U.S. patent application number 14/746351 was filed with the patent office on 2016-04-14 for wearable unmanned aerial vehicles, and associated systems and methods.
The applicant listed for this patent is Nixie Labs, Inc.. Invention is credited to Christoph Kohstall.
Application Number | 20160101856 14/746351 |
Document ID | / |
Family ID | 54938709 |
Filed Date | 2016-04-14 |
United States Patent
Application |
20160101856 |
Kind Code |
A1 |
Kohstall; Christoph |
April 14, 2016 |
WEARABLE UNMANNED AERIAL VEHICLES, AND ASSOCIATED SYSTEMS AND
METHODS
Abstract
Wearable unmanned aerial vehicles and associated systems and
methods are disclosed. A representative unmanned aerial vehicle
includes a wearable, flyable support structure, and a propulsion
system carried by the support structure. The propulsion system can
include a power source and a plurality of propellers. In particular
embodiments, the support structure can include a wrist band.
Inventors: |
Kohstall; Christoph; (Los
Altos, CA) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Nixie Labs, Inc. |
Los Altos |
CA |
US |
|
|
Family ID: |
54938709 |
Appl. No.: |
14/746351 |
Filed: |
June 22, 2015 |
Related U.S. Patent Documents
|
|
|
|
|
|
Application
Number |
Filing Date |
Patent Number |
|
|
62016010 |
Jun 23, 2014 |
|
|
|
62072291 |
Oct 29, 2014 |
|
|
|
Current U.S.
Class: |
244/17.13 ;
244/17.23 |
Current CPC
Class: |
B64C 2201/027 20130101;
B64C 39/028 20130101; B64C 2201/024 20130101; B64C 2201/08
20130101; B64C 2201/108 20130101; B64C 39/024 20130101; B64C
2201/20 20130101; G05D 1/12 20130101; A44C 25/00 20130101; G05D
1/0669 20130101; B64C 2201/141 20130101 |
International
Class: |
B64C 39/02 20060101
B64C039/02 |
Claims
1. An unmanned aerial vehicle (UAV), comprising: a wearable,
flyable support structure; and a propulsion system carried by the
support structure, the propulsion system including: a power source;
and a plurality of propellers.
2. The UAV of claim 1 wherein the support structure is changeable
between a first configuration in which the support structure is
arranged to be worn by a user, and a second configuration in which
the support structure is arranged to fly.
3. The system of claim 2 wherein the support structure includes a
boom portion elongated along an axis, and wherein the boom portion
is curved about the axis in the first configuration and is curved
transverse to the axis in the second configuration.
4. The UAV of claim 1, further comprising a payload carried by the
support Structure.
5. The UAV of claim 4 wherein the payload includes a camera.
6. The UAV of claim 1 wherein the support structure includes a
wristband.
7. The UAV of claim 1 wherein the support structure includes a
finger ring.
8. The UAV of claim 1 wherein the support structure includes a pair
of eyeglasses.
9. The UAV of claim 1, further comprising an on-board flight
controller operatively coupled to the propulsion system.
10. The UAV of claim 9 wherein the flight controller is programmed
with instructions that, when executed, direct the UAV to a
pre-determined location.
11. An unmanned aerial vehicle (UAV), comprising: a wearable,
flyable support structure having a central portion and four boom
portions depending from the central portion, with each boom portion
being changeable between a first configuration in which the boom
portion extends outwardly from the central portion in a first
direction, and a second configuration in which the boom portion
curves away from the central portion in a second direction
different than the first direction, the four boom portions together
forming a wrist band when in the second configuration; a battery
carried by the central portion; a camera carried by the central
portion and coupled to the battery; a flight controller carried by
the central portion and coupled to the battery; four motors, each
carried by a corresponding one of the boom portions; and four
propellers, each carried by a corresponding one of the motors.
12. The UAV of claim 11 wherein the flight controller is programmed
with instructions that, when executed: direct the UAV from a user
to a pre-determined location; direct the camera to take a picture;
and direct the UAV to the user.
