor and the pushing propeller 1 12 may have a dimension of eighteen inches.
  • the pushing propeller may have a smaller dimension than the lifting propellers.
  • the pushing motor 1 10 and pushing propeller 1 12 may be oriented at approximately ninety degrees with respect to the frame 104 of the UAV 100 and utilized to increase the efficiency of flight that includes a horizontal component.
  • the pushing motor 110 may be engaged to provide horizontal thrust force via the pushing propeller to propel the UAV 100 horizontally.
  • the pushing motor 110 may be oriented at an angle greater or less than ninety degrees with respect to frame 104 to provide a combination of pushing and lifting thrust.
  • One or more navigation components 114 may also be mounted to the top of the frame 104.
  • FIG. IB depicts another block diagram of a top-down view of a UAV 100, according to an implementation.
  • the UAV 100 includes a wing 1 16 coupled to the frame of the UAV 100.
  • the wing may be formed of any suitable material such as, but not limited to, carbon fiber, aluminum, fabric, plastic, fiberglass, etc.
  • the wing 1 16 may be coupled to the top of the frame 104 and positioned between the lifting motors 102. In other implementations, the wing 1 16 may be position above the lifting motors and/or lifting propellers.
  • the wing is designed to have an airfoil shape to provide lift to the UAV 100 as the UAV 100 moves horizontally.
  • the rotational speed of the lifting motors and lifting propellers 102 may be reduced or eliminated as the wing 1 16 may provide lift and keep the UAV 100 airborne when thrust in a horizontal direction by the pushing motor 1 10 and pushing propeller 1 12 is applied.
  • the pitch, yaw and roll of the UAV 100 may be controlled using the flaps and/or ailerons alone or in combination with the lifting motors and lifting propellers 102. If the wing does not include flaps and/or ailerons, the lifting motors and lifting propellers 102 may be utilized to control the pitch, yaw, and roll of the UAV 100 during flight. In some implementations, the wing 116 may be configured to rotate or pivot about the frame 104 of the UAV to reduce drag when the UAV 100 is moving a direction that includes a vertical component.
  • FIG. 2 depicts another view of a UAV 100, according to an implementation.
  • the UAV 100 may be configured for aerodynamics.
  • a fuselage 202 may be included on the UAV 100, mounted to the frame 104 and extending downward and around many of the components of the UAV 100.
  • the fuselage 202 may be made of any suitable material(s) such as graphite, carbon fiber, aluminum, fiberglass, etc.
  • the fuselage 202 may encompass one or more power supply containers 204 (FIG. 3), a payload (not shown), and/or the components of the UAV control system 205.
  • the fuselage 202 may be coupled to the sides of the frame using one or more attachment mechanisms, such as screws, rivets, latches, quarter-turn fasteners, etc.
  • the attachment mechanisms may be configured to enable easy removal and reattachment of the fuselage to facilitate power supply and/or power supply container replacement and maintenance to the UAV control system.
  • the payload such as a package or item to be delivered to a user, may be configured to fit within the fuselage 202, such as between two power supply containers, and be removably coupled to the frame 104 of the UAV.
  • the payload may form a portion of the fuselage.
  • the fuselage may include a gap or opening and when the payload is coupled to the frame 104 of the UAV 100 the sides of the payload may complete the fuselage 202.
  • the motor housings 106-1, 106-2, 106-3, 106-4, 11 1 have an aerodynamic shape to improve the overall aerodynamics of the UAV when the UAV is traveling horizontally.
  • the motor housings 106-1, 106-2, 106-3, 106-4 for the lifting motors may be tapered toward the rear of the UAV 100.
  • the motor housing 1 11 may be cone shaped with the narrow end of the cone directed toward the nose of the UAV 100.
  • the motor arms 105 may also have an aerodynamic form.
  • the motor arms 105 may be tapered toward the rear (e.g., "teardrop" shaped) of the UAV 100 and/or may have an airfoil design to provide additional lift to the UAV 100 when the UAV 100 moves horizontally.
  • the UAV may also include a vertical stabilizer 208 extending upward from the top of the frame 104.
  • the vertical stabilizer 208 may also include a rudder (not shown) that can be controlled by the UAV control system to adjust the yaw of the UAV.
  • the UAV 100 may also include horizontal stabilizers (not shown) which may include elevators controlled by the UAV control system to adjust the pitch of the UAV 100.
  • FIG. 3 depicts a view of the UAV 100 with the fuselage 202 removed, exposing two power supply containers 204 of the UAV 100 coupled to the frame 104 of the UAV 100, according to an implementation.
  • the frame 104 may include one or more grooves or indents into which the power supply containers 204 may be positioned and attached to the frame 104.
  • the grooves of the frame 104 may be angled and designed to provide a friction fit with the power supply containers.
  • the power supply containers 204 may be removably mounted to the frame 104 using screws, rivets, quarter-turn fasteners, or other attachment mechanisms.
  • the power supply containers 204 may be permanently mounted to the frame 104 and/or formed as part of the frame 104.
  • the power supply containers 204 may include one or more shelves 302 that may be positioned within the power supply container 204.
  • the shelves 302-1, 302-3 may be removable from the power supply containers 204.
  • the shelves 302 may be designed to mount or fit in the power supply container 204 on rails 402.
  • the rails 402 and shelves 302 may be movable horizontally and/or vertically to facilitate placement of different size power supplies and/or other components.
  • the shelf 302-1 is supporting four power supplies 304-1, 304-2, 304-3, 304-4.
  • the power supplies 304 may be in the form of battery power, solar power, gas power, super capacitor, fuel cell, alternative power generation source, or a combination thereof.
  • the power supplies 304 may each be a 6000mAh lithium- ion polymer battery, polymer lithium ion (Li-poly, Li-Pol, LiPo, LIP, PLI or Lip) battery, etc.
  • the power supplies 304 may be individually removed and/or the entire shelf 302 may be removed with all of the supporting power supplies, as illustrated in FIG. 4.
  • the power supply containers 204 may include one or more openings (e.g., holes) on the sides of the power supply container to facilitate heat dissipation from the supported power supplies and/or other components.
  • the shelves of the power supply containers 204 may also support other components.
  • one or more components of the UAV control system 310 may be included on the shelves 302 of the power supply containers 204, as illustrated in FIG. 3.
  • a power distribution unit to which the power supplies 304 are connected may be supported by one of the shelves of the power supply container.