13. The UAV of claim 12 wherein directing the camera includes
directing the camera to take a picture of a user who launched the
unmanned aerial vehicle.
14. The UAV of claim 12 wherein the predetermined location is
determined as the UAV is launched.
15. The UAV of claim 11 wherein the flight controller is programmed
with instructions that, when executed: direct the UAV from a user
to a pre-determined location; and direct the UAV to follow the user
as the user moves.
16. The UAV of claim 11, further comprising a closure element
carried by at least one of the boom portions and positioned to
releasably secure the at least one boom portion in the second
configuration.
17. A method for operating an unmanned aerial vehicle (UAV),
comprising: wearing the UAV; taking the UAV off; launching the UAV
on a flight path; retrieving the UAV; and putting the UAV back
on.
18. The method of claim 17 wherein wearing the UAV includes wearing
the unmanned aerial vehicle on a wrist.
19. The method of claim 17 wherein wearing the UAV includes wearing
the unmanned aerial vehicle on a finger.
20. The method of claim 17 wherein the UAV is configured as a pair
of eyeglasses, and wherein wearing the UAV includes supporting the
UAV by a user's ears and nose.
21. The method of claim 17, further comprising moving away from the
UAV after launching, while the UAV follows.
22. The method of claim 17 wherein launching includes launching
along a vector that is used as input to determine the flight
path.
23. A method for directing use of an unmanned aerial vehicle (UAV),
comprising: instructing a user to: wear the UAV; take the UAV off;
launch the UAV on a flight path; retrieve the UAV; and put the UAV
back on.
24. The method of claim 23, further comprising programming the UAV
with instructions to take a picture of the user while in
flight.
25. The method of claim 23, further comprising programming the UAV
with instructions to follow the user while in flight.
26. The method of claim 23, further comprising programming the UAV
with instructions that, when executed, use at least one parameter
in accordance with which the UAV is launched to determine the
flight path of the UAV.
Description
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] The present application claims priority to, and incorporates
by reference, in their entireties, the following U.S. Provisional
Applications: 62/016,010, filed on Jun. 23, 2014, and 62/072,291
filed on Oct. 29, 2014.
TECHNICAL HELD
[0002] The present technology is directed generally to wearable
and/or gesture-controlled unmanned aerial vehicles, and associated
systems and methods.
BACKGROUND
[0003] Unmanned aerial vehicles (UAVs) have been used in a wide
variety of capacities to provide surveillance and perform other
tasks. Personal UAVs have become very popular over the last several
years as a tool to provide individuals with an aerial perspective.
One drawback with personal UAVs, even small personal UAVs, is that
although they may be portable, they typically require at least a
backpack, bag or purse for transportation from one site to another.
Conventional UAVs are typically remote controlled, or follow a
pre-programmed trajectory, or autonomously determine a trajectory
via input parameters from sensors. Another drawback with existing
UAVs is that, despite the apparent level of programming and
automation, they may still be difficult and/or non-intuitive to
control.
BRIEF DESCRIPTION OF THE DRAWINGS
[0004] FIG. 1 is a partially schematic, isometric illustration of a
system that includes an unmanned aerial vehicle (UAV) launched by a
user, in accordance with an embodiment of the present
technology.
[0005] FIG. 2 is a partially schematic, isometric illustration of a
UAV in a flyable configuration, in accordance with an embodiment of
the present technology.
[0006] FIG. 3 is a partially schematic, isometric illustration of
the UAV shown in FIG. 2 in a wearable configuration in accordance
with an embodiment of the present technology.
[0007] FIG. 4 is a partially schematic, side view of the UAV shown
in FIG. 2 during conversion between a flyable configuration and a
wearable configuration.
[0008] FIG. 5 is a partially schematic, end view of the UAV shown
in FIG. 2 in a wearable configuration with a wristband clasp in
accordance with another embodiment of the present technology.
[0009] FIG. 6 is a partially schematic, isometric illustration of a
UAV worn about a user's wrist in accordance with an embodiment of
the present technology.
[0010] FIG. 7 is a partially schematic, isometric illustration of
the UAV worn about the user's wrist in accordance with another
embodiment of the present technology.
[0011] FIG. 8 is a schematic illustration of a flight controller
having components configured in accordance with an embodiment of
the present technology.
[0012] FIGS. 9A-9C illustrate a prototypical UAV configured in
accordance with an embodiment of the present technology.
[0013] FIGS. 10A-10F illustrate configurable boom portions in
accordance with embodiments of the present technology.
[0014] FIG. 11 is a partially schematic illustration of a UAV
having a wearable configuration in the form of a ring, in
accordance with an embodiment of the present technology.
[0015] FIG. 12 is a partially schematic illustration of a UAV
having a wearable eyeglass configuration in accordance with an
embodiment of the present technology.
[0016] FIGS. 13A-13C are partially schematic illustrations of a UAV
having a wearable configuration in the form of a pair of
eyeglasses, in accordance with another embodiment of the present
technology.
[0017] FIG. 14A illustrates a computer system suitable for
supporting UAV operations in accordance with embodiments of the
present technology.
[0018] FIG. 14B illustrates a representative UAV in a UAV frame of
reference in accordance with an embodiment of the present
technology.
[0019] FIGS. 15A-15G illustrate a sequence of steps for operating a
UAV in accordance with an embodiment of the present technology.
[0020] FIG. 16 is a flow diagram illustrating representative steps
for operating a UAV in accordance with an embodiment of the present
technology.
[0021] FIGS. 17A-17B schematically illustrate techniques for
determining and flying to a UAV target location, in accordance with
embodiments of the present technology.
[0022] FIG. 18 is a timeline illustrating representative maneuvers
conducted by a UAV in accordance with embodiments of the present
technology.
[0023] The headings provided herein are for convenience only and do
not necessarily affect the scope or meaning of the embodiments.
Further, the drawings have not necessarily been drawn to scale. For
example, the dimensions of some of the elements in the Figures can
be expanded or reduced to help improve the understanding of the
embodiments. Similarly, some components and/or operations can be
separated into different blocks or combined into a single block for
the purposes of discussion of some of the embodiments. Moreover,
while the various embodiments are amenable to various modifications
and alternative forms, specific embodiments have been shown by way
of example in the drawings and are described in detail below.
DETAILED DESCRIPTION
[0024] The presently disclosed technology is directed generally to
wearable and/or launch-controlled unmanned aerial vehicles (UAVs)
and associated systems and methods. The methods include methods of
use, methods of instructing or directing use and methods of
manufacture. Specific embodiments are described below in the
context of corresponding representative Figures. Several details
describing structures or processes that are well-known and often
associated with UAVs, but that may unnecessarily obscure some
significant aspects of the present technology, are not set forth in
the following description for purposes of clarity. Moreover,
although the following disclosure sets forth several embodiments of
different aspects of the disclosed technology, several other
embodiments of the technology can have different configurations or
different components than those described in this section. As such,
the disclosed technology may have other embodiments with additional
elements, and/or without several of the elements described below
with reference to FIGS. 1-18.
[0025] Many embodiments of the present disclosure described below
may take the form of computer- or controller-executable
instructions, including routines executed by a programmable
computer or controller. Those skilled in the relevant art will
appreciate that the disclosure can be practiced on computer systems
other than those shown and described below. The technology can be
embodied in a special purpose computer or data processor that is
specifically programmed, configured or constructed to perform one
or more of the computer-executable instructions described below.
Accordingly, the terms "computer" and "controller" as generally
used herein refer to any suitable data processor and can include
Internet appliances and handheld devices, including palmtop
computers, wearable computers, cellular or mobile phones,
multi-processor systems, processor-based or programmable consumer
electronics, network computers, mini-computers and the like.