  • the power distribution unit may be mounted to a shelf of the power supply container 204 and all of the power supplies may be coupled to the power distribution unit.
  • the power distribution unit may then be coupled to the UAV control system 310 and/or other components of the UAV to provide power.
  • the connection between the power distribution unit and the UAV control system may be a single coupling, such as a magnetic coupling, male/female connection, etc. to facilitate complete exchange of the power supply container 204.
  • the power distribution unit may include or be coupled with a protection circuit 900 that operates as both a spark suppression circuit to protect the UAV 100 when power is applied, and a shut-off or kill- switch circuit to shut down the UAV 100 by removing power.
  • a protection circuit 900 that operates as both a spark suppression circuit to protect the UAV 100 when power is applied, and a shut-off or kill- switch circuit to shut down the UAV 100 by removing power.
  • the positive lead of the power supply(s) may be coupled to the protection circuit 900 and a positive node of each ESC component 904.
  • the second or negative node of each ESC component 904 is coupled to the protection circuit 900 which controls power to the ESC components 904.
  • each second node of each ESC component 904 may be coupled to a respective drain of a transistor 902, such as a metal-oxide-semiconductor field-effect transistor (MOSFET) transistor, of the protection circuit 900.
  • MOSFET metal-oxide-semiconductor field-effect transistor
  • the source of each of the transistors 902 is coupled to ground and each gate of the transistors 902 is coupled to a drain of a transistor 906 and a resistor 908.
  • the resistor 908 is used to control the time it takes for each of the transistors 902 to transition from an off state to an on state.
  • the gate of transistor 906 is coupled to a second resistor 910 and an optical isolator 912.
  • the transistor 910 pulls-up transistor 906 into an on state by drawing voltage from the voltage divider 914.
  • the gate of transistor 906 is high (transistor 906 is on) which causes the transistors 902 to be in an off state and no power is applied to the ESCs.
  • the optical isolator 912 is activated, it causes the gate of transistor 906 to go low (transistor 904 is off), which, in turn, causes the gate node of each transistor 902 to charge through resistor 908 until the transistors 902 reach a threshold voltage for the transistor 902.
  • the speed at which the transistors 902 transition from off, through their linear states and to their on states may be controlled, thereby providing spark suppression to protect the ESCs when power is first applied to the ESCs.
  • the resistor 908 and resistor 910 must be sufficiently large (e.g., 100,000 - 500,000 ohms) so as not to affect the voltage divider 914.
  • the resistor 910 is also larger than resistor 908. In one implementation, resistor 910 is three times as large as resistor 908.
  • the transistor 906 is generally smaller than transistors 902.
  • the protection circuit 900 also operates as a shut-off or kill switch circuit by quickly removing power from the ESCs.
  • the kill switch may be used, for example, when an operator loses control of the UAV.
  • the optical isolator 912 is shut off, which causes the gate on transistor 906 to go high.
  • the gates of transistors 902 go low and the transistors 902 shut off, thereby removing power from the ESCs 904.
  • a diode 916 may be coupled to the drain of each transistor 902 to receive current when power is removed, thereby protecting the transistors 902.
  • FIG. 5 depicts an underneath or bottom view of a frame 104 of a UAV 100, according to an implementation.
  • the frame 104 may be formed of any suitable material, including but not limited to, carbon fiber, graphite, steel, machined aluminum, titanium, fiberglass and/or any other material or combination of materials.
  • the frame 104 may be machined to reduce the weight of the frame 104.
  • the underneath side of the frame 104 may be machined into a hash pattern.
  • the groves or open spaces 502 in the hash pattern may be formed of a size sufficient to position one or more components of the UAV and/or components of the UAV control system.
  • the electronic speed control (ESC) components 504-1, 504-2, 504-3, 504-4, 504-5 may be positioned in the open spaces 502 of the frame.
  • the frame 104 may also operate as a heat sink to dissipate heat from the components mounted to the frame.
  • components of the UAV control system 610 may be thermally coupled to the frame 104 using a thermal grease.
  • the thermal grease also known as thermal gel, thermal compound, thermal paste, heat paste, heat sink paste, heat transfer compound, heat transfer paste (HTP) or heat sink compound, is a viscous fluid substance which improves thermal transfer between the components and the frame 104.
  • the thermal grease may comprise a ceramic, metal, carbon, graphite, liquid metal, phase change metal alloy (PCMA) and other similar materials.
  • thermally conductive pads may be used to provide thermal coupling between the frame 104 and the components.
  • the frame 104 may also be used to dissipate heat from other components, such as the power supply.
  • FIG. 6 depicts a lifting motor 602 and a motor housing 106 of a UAV, according to an implementation.
  • the motor housing 106 is mounted to the end of a motor arm 105 and houses a lifting motor 602.
  • the lifting motor 602 and motor housing 106 may be secured to the motor arm using screws.
  • mounting screws for the lifting motor may be threaded through the motor housing, through the motor arm and into the lifting motor to secure each component together.
  • the lifting motors are mounted so that propeller shaft 604 of the lifting motor that mounts to the propeller 102 is facing downward with respect to the UAV.
  • the lifting motor may be mounted with the propeller shaft 604 facing upwards with respect to the UAV.
  • the lifting motors 602 may be any form of motor capable of generating enough rotational speed with the propellers to lift the UAV and any engaged payload, thereby enabling aerial transport of the payload.
  • the lifting motors 602 may each be a FX-4006-13 740kv multi-rotor motor, or a Tiger U- 1 1 motor.
  • FIG. 7 depicts a lifting motor housing 106 of a UAV with the lifting motor removed, according to an implementation.
  • the lifting motor housing 106 may be positioned on an end of the motor arm 105 and secured to the motor arm 105 using screws of the lifting motor.
  • four screws may be threaded through a top side (not shown) of the motor housing 106, through screw holes (not shown) in the motor arm 105 and through the lower screw holes 702-1, 702-2, 702-3, 702-4 of the lower side of the motor housing.
  • the screws may then be screwed into the lifting motor to secure each of the components together.
  • the wires of the lifting motor may be routed through the opening 704 in the motor housing 106 and through the internal cavity of the motor arm 105.
  • FIG. 8 is a block diagram illustrating an example UAV control system 610 of the UAV 100.