Information handled by these computers and/or controllers can be
presented to a user, observer, or other participant via any
suitable display medium, such as an LCD screen.
[0026] In particular embodiments, aspects of the present technology
can be practiced in distributed environments, where tasks or
modules are performed by remote processing devices that are linked
through a communications network. In distributed computing
environments, program modules or subroutines may be located in
local and remote memory storage devices. Aspects of the technology
described below may be stored or distributed on computer-readable
media, including magnetically or optically readable or removable
computer disks, as well as distributed electronically over
networks. Data structures and transmissions of data particular to
aspects of the present technology are also encompassed within the
scope of particular embodiments of the present technology.
1. Overview
[0027] Certain aspects of the present technology are directed to
wearable UAVs. As used herein, the term "wearable" refers generally
to a UAV that can both fly and be worn by a user. This is to be
distinguished from a UAV that is merely carried by the user when it
is not being flown. Instead of merely being carried by the user,
the UAV includes a structure that is shaped and configured to
actively or passively conform to a body part of the user, so that
the user can walk and/or perform other actions without having to
hold the UAV in his or her hands. Representative wearable UAVs can
be worn on the user's wrist (like a watch), or wrap around the
upper arm, or on the users neck like a necklace, or on the user's
shoulders (like a shirt, sweater, or a backpack), or on the user's
finger (like a ring), or on the user's head (like glasses or a
hat), or on the user's waist (like a belt or a fanny pack), on the
user's feet (like sandals or shoes), or in other suitable manners.
A common feature of the disclosed embodiments is that the structure
that is wearable by the user remains a part of the UAV when the UAV
is in flight. Particular embodiments of wearable UAV configurations
are described further below with reference to FIGS. 1-13C.
[0028] Other aspects of the presently disclosed technology relate
to techniques for controlling a UAV, in particular, techniques for
determining a target location and/or target orientation for a UAV
based on the manner in which the UAV is launched. For example, if
the user throws the UAV straight up, the UAV can fly to a target
location directly overhead. If the user throws the UAV laterally,
the UAV moves away from the user. The distance between the user and
the target location can be determined by the velocity vector
(and/or related value) imparted by the user to the UAV as the user
launches the UAV. Further features of the flight trajectory may be
controlled by the exact path of the throw. For example, the user
can instruct the UAV to circle around him or her by launching the
UAV along a half circle. The user can also control or influence the
UAV's behavior once it reaches the target location. For example,
the user can instruct the UAV to turn and photograph the user, or
the user can instruct the UAV to follow the user for additional
photographs or videos. Particular embodiments of representative
control techniques are described below with reference to FIGS.
14A-18.
2. Representative Wearable UAVs
[0029] FIG. 1 is a partially schematic, isometric illustration of a
system 100 that includes a wearable UAV 110. In this particular
embodiment, the UAV 110 can be configured to be hand-launched by a
user 190, and can be worn around the user's wrist 191, as will be
described in further detail later. The UAV 110 can include a
structural support 120 that carries a propulsion system 140 and, in
particular embodiments, a payload 130. The support 120 can include
a central portion 121 and multiple, outwardly extending boom
poi/ions 122. The central portion 121 can house the payload 130 and
other equipment, for example, a power source, one or more sensors,
and/or a flight controller. In an embodiment shown in FIG. 1, the
payload 130 includes a camera 131 supported by a pivot, swivel,
gimbal and/or other mount 132 so that it can be pointed in any of
multiple directions. The propulsion system 140 can include a
plurality of motors 141 (e.g., one motor for each boom portion 122)
coupled to the power source (shown in FIG. 2). Each motor 141 can
include a shaft 142 attached to a propeller 143. In the example
shown in FIG. 1, the UAV 110 has a quadrotor configuration, with
four motors 141 and four corresponding propellers 143. In other
embodiments, the propulsion system 140 can have other suitable
configurations.
[0030] As is also shown in FIG. 1, the UAV 110 can include one or
more shields or shield portions 144 positioned around the
propellers 143. In a particular embodiment, the shield 144 portions
can partially surround the propeller 143, and can align when the
boom portions 122 are folded around the user's wrist 191 to provide
a discontinuous cylinder around all four propellers 143.
Accordingly, each shield portion 144 forms a quarter ring in the
flyable configuration shown in FIG. 1, and a staggered, full ring
when the UAV 110 is worn.
[0031] FIG. 2 is a partially schematic, top isometric illustration
of a representative UAV 110, illustrating further structural and
functional features of the UAV. The central portion 121 of the
UAV's support 120 carries a controller 160 in addition to the
camera 131. The controller 160 can include a controller board 161
(e.g., a printed circuit board) that in turn carries multiple
circuit elements (described later) used to control the UAV 110. The
central portion 121 can also carry a power source 146 used to power
the controller 160, the camera 131, and the motors 141. In a
representative embodiment, the power source 146 can include a
battery, for example, a 3.7-volt lithium polymer battery with a
capacity of 250 mAh. The power source 146 can be connected to
power-consuming devices (e.g., the motors 141, camera 131 and
controller 160) with wiring 147. In a particular embodiment, the
power source 146 can provide for a total flight time of about five
minutes. This is sufficient for 50 basic out-and-back "boomerang"
flights of about six seconds each. In other embodiments, the power
source 146 can include other suitable devices, for example,
ultracapacitors to provide high peak power. In particular
embodiments, the battery can be charged at any suitable charging
station, for example, a computer or power outlet having a
compatible charging port. In other embodiments, the battery can be
charged by another wearable element, in addition to or in lieu of
the computer or power outlet. For example, the user can wear an
additional wristband, or another article of clothing (e.g., a shoe)
that includes a charger that is releasably coupled to the power
source 146 when the UAV 110 is being worn. In further particular
embodiments, the wearable charger can include a rechargeable
battery that has a significantly greater charge capacity than the
on-board power source 146, and that is woven or otherwise
incorporated into the article of clothing. In still further
embodiments, the wearable recharging device can include one or more
solar panels, e.g., woven into or otherwise integrated with the
user's clothing. Accordingly, the user can launch the UAV 110 on a
series of multiple, relatively short-duration flights or missions,
with the UAV returning to the user between flights for
charging.
[0032] The components of the UAV 110 can be distributed over the
support 120 so as to balance the UAV 110. Accordingly, in a neutral
position, the UAV will not rotate about any of the illustrated x,
y, or z axes. The propellers 143 can be individually controlled to
direct the UAV 110 along any of the x, y, or z axes, and/or rotate
the UAV about any of the foregoing axes during flight. The
propellers 143 can each face upwardly, and can be in the same
horizontal plane to reduce or eliminate trim loads. In a
representative embodiment, the motors 141 driving the propellers
143 can be approximately 20 mm long and approximately 7 mm in
diameter, with a brushed coreless configuration, or a brushless
motor in combination with an electronic speed controller. The
propellers 143 can be approximately 56 mm in diameter. In a
particular embodiment, the propellers can be made from soft cloth
or other soft materials to avoid injuring the user and/or others.
For example, the entire propeller or just the tips of the propeller
can include soft cloth, with or without an internal supporting
structure. For example, in particular embodiments, the propellers
143 can include one or more internal weights (within the cloth)
that give the propellers 143 a suitable aerodynamic shape when the
propellers 143 rotate (e.g., under centrifugal forces).