  • the block diagram may be illustrative of one or more aspects of the UAV control system 610 that may be used to implement the various systems and methods discussed herein and/or to control operation of the UAV 100.
  • the UAV control system 610 includes one or more
  • the UAV control system 610 may also include electronic speed controls 804 (ESCs), power supply modules 806 and/or a navigation system 808.
  • the UAV control system 610 further includes a payload engagement controller 812, a network interface 816, and one or more input/output devices 818.
  • the UAV control system 610 may be a
  • the processor(s) 802 may be any suitable processor capable of executing instructions.
  • the processor(s) 802 may be general-purpose or embedded processors implementing any of a variety of instruction set architectures (ISAs), such as the x86, PowerPC, SPARC, or MIPS ISAs, or any other suitable ISA.
  • ISAs instruction set architectures
  • each processor(s) 802 may commonly, but not necessarily, implement the same ISA.
  • the non-transitory computer readable storage medium 820 may be configured to store executable instructions, data, flight paths, flight control parameters, component adjustment information, center of gravity information, and/or data items accessible by the processor(s) 802.
  • the non-transitory computer readable storage medium 820 may be implemented using any suitable memory technology, such as static random access memory (SRAM), synchronous dynamic RAM (SDRAM), nonvolatile/Flash-type memory, or any other type of memory.
  • SRAM static random access memory
  • SDRAM synchronous dynamic RAM
  • program instructions and data implementing desired functions, such as those described herein, are shown stored within the non-transitory computer readable storage medium 820 as program instructions 822, data storage 824 and flight controls 826, respectively.
  • program instructions, data and/or flight controls may be received, sent or stored upon different types of computer-accessible media, such as non-transitory media, or on similar media separate from the non-transitory computer readable storage medium 820 or the UAV control system 610.
  • a non- transitory, computer readable storage medium may include storage media or memory media such as magnetic or optical media, e.g., disk or CD/DVD-ROM, coupled to the UAV control system 610 via the I/O interface 810.
  • Program instructions and data stored via a non-transitory computer readable medium may be transmitted by transmission media or signals such as electrical, electromagnetic, or digital signals, which may be conveyed via a communication medium such as a network and/or a wireless link, such as may be implemented via the network interface 816.
  • transmission media or signals such as electrical, electromagnetic, or digital signals, which may be conveyed via a communication medium such as a network and/or a wireless link, such as may be implemented via the network interface 816.
  • the I/O interface 810 may be configured to coordinate I/O traffic between the processor(s) 802, the non-transitory computer readable storage medium 820, and any peripheral devices, the network interface or other peripheral interfaces, such as input/output devices 818.
  • the I/O may be configured to coordinate I/O traffic between the processor(s) 802, the non-transitory computer readable storage medium 820, and any peripheral devices, the network interface or other peripheral interfaces, such as input/output devices 818.
  • the I/O interface 810 may perform any necessary protocol, timing or other data transformations to convert data signals from one component (e.g., non-transitory computer readable storage medium 820) into a format suitable for use by another component (e.g., processor(s) 802).
  • the I/O interface 810 may include support for devices attached through various types of peripheral buses, such as a variant of the Peripheral Component Interconnect (PCI) bus standard or the Universal Serial Bus (USB) standard, for example.
  • the function of the I/O interface 810 may be split into two or more separate components, such as a north bridge and a south bridge, for example.
  • some or all of the functionality of the I O interface 810 such as an interface to the non-transitory computer readable storage medium 820, may be incorporated directly into the processor(s) 802.
  • the ESCs 804 communicate with the navigation system 808 and adjust the rotational speed of each lifting motor and/or the pushing motor to stabilize the UAV and guide the UAV along a determined flight path.
  • the navigation system 808 may include a global positioning system (GPS), indoor positioning system (IPS), or other similar system and/or sensors that can be used to navigate the UAV 100 to and/or from a location.
  • GPS global positioning system
  • IPS indoor positioning system
  • the payload engagement controller 812 communicates with the actuator(s) or motor(s) (e.g., a servo motor) used to engage and/or disengage items.
  • the actuator(s) or motor(s) e.g., a servo motor
  • the network interface 816 may be configured to allow data to be exchanged between the UAV control system 610, other devices attached to a network, such as other computer systems (e.g., remote computing resources), and/or with UAV control systems of other UAVs.
  • the network interface 816 may enable wireless
  • the UAV 100 communicates with a UAV control system that is implemented on one or more remote computing resources.
  • a UAV control system that is implemented on one or more remote computing resources.
  • an antenna of an UAV or other communication components may be utilized.
  • the network interface 816 may enable wireless communication between numerous UAVs.
  • the network interface 816 may support communication via wireless general data networks, such as a Wi-Fi network.
  • the network interface 816 may support communication via telecommunications networks, such as cellular communication networks, satellite networks, and the like.
  • Input/output devices 818 may, in some implementations, include one or more displays, imaging devices, thermal sensors, infrared sensors, time of flight sensors, accelerometers, pressure sensors, weather sensors, etc. Multiple input/output devices 818 may be present and controlled by the UAV control system 610. One or more of these sensors may be utilized to assist in landing as well as to avoid obstacles during flight.
  • the memory may include program instructions 822, which may be configured to implement the example routines and/or sub-routines described herein.
  • the data storage 824 may include various data stores for maintaining data items that may be provided for determining flight paths, landing, identifying locations for disengaging items, etc.
  • the parameter values and other data illustrated herein as being included in one or more data stores may be combined with other information not described or may be partitioned differently into more, fewer, or different data structures.
  • data stores may be physically located in one memory or may be distributed among two or more memories.
  • the UAV control system 610 is merely illustrative and is not intended to limit the scope of the present disclosure.
  • the computing system and devices may include any combination of hardware or software that can perform the indicated functions.
  • the UAV control system 610 may also be connected to other devices that are not illustrated, or instead may operate as a standalone system.
  • the functionality provided by the illustrated components may, in some implementations, be combined in fewer components or distributed in additional components. Similarly, in some implementations, the functionality of some of the illustrated components may not be provided and/or other additional functionality may be available.
  • instructions stored on a computer-accessible medium separate from the UAV control system 610 may be transmitted to the UAV control system 610 via transmission media or signals such as electrical, electromagnetic, or digital signals, conveyed via a communication medium such as a wireless link.
  • Various implementations may further include receiving, sending or storing instructions and/or data implemented in accordance with the foregoing description upon a computer-accessible medium.