Accordingly, in a particular embodiment, the overall weight of the
UAV 110 can be from about 30 to about 70 grams, and the thrust
provided by the motors 141 and the propellers 143 can be about
50-100 grams, with the difference in weight available for other
components, e.g., the payload 130 and/or other equipment. These
components can include cameras, speakers, wireless access points,
radio receivers, transmitters, and/or other transceivers,
autonomous control logic elements, propeller guards, fashionable
accessories, and/or other aesthetic components that may be
particularly suitable for the UAV 110 as it is being worn. In other
embodiments, the UAV 110 can have a weight in the range of from
about 10 to about 80 grams, or wider, with a lift capability of
from about 1.5 to about 2 times the UAV weight. In still further
embodiments, the UAV 110 can have other suitable weights with
lift/weight capacities greater than 1.0, including 1.5 to 2.0.
[0033] In an embodiment shown in FIG. 2, the UAV 110 is changeable
between a Flyable configuration and a wearable configuration. For
example, the boom portions 122 can be rotated downwardly relative
to the central portion 121 about the x axis, as indicated by arrows
A to assume a wristband configuration. Optionally, the boom
portions 122 can flex about the z axis, as indicated by arrows B to
narrow the width or profile of the resulting wrist band. Further
embodiments of the configurable features of the UAV 110 are
described below with reference to FIGS. 3-7. Suitable structures
for facilitating the configuration changes are described below with
reference to FIGS. 10A-10F.
[0034] FIG. 3 is a partially schematic illustration of the UAV 110
with the boom portions 122 flexed, bent, rotated, and/or otherwise
reconfigured to form a wristband 123. For example, to form a
wristband it can be advantageous for the boom portions 122 to be
shaped in a manner that places the motors 141 at the edges of a
planar rectangle (in a horizontal x-y plane) when in the flyable
configuration shown in FIG. 2. In the wearable configuration shown
in FIG. 3, it can be advantageous for the motors 141 to meet
pair-wise to form a band in the y-z plane. One way to accomplish
this result is to shape each boom portion 122 like the arc of a
sine wave and bend the boom portions 122 around an axis that is
perpendicular to a line connecting the motor 141 and the central
portion 121. In particular embodiments, the boom portions 122 can
be formed integrally with the central portion 121 to form a
monolithic structure. In other embodiments, the boom portions 122
can be formed separately from the central portion 121 and then
attached to the central portion 121. In any of these embodiments,
the central portion 121 can optionally include stiffening features
or other features that resist or limit the type of motion undergone
by the central portion 121 when the user manipulates the boom
portions 122.
[0035] The boom portions 122 can have a bi-stable configuration so
as to preferentially snap, flip and/or otherwise readily change
between the configuration shown in FIG. 2 and the configuration
shown in FIG. 3. Further details of suitable bi-stable structures
are described later with reference to FIGS. 10E-10F. In addition to
(or in lieu of) the bi-stable configuration, the UAV 110 may
include features that resist inadvertently changing from the
wearable configuration shown in FIG. 3 to the flyable configuration
shown in FIG. 2. For example, each of the motors 141 can include
one or more motor magnets 145. The poles of the motor magnets 145
can be oriented so that, in the wearable configuration shown in
FIG. 3, at least two of the motor magnets 145 are attracted toward
each other to maintain the UAV 110 in the wearable wristband
configuration. To convert from the wearable configuration to the
flyable configuration, the user deliberately moves the attached
boom portions 122 apart from each other. The boom portions 122 can
then spring back to the positions shown in FIG. 2.
[0036] In other embodiments, the motor magnets 145 may be too weak
to perform the foregoing clamp or closure function, and/or may not
be amenable to a position that supports the mutual attraction
described above. Accordingly, the UAV 110 can include a separate
closure device 170 for performing this function. In an embodiment
shown in FIG. 3, the closure device 170 includes external magnets
171 that are positioned to keep the wristband 123 closed or at
least partially closed until the user deliberately spreads the boom
portions 122 apart from each other to assume the flyable
configuration shown in FIG. 2.