  • the frame of a UAV 1100 may be designed to encompass the lifting motors and corresponding lifting propellers to form a protective barrier around at least a perimeter of the lifting propellers.
  • the frame may include a hub from which multiple motor arms extend. Each motor arm may extend from the hub, over the top of a lifting propeller and lifting motor and couple with or otherwise terminate into a motor mount to which the corresponding lifting motor and lifting propeller are mounted.
  • One or more support arms may extend from each motor mount and couple with or otherwise terminate into a perimeter protective barrier that forms a perimeter of the frame and which extends around the perimeter of the lifting propellers.
  • the frame may also include a permeable material (e.g., mesh, screen) that extends over the top and/or bottom of the frame to provide a protective barrier above and/or below the propellers of the UAV.
  • the frame may be formed of a single mold or uni- body design. In other implementations, one or more components of the frame may be coupled together. In some implementations, the frame may be formed as two matching halves that are mounted or coupled together to form a single UAV frame for the UAV. To further improve the efficiency of the UAV, in some implementations, the frame (motor arms, motor mount, support arms, perimeter protection barrier) and/or other components of the UAV may be formed of one or more lightweight materials, such as carbon fiber, graphite, machined aluminum, titanium, fiberglass, etc.
  • each of the motor arms, motor mounts, support arms, and/or perimeter protection barrier may be hollow or formed around a lightweight core (e.g., foam, wood, plastic), thereby reducing weight, increasing structural rigidity and providing a channel through which one or more wires and/or cables may be passed and/or in which other components may be housed.
  • the motor arms may include both an inner core (e.g., foam, wood, plastic) and a hollow portion.
  • the inner core which may be formed of foam, wood, plastic, etc., or any combination thereof, provides increased dimensionality to the motor arm and helps increase the structural integrity of the motor arm.
  • the hollow portion which may run along the top of the motor arm, provides a channel through which wires, such as motor control wires, may be passed.
  • the UAV may be configured so that the wires passing through the channels have multiple junctions to enable easy disassembly and/or part replacements.
  • the motor wires may be configured with multiple separable junctions.
  • the motor wires may extend from the motor and have a separable junction at or near the motor, rather than having only a single junction where the motor wires connect to the ESC. By having a separable junction for the motor wires near the motor, the motor can be easily removed and replaced without having to disassemble any other components of the UAV, access the UAV control system or remove the motor wires from the UAV.
  • FIG. 10 illustrates a view of a UAV 1 100, according to an implementation.
  • the UAV 1100 includes a frame 1104.
  • the UAV 1100 may be formed of any suitable material, such as graphite, carbon fiber, aluminum, titanium, etc., or any combination thereof.
  • the frame 1104 of the UAV 1 100 is a single carbon fiber frame.
  • the frame 1104 includes a hub 1 106, motor arms 1 108, motor mounts 1 11 1, support arms 11 12, and a perimeter protective barrier 1 114.
  • Each of the motor arms 1 108 extend from the hub 1106 and couple with or terminate into the motor mounts 1 1 11.
  • Lifting motors 11 16 are coupled to an inner side of the motor mount 1 11 1 so that the lifting motor 1 116 and corresponding lifting propeller 1 118 are within the frame 1 104.
  • the lifting motors 11 16 are mounted so that the propeller shaft of the lifting motor that mounts to the lifting propeller 1 118 is facing downward with respect to the frame 1104.
  • the lifting motors may be mounted at other angles with respect to the frame 1104 of the UAV 1 100.
  • the lifting motors may be any form of motor capable of generating enough rotational speed with the propellers to lift the UAV 1100 and any engaged payload, thereby enabling aerial transport of the payload.
  • the lifting motors may each be a FX-4006-13 740kv multi-rotor motor, a Tiger U-l 1 motor, a KDE motor, etc.
  • each lifting motor 11 16 mounteded to each lifting motor 11 16 is a lifting propeller 1 118.
  • the lifting propellers 11 18 may be any form of propeller (e.g., graphite, carbon fiber) and of a size sufficient to lift the UAV 1 100 and any payload engaged by the UAV 1100 so that the UAV 1100 can navigate through the air, for example, to deliver a payload to a delivery location.
  • the lifting propellers 1 118 may each be carbon fiber propellers having a dimension or diameter of twenty-nine inches. While the illustration of FIG. 10 shows the lifting propellers 1 118 all of a same size, in some implementations, one or more of the lifting propellers 1 118 may be different sizes and/or dimensions.
  • lifting propellers 11 18 may be utilized as lifting propellers 11 18.
  • the lifting propellers 1 118 may be positioned at different locations on the UAV 1 100.
  • alternative methods of propulsion may be utilized as "motors" in
  • fans, jets, turbojets, turbo fans, jet engines, internal combustion engines, and the like may be used (either with propellers or other devices) to provide lift for the UAV.
  • each motor mount 11 1 1 Extending from each motor mount 11 1 1 are three support arms 1 112 that couple with or otherwise terminate into the perimeter protective barrier 1 1 14.
  • the perimeter protective barrier 11 14 extends around the perimeter of the UAV and encompasses the lifting propellers 1 118.
  • the perimeter protective barrier 1 114 may include a vertical component 1 114A that extends substantially downward from the support arms and approximately perpendicular to the axis of rotation of the lifting propellers 1 1 18.
  • the vertical component 11 14A may be of any vertical dimension and width.
  • the vertical component 1 114A may have a vertical dimension of approximately three inches and a width of approximately 0.5 inches. In other implementations, the vertical dimension and/or the width may be larger or smaller.
  • the vertical component 1 114A of the perimeter protective barrier may include a core, such as a foam, wood and/or plastic core.
  • the vertical component may be coupled to each of the support arms and extend around the outer perimeter of each propeller 11 18 to inhibit access to the propellers from the sides of the UAV 1100.
  • the perimeter protective barrier 11 14 provides safety for objects foreign to the UAV 1100 by inhibiting access to the propellers 1 118 from the side of the UAV 1100 provides protection to the UAV 1 100 and increases the structural integrity of the UAV 1 100. For example, if the UAV 1100 is traveling horizontally and collides with a foreign object (e.g., wall, building), the impact between the UAV and the foreign object will be with the perimeter protective barrier 1 1 14, rather than a propeller. Likewise, because the frame is interconnected, the forces from the impact are dissipated across the frame.
  • a foreign object e.g., wall, building
  • the vertical component 11 14A provides a surface upon which one or more components of the UAV may be mounted.
  • one or more antennas may be mounted to the vertical component 1 114A of the perimeter protective barrier 1 1 14.
  • the antennas may be used to transmit and/or receive wireless communications.
  • the antennas may be utilized for Wi-Fi, satellite, near field communication ("NFC"), cellular communication, or any other form of wireless communication.
  • Other components such as cameras, time of flight sensors, distance determining elements, gimbals, Global Positioning System (GPS) receiver/transmitter, radars, illumination elements, speakers, and/or any other component of the UAV 1100 or the UAV control system (discussed below), etc., may likewise be mounted to the vertical component 1 114A of the perimeter protective barrier 1 114.
  • GPS Global Positioning System
  • radars radars
  • illumination elements speakers
  • any other component of the UAV 1100 or the UAV control system discussed below
  • the perimeter protective barrier 11 14 may also include a horizontal component 11 14B that extends outward, with respect to the UAV 1 100, from the vertical component 1 1 14A of the perimeter protective barrier 1 114.
  • the horizontal component 1 1 14B may provide additional protective support for the UAV and/or any object with which the UAV 1100 may come into contact. Similar to the vertical component 1 114A, the horizontal component 11 14B may or may not include a core. Likewise, the horizontal component 1 1 14B provides another surface to which one or more components (e.g., antennas, camera, sensors, GPS, range finders) may be mounted.
  • the perimeter protective barrier may have other configurations.
  • the perimeter protective barrier 11 14 may only include a vertical component 1 114A.
  • the perimeter protective barrier may be angled (e.g., forty-five degree angle) with respect to the UAV 1100, and extend from above the lifting propellers where it is coupled with the support arms 1 112 to below the lifting propellers 11 18. Such a configuration may improve the aerodynamics of the UAV 1 100.
  • the perimeter protective barrier 11 14 may only include a vertical component 1 114A.
  • the perimeter protective barrier may be angled (e.g., forty-five degree angle) with respect to the UAV 1100, and extend from above the lifting propellers where it is coupled with the support arms 1 112 to below the lifting propellers 11 18.
  • Such a configuration may improve the aerodynamics of the UAV 1 100.
  • the perimeter protective barrier may have other configurations or designs.
  • the frame 1 104 provides structural support for the UAV 1100.
  • the resulting frame has structural stability and is sufficient to support the lifting motors, lifting propellers, a payload (e.g., container), UAV control system and/or other components of the UAV.
  • a payload e.g., container
  • the frame 1 104 may also include a permeable material (e.g., mesh, screen) that extends over the top and/or lower surface of the frame to inhibit vertical access to the propellers from above or below the propellers 11 18.
  • a permeable material e.g., mesh, screen
  • one or more mounting plates 1 120 may be affixed to the frame 1 104 to provide additional surface area for mounting components to the UAV 1 100.
  • the mounting plates 1120 may be removably coupled to the frame 1 104, for example, using screws, fasteners, etc.
  • the mounting plates 1 120 may be formed as part of the frame 1104.
  • a UAV control system 11 10 is also mounted to the frame 1104.
  • the UAV control system 1 110 is mounted between the hub 1 106 and a mounting plate 1 120.
  • the UAV control system 11 controls the operation, routing, navigation, communication, motor controls, and the payload engagement mechanism of the UAV 1100.
  • the UAV 1100 includes one or more power modules (not shown).
  • the power modules may be mounted to various locations on the frame. For example, in some implementations, four power modules may be mounted to each mounting plate 1120 and/or to the hub 1106 of the frame.
  • the power module for the UAV may be in the form of battery power, solar power, gas power, super capacitor, fuel cell, alternative power generation source, or a combination thereof.
  • the power modules may each be a 6000mAh lithium-ion polymer battery, or polymer lithium ion (Li-poly, Li-Pol, LiPo, LIP, PLI or Lip) battery.
  • the power module(s) are coupled to and provide power for the UAV control system 11 10, the lifting motors 1 116 and the payload engagement mechanism.
  • one or more of the power modules may be configured such that it can be autonomously removed and/or replaced with another power module while the UAV is landed or in flight. For example, when the UAV lands at a location, the UAV may engage with a charging member at the location that will recharge the power module.
  • the UAV 1100 may also include a payload engagement mechanism (not shown).
  • the payload engagement mechanism may be configured to engage and disengage items and/or containers that hold items.
  • the payload engagement mechanism is positioned beneath and coupled to the hub 1 106 of the frame 1104 of the UAV 1100.
  • the payload engagement mechanism may be of any size sufficient to securely engage and disengage containers that contain items.
  • the payload engagement mechanism may operate as the container, in which it contains item(s).
  • the payload engagement mechanism communicates with (via wired or wireless communication) and is controlled by the UAV control system 1 110.
  • the UAV may be configured in other manners.
  • the UAV may include fixed wings and/or a combination of both propellers and fixed wings.
  • the UAV may utilize one or more propellers and motors to enable vertical takeoff and landing and a fixed wing configuration or a combination wing and propeller configuration to sustain flight while the UAV is airborne.
  • FIG. 1 1 is another view of the UAV frame 1204, according to an
  • the propellers have been removed to further illustrate the frame 1204.
  • the frame may be formed as a single unit to which components of the UAV are mounted.
  • the motors 1216 are mounted to the frame and the UAV control system 11 10 is mounted to the frame 1204.
  • the frame is designed to encompass the components of the UAV 1100 and provide a protective barrier around the UAV.
  • the lifting propellers (not shown) mount to the lifting motors 1216 and fit within the perimeter protective barrier 1214.
  • FIG. 12 depicts another view of a UAV frame, according to an implementation.
  • the illustration in FIG. 12 provides a detailed view of a motor arm 1308.
  • the motor arm 1308 is coupled at one end to the hub 1306 of the UAV and the opposing end of the motor arm 1308 is coupled to the motor mount 1311.
  • the motor arm includes a channel 1301 through which one or more wires or conduits carrying electrical, optical, hydraulic, pneumatic, or mechanical signals may pass.
  • the channel 1301 may be formed as part of the frame of the UAV or may be coupled to the motor arm 1308.
  • the channel 1301 may include a slit 1303 or opening to aid in the insertion or removal of wires from the channel 1301.