[0037] FIG. 4 illustrates the UAV 110 with a closure device 470
arranged in accordance with another embodiment of the present
technology. In this embodiment, the closure device 470 can include
a first clasp member 471a on one boom portion 122 and a second
clasp member 471b on another boom portion 122. The first clasp
member 471a can have a prong 473, and the second clasp member 471b
can have an aperture 474. When the oppositely-facing boom portions
122 are bent or folded toward each other, as shown in FIG. 5, the
first clasp member 471a releasably couples to the second clasp
member 471 b to releasably secure the UAV 110 in the wearable
configuration.
[0038] FIG. 6 illustrates the UAV 110 in a wearable configuration
with the power source 146 and controller 160 facing upwardly or
outwardly relative to the user's wrist 191. In particular
embodiments, the controller 160 and/or other elements of the
central portion 121 can house or carry other elements that the user
may want to have access to when the UAV 110 is worn. Such features
can include a time display (like a conventional watch), a personal
assistant, dictation device, microphone, decorative features,
and/or other features. The foregoing features can provide the full
(or partial) functionality of a smart watch. Accordingly, the
upward-facing orientation shown in FIG. 6 can facilitate the user's
access to these elements.
[0039] FIG. 7 illustrates the UAV 110 in another wearable
configuration in which the motors 141 and propellers 143 face
outwardly. The user can select whichever configuration he or she
likes, depending, e.g., on whether the user wishes to access the
controller 160 (and/or other features at the central portion 121),
as shown in FIG. 6, or the motors 141 and propellers 143.
[0040] FIG. 8 is a partially schematic illustration of an
embodiment of the flight controller 160 described above. The flight
controller 160 can include a circuit board 161 on which multiple
circuit elements are mounted. These circuit elements can include a
radio frequency receiver or transceiver 862, a microcontroller 863,
and/or one or more sensors 864. Representative sensors can include
gyroscopes, accelerometers, pressure sensors, and/or other elements
that facilitate operating and, in particular, guiding the UAV 110.
The controller 160 can also include motor drivers 865, each of
which can control one of the motors described above. The
microcontroller 863 can receive and store inputs that are then
directed to the motor drivers 865 for driving the motors as the UAV
operates. For example, the gyroscope and accelerometer can sense
the actual orientation state of the UAV. The microcontroller 863
can compare a desired state (e.g., flight path, vehicle
orientation, and/or motion) to the actual state and can compute a
suitable control signal for the motors in order to reach the
desired state. The algorithm to accomplish this can be based on a
PID controller. The motor drivers 865 can drive the speed of the
motors according to the control signal.
[0041] FIGS. 9A-9C illustrate a prototypical UAV 910 configured in
accordance with a particular embodiment of the present technology.
The UAV 910 includes a support 920 formed from fiberglass. In this
embodiment, the support 920 is monolithic and includes a central
portion 921 and four integrally formed boom portions 922.
Corresponding motors 941 and propellers 943 are carried by (e.g.,
mounted at the ends of) each boom 922. A controller 960 mounted on
a circuit board 961 is carried at the central portion 921 and
includes wiring 947 coupled to the motors 941 and a power source
946.
[0042] FIG. 9B illustrates the UAV 910 in its wearable
configuration, with the boom portions 922 wrapped about the user's
wrist 191 to form a wristband 923.
[0043] FIG. 9C is an enlarged, isometric illustration of the
central portion 921 of the UAV 910, illustrating the controller 160
and wiring 947. The central portion 921 also carries a
corresponding camera 931 and the power source 946. Representative
circuit elements include a radio receiver 962, microcontroller 963
and inertial measurement unit (IMU) 968.
[0044] FIGS. 10A-10F illustrate boom portions (or parts of the boom
portions) configured in accordance with several representative
embodiments of the present technology. Referring first to FIG. 10A,
a representative boom portion 1022a can include a bendable plastic
and/or fiberglass material, and can accordingly change
configuration from the generally straight shape shown in FIG. 10A,
to a bent shape shown in FIG. 10B. In particular embodiments, the
boom portion 1022a can include an internal flexible, resilient
member (e.g. a strip of metal) that allows the boom portion to
maintain the shape in which the user places it. The boom portion
1022a can be biased to the generally straight shape, and latched or
otherwise releasably secured in the bent shape using magnets,
latches or other suitable devices, as discussed above with
reference to FIGS. 3-5.