  • the motor wires that pass from the motor 1316 to the UAV control system 11 10 may be passed through the channel 1301 so that the wires remain secured to the UAV.
  • channels 1301 may likewise be coupled to one or more of the support arms 1312.
  • wires from one or more components coupled to the perimeter protective barrier may be passed through the channel 1301 of the support arm 1312 and the channel 1301 of the motor arm 1308 so that the wires remain secured to the UAV.
  • one or more channels 1301 may pass through motor arms 1308.
  • FIG. 13 depicts a view of another UAV configuration, according to an implementation.
  • the UAV 1400 illustrated in FIG. 13 includes eight lifting motors 1416 and corresponding lifting propellers 1418.
  • the UAV 1400 is formed of two matching frames 1404A, 1404B that are coupled together in a stacked or clamshell configuration.
  • each frame is a single carbon fiber frame that may be removably coupled together by joining the horizontal components 1414A of the perimeter protective barriers of the frames 1404.
  • the frames may be screwed, bolted, riveted, welded, fused or otherwise fastened together.
  • the frame 1404 may be a single body configuration.
  • each frame 1404 may include a hub, motor arms, motor mounts, support arms, and a perimeter protective barrier.
  • Each frame 1404 may have four lifting motors 1416 and corresponding lifting propellers 1418 mounted to respective motor mounts 141 1 of the frame 1404.
  • the UAV control system 1 110 may be mounted to one or more of the frames 1404 and one or more components (e.g., antenna, camera, gimbal, radar, distance determining elements) may be mounted to one or more of the frames, as discussed above.
  • one UAV control system 11 10 may be configured to control the UAV 1400 and each of the eight lifting motors 1416 and corresponding lifting propellers.
  • FIG. 14 depicts a view of another UAV 1500 frame 1504, according to an implementation. In this illustration, the propellers have been removed to further illustrate the frame 1504. As shown, the frame 1504 may be formed using two matching frames that are mounted or joined together so that the lifting motors and lifting propellers are within the frame 1504 of the UAV 1500.
  • a permeable material e.g., wire, mesh
  • the frame 1504 provides both a protective barrier and structural support for mounting of UAV 1500 components.
  • the lifting motors 1516 are mounted to the inner portions of the motor mounts 151 1 of the frame 1504 and the UAV control system 11 10 is mounted to the frame 1504.
  • the frame is designed to encompass the components of the UAV 1500 and provide a protective barrier around the UAV 1500.
  • the lifting propellers (not shown) mount to the lifting motors 1516 and fit within the frame 1504.
  • FIG. 15 depicts a view of another UAV 1600 configuration, according to an implementation.
  • the UAV 1600 is similar to the eight-propeller UAVs 1400, 1500 discussed above with respect to FIGs. 13 and 14.
  • the UAV 1600 includes a frame 1604 to which eight lifting motors 1616 and corresponding lifting propellers 1618 are mounted.
  • the frame 1604 provides a protective barrier around each of the lifting motors 1616, lifting propellers 1618 and other components of the UAV 1600.
  • the UAV 1600 includes two pushing motor housings 1620, each of which include a pushing motor and pushing propeller.
  • the pushing motor housings 1620 are mounted to the perimeter protective barrier 1614 of the frame 1604.
  • the pushing motor housing 1620 may be aerodynamically shaped and configured to encase the pushing motor and/or pushing propeller.
  • the pushing motor and the pushing propeller may be the same or different than the lifting motors 1616 and lifting propellers 1618.
  • the pushing motor may be a Tiger U-8 motor and the pushing propeller may have a dimension of eighteen inches.
  • the pushing motor and pushing propeller may be formed with the pushing motor housing 1620 as a single unit, such as a ducted fan system.
  • the pushing propeller may have a smaller dimension than the lifting propellers.
  • the pushing motors may utilize other forms of propulsion to propel the UAV. For example, fans, jets, turbojets, turbo fans, jet engines, internal combustion engines, and the like may be used (either with propellers or other devices) as the pushing motors.
  • the pushing motors and pushing propellers may be oriented at approximately ninety degrees with respect to the frame 1604 of the UAV 1600 and utilized to increase the efficiency of flight that includes a horizontal component. For example, when the UAV 1600 is traveling in a direction that includes a horizontal component, the pushing motors may be engaged to provide horizontal thrust force via the pushing propellers to propel the UAV 1600 horizontally. As a result, the speed and power utilized by the lifting motors 1616 may be reduced. Alternatively, in selected implementations, the pushing motor may be oriented at an angle greater or less than ninety degrees with respect to the frame 1604 to provide a combination of pushing and lifting thrust.
  • the UAV has an orientation during horizontal flight. Specifically, the UAV 1600, when propelled horizontally using the pushing motors and propellers alone or in combination with the lifting motors 1616 and lifting propellers 1618, will orient and travel with the leading edge 1622 oriented in the direction of travel. Additionally, utilizing two pushing motors as shown in FIG. 15, rotation of the UAV 1600 in the horizontal plane (i.e., yaw) may be adjusted by providing a thrust differential between the two pushing motors. In some implementations, an airfoil or wing may likewise be mounted to the UAV 1600 in accordance with the direction of travel to provide additional lift and increased efficiency to the UAV 1600.
  • FIG. 15 illustrates a UAV with eight lifting motors and corresponding lifting propellers being used with two pushing motors and corresponding pushing propellers
  • fewer or additional lifting motors and corresponding lifting propellers may be used in conjunction with one or more pushing motors and pushing propellers.
  • one or more pushing motors and corresponding pushing propellers may be mounted to a UAV that includes four lifting motors and corresponding lifting propellers, such as the UAV 1100 discussed above with respect to FIG. 10.
  • more or fewer pushing motors and/or pushing propellers may be utilized.
  • FIG. 16 depicts another view of a UAV 1700, according to an implementation.
  • the UAV 1700 includes a wing 1702 coupled to the frame 1704 of the UAV 1700.
  • the wing 1702 may be formed of any suitable material such as, but not limited to, carbon fiber, aluminum, fabric, plastic, fiberglass, wood, etc.
  • the wing 1702 may be coupled to the top of the frame 1704 and positioned above the pushing motor housings 1720 that include the pushing motors and pushing propellers.
  • the wing is designed to have an airfoil shape to provide lift to the UAV 1700 as the UAV 1700 moves horizontally.
  • the rotational speed of the lifting motors and lifting propellers 1718 may be reduced or eliminated as the wing 1702 may provide lift and keep the UAV 1700 airborne when thrust in a horizontal direction by the pushing motors and pushing propellers is applied.
  • the pitch, yaw and roll of the UAV 1700 may be controlled using the flaps and/or ailerons alone or in combination with the lifting motors and lifting propellers 1718 and/or the pushing motors and pushing propellers. If the wing 1702 does not include flaps and/or ailerons, the lifting motors and lifting propellers 1718 and/or the pushing motors and pushing propellers may be utilized to control the pitch, yaw, and/or roll of the UAV 1700 during flight. In some implementations, the wing 1702 may be configured to rotate or pivot about the frame 1704 of the UAV 1700 to reduce drag when the UAV 1700 is moving in a direction that includes a vertical component.
  • the UAV 1700 may be configured with eight lifting propellers and one or more pushing motors and pushing propellers, as shown, or may have a different configuration.
  • the wing may be mounted to a UAV that includes eight lifting motors and corresponding lifting propellers but no pushing motors or pushing propellers.
  • the UAV 1700 may include a wing 1702 mounted to a UAV with four lifting propellers and motors, such as the UAVs 1100, 1200 discussed above with respect to FIGs. 10 and 1 1.
  • the UAV may have four lifting motors and propellers and one or more pushing motors and pushing propellers, in conjunction with a wing 1702.
  • UAV 1700 illustrates a single wing extending across the top of the UAV 1700
  • additional wings and/or different configurations of wings may be utilized.
  • a wing may extent horizontally from the perimeter protective barrier 1714 on either side of the UAV 1700.
  • a front wing may extend from either side of the front of the perimeter protective barrier 1714 and a larger rear wing may extend from either side of the rear of the perimeter protective barrier 1714.
  • Embodiments disclosed herein may include an unmanned aerial vehicle (UAV) optionally including one or more of a frame formed of a heat conducting material, a first motor arm having a first end and a second end, the first motor arm coupled to the frame, a second motor arm having a third end and a fourth end, the second motor arm coupled to the frame, a first lifting motor coupled to the first end of the first motor arm, a second lifting motor coupled to the second end of the first motor arm, a third lifting motor coupled to the third end of the second motor arm, a fourth lifting motor coupled to the fourth end of the second motor arm, a pushing motor coupled to a fifth end of the frame and configured to provide horizontal propulsion to the UAV, an unmanned aerial vehicle control system for controlling a rotational speed of at least one of the first lifting motor, the second lifting motor, the third lifting motor, the fourth lifting motor or the pushing motor, wherein at least one component of the unmanned aerial vehicle control system may be thermally coupled to an underneath side of the frame such that the frame and may dis
  • the UAV described above may further include one or more of a power supply container removably coupled to the frame and configured to house at least one power supply for providing power to the UAV, a fuselage coupled to the frame and extending downward from the frame, wherein the fuselage encompasses at least a portion of the power supply container and wherein the fuselage is configured to reduce aerodynamic resistance of the UAV when flown in a direction including a horizontal component, a removable shelf configured to support at least one power supply or a component of a control system of the UAV, and/or a wing coupled to the frame, wherein the wing is configured to provide lift as the UAV is flown in a direction including a horizontal component.
  • a power supply container removably coupled to the frame and configured to house at least one power supply for providing power to the UAV
  • a fuselage coupled to the frame and extending downward from the frame, wherein the fuselage encompasses at least a portion of the power supply container and wherein the fuselage is configured to reduce aerodynamic resistance of the U
  • Embodiments disclosed herein may include an unmanned aerial vehicle (UAV), including one or more of a frame, a first lifting motor coupled to the frame, a second lifting motor coupled to the frame, a pushing motor coupled to the frame, a fuselage coupled to the frame and extending downward from the frame, wherein the fuselage encompasses a plurality of components of the UAV and is configured to reduce aerodynamic resistance of the UAV when the UAV is flown in a direction including a horizontal component, and an unmanned aerial vehicle control system configured to send control signals to the lifting and pushing motors in response to signals received from a remote location.
  • UAV unmanned aerial vehicle
  • the UAV described above may further include one or more of a wing coupled to the frame, wherein the wing is configured to provide lift as the UAV is flown in a direction including a horizontal component, a first motor housing coupled to the frame and the first lifting motor, the first motor housing having a tapered shape to reduce an aerodynamic resistance of the first lifting motor, a first lifting propeller coupled to the first lifting motor, a first pushing propeller coupled to the pushing motor, a first power supply container coupled to the frame at a first position, a second power supply container coupled to the frame at a second position, and/or a payload removably coupled to the frame between the first power supply container and the second power supply container.
  • a wing coupled to the frame, wherein the wing is configured to provide lift as the UAV is flown in a direction including a horizontal component
  • a first motor housing coupled to the frame and the first lifting motor
  • the first motor housing having a tapered shape to reduce an aerodynamic resistance of the first lifting motor
  • the first lifting propeller may a first dimension and the first pushing propeller may have a second dimension smaller than the first dimension.
  • the pushing motor may be a different motor size than at least one of the first lifting motor, or the second lifting motor.
  • the payload may be configured to be positioned between the first power supply container and the second power supply container and to be at least partially contained by the fuselage.
  • the frame may be configured to dissipate heat from the first power supply container and the second power supply container.
  • the unmanned aerial vehicle control system may further be configured to send control signals to at least one of the lifting and pushing motors in response to signals received from a device of the UAV.
  • Embodiments disclosed herein may include an unmanned aerial vehicle (UAV) including one or more of a frame, a first lifting motor coupled to the frame, a pushing motor coupled to the frame, a wing coupled to the frame and configured to provide lift when the UAV is moving in a direction that includes a horizontal component, and a fuselage coupled to the frame and extending downward from the frame, wherein the fuselage may encompass a plurality of components of the UAV and may be configured to reduce aerodynamic resistance of the UAV when the UAV is flown in a direction including a horizontal component.
  • UAV unmanned aerial vehicle
  • the UAV described above may also include a protection circuit configured to operate as a spark suppression circuit to protect a least a portion of the UAV when power is applied or a kill switch to remove power from at least a portion of the UAV.
  • the wing may be positioned between the first lifting motor and a second lifting motor.
  • the frame may dissipate heat generated by at least one component of an unmanned aerial vehicle control system.
  • the at least one component may include an electronic speed control component.
  • the at least one component may be thermally coupled to the frame.
  • Embodiments disclosed herein may include an unmanned aerial vehicle ("UAV") frame including one or more of a hub, a first motor arm extending from the hub in a first direction, a second motor arm extending from the hub in a second direction, a third motor arm extending from the hub in a third direction, a fourth motor arm extending from the hub in a fourth direction, a first motor mount coupled to the first motor arm, a second motor mount coupled to the second motor arm, a third motor mount coupled to the third motor arm, a fourth motor mount coupled to the fourth motor arm, a first plurality of support arms extending from the first motor mount, a second plurality of support arms extending from the second motor mount, a third plurality of support arms extending from the third motor mount, a fourth plurality of support arms extending from the fourth motor mount, a perimeter protective barrier coupled to the first plurality of support arms, the second plurality of support arms, the third plurality of support arms and the fourth plurality of support arms, and wherein the hub, the first motor arm
  • a first pushing motor may be coupled to the single uni-body and may be configured to provide horizontal propulsion to the UAV. Additionally, the first motor arm may include an inner core.
  • Embodiments disclosed herein may include an unmanned aerial vehicle (UAV), including one or more of a uni-body frame, a plurality of motors coupled to the uni-body frame, and a plurality of propellers, wherein each propeller may be coupled to a motor of the plurality of motors, wherein at least a portion of a perimeter around at least one of the propellers may be encompassed by at least a portion of the uni-body frame.
  • UAV unmanned aerial vehicle
  • the uni-body frame may further include one or more of a hub positioned near a center of the UAV, a plurality of motor arms, wherein each motor arm may have a first end and a second end, wherein each first end may be coupled to the hub, a plurality of motor mounts, wherein each motor mount may be coupled to the second end of one of the plurality of motor arms, a plurality of support arms, wherein each support arm may have a third end and a fourth end, wherein each third end may be coupled to a motor mount of the plurality of motor mounts, and a protective perimeter barrier extending around at least a portion of each of the plurality of propellers.
  • the UAV may include at least eight motors, wherein each motor may be coupled to the uni-body frame.
  • the uni-body frame may further include a channel coupled to a first motor arm of the plurality of motor arms that may be configured to receive a wire. Additionally, the channel may be formed as part of the first motor arm. Additionally, the fourth ends of at least a portion of the plurality of support arms may be coupled to the protective perimeter barrier. Additionally, a first motor of the plurality of motors may be positioned to provide horizontal thrust to the UAV.
  • Embodiments disclosed herein may also include an unmanned aerial vehicle (“UAV") including one or more of a frame including a first frame component and a second frame component, a first plurality of motors coupled to the first frame component, a first plurality of propellers, wherein each of the first plurality of propellers may be coupled to a motor of the first plurality of motors, a second plurality of motors coupled to the second frame component, and a second plurality of propellers, wherein each of the second plurality of propellers may be coupled to a motor of the second plurality of motors, wherein the first frame component may be coupled to the second frame component such that the first plurality of propellers and the second plurality of propellers may be positioned within a perimeter of the frame.
  • UAV unmanned aerial vehicle
  • the UAV may further include one or more of a permeable material extending around at least a portion of the frame, a first pushing motor coupled to the frame that may be configured to provide horizontal propulsion to the UAV, a first pushing propeller coupled to the pushing motor, a wing coupled to the frame, wherein the wing may be configured to provide lift as the UAV is flown in a direction including a horizontal component, at least one of an antenna, a camera, a time of flight sensor, a distance determining element, a gimbal, a Global Positioning System (GPS) receiver/transmitter, a radar, an illumination element, or a speaker coupled to the protective barrier of the perimeter of the frame, and a payload engagement mechanism coupled to the frame and configured to engage or disengage a payload.
  • GPS Global Positioning System
  • first frame component may be a single unit and may provide structural support to the UAV. Additionally, the perimeter of the frame may include a protective barrier that inhibits access from a side of the UAV to the first plurality of propellers and the second plurality of propellers. Additionally, the first frame component and the second frame component may be individually formed and/or coupled together.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Remote Sensing (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Toys (AREA)

Abstract

La présente invention concerne une configuration d'un véhicule aérien sans pilote (UAV) qui facilitera une durée de vol prolongée. L'UAV peut avoir tout nombre de moteurs de levage. Par exemple, l'UAV peut comprendre quatre moteurs de levage (également connu sous le nom de quadcoptère), huit moteurs de levage (octocoptère), etc. De façon similaire, afin d'améliorer l'efficacité de vol horizontal, l'UAV comprend également un ensemble hélice et moteur de poussée qui est orienté à approximativement quatre-vingt-dix degrés par rapport à un ou plusieurs des moteurs de levage. Lorsque l'UAV est en train de se déplacer horizontalement, le moteur de poussée peut entrer en prise et l'hélice de poussée facilitera la propulsion horizontale de l'UAV.
PCT/US2015/060023 2014-11-11 2015-11-10 Configuration de véhicule aérien sans pilote pour vol prolongé WO2016077391A2 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
CN201580061357.3A CN107207087B (zh) 2014-11-11 2015-11-10 无人飞行器
JP2017540990A JP6383878B2 (ja) 2014-11-11 2015-11-10 長期飛行のための無人航空機構成
CA2966654A CA2966654C (fr) 2014-11-11 2015-11-10 Configuration de vehicule aerien sans pilote pour vol prolonge
EP15858801.2A EP3218262B1 (fr) 2014-11-11 2015-11-10 Configuration de véhicule aérien sans pilote pour vol prolongé

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
US14/538,570 2014-11-11
US14/538,570 US9868524B2 (en) 2014-11-11 2014-11-11 Unmanned aerial vehicle configuration for extended flight
US201462083879P 2014-11-24 2014-11-24
US62/083,879 2014-11-24
US14/557,403 2014-12-01
US14/557,403 US9889930B2 (en) 2014-11-24 2014-12-01 Unmanned aerial vehicle protective frame configuration

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WO2016077391A2 true WO2016077391A2 (fr) 2016-05-19
WO2016077391A3 WO2016077391A3 (fr) 2016-08-11

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EP4145628A1 (fr) * 2021-09-03 2023-03-08 Hexagon Geosystems Services AG Système d'antenne gnss pour la réception de signaux gnss multibande

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