[0045] FIG. 10C illustrates another boom portion 1022c that
includes one or more slots 1024 extending transverse to an
elongation axis E of the boom portion 1022c. The slots 1024 allow
the user to bend the boom portion 1022c from the straight, flat
configuration shown in FIG. 10C to the curved, wearable
configuration shown in FIG. 10D. In a particular aspect of this
embodiment, the slots 1024 can be sized and positioned so that, in
addition to facilitating the user bending the boom portion as shown
in FIG. 10D, they can facilitate the user consistently returning
the boom portion 1022c to the straight, flyable configuration shown
in FIG. 10C. For example, the slots 1024 can be narrow so as to
prevent the boom portion 1022c from being overly bent in an upward
direction (e.g. into a "U"-shape) which may not be suitable for
flight. In addition, once the slots 1024 have closed (as the boom
portion 1022c is bent from the configuration shown in FIG. 10D to
the configuration shown in FIG. 10C), the resistance provided by
adjacent segments 1025 of the boom portion 1022c coming into
contact with each other can provide tactile feedback indicating to
the user that the boom portion 1022c is in its proper flyable
configuration.
[0046] FIG. 10E illustrates still another boom portion 1022e having
a bi-stable spring-type configuration, at least generally similar
to that used for snap band products (e.g., metal tape measures and
wrist bands). Accordingly, the boom portion 1022e can be elongated
along an elongation axis E and, in the flyable configuration shown
in FIG. 10E, can be at least slightly curved about the elongation
axis E, as indicated by arrow C1. This shape resists (but still
allows) the boom 1022e to be bent around a transverse axis T, as
indicated in FIG. 10F. In the wearable configuration shown in FIG.
10F, the boom portion 1022e is curved about the transverse axis T,
as indicated by arrow C2. Accordingly, the boom portion 1022e can
be readily "snapped" between the flyable configuration shown in
FIG. 10E and the wearable configuration shown in FIG. 10F. A
representative installation includes four independently "snappable"
boom portions 1022e attached to a common central portion.
[0047] FIGS. 10G-10I illustrate yet another boom portion 1022g
having a bi-stable configuration in accordance with another
embodiment of the present technology. In one aspect of this
embodiment, the boom portion 1022g includes multiple segments 1025
joined via corresponding hinges 1026. The hinges can be live hinges
(e.g., formed from the same material as, and integrally with, the
segments 1025) or initially separate hinges that are connected
between pairs of segments 1025. In either embodiment, the segments
1025 can additionally be connected with an elastic member 1027
(e.g., a rubber band) as shown in FIG. 10H. The elastic member 1027
will bias the boom portion 1022g to the shape shown in FIG. 10H,
until an upward force (indicated by arrows U) is applied to the
downwardly bowed boom portion 1022g. In response to the upward
force, the boom portion 1022g will snap upwardly so as to be bowed
in the opposite direction. This motion will result whether the
elastic member 1027 is positioned below the hinges 1026, as shown
in FIG. 10H, or above the hinges 1026, as shown in FIG. 10I. In the
configuration shown in FIG. 10I, a user can apply a downward force,
indicated by arrows D, to snap the boom portion 1022g, initially an
upwardly bowed shape, to a downwardly bowed shape. In either
embodiment, the lower sidewalls at the segments 1025 can have a
greater chamfer angle than the upper sidewalls to allow the boom
portion 1022g to curve more when downwardly bowed to fit around the
user's wrist.
[0048] In still further embodiments, the boom portion can have
other bi-stable configurations, for example, generally similar to
those used for snap hair clips.
[0049] FIG. 10J illustrates a representative UAV 1010 having boom
portions 1022 with a bi-stable configuration generally similar to
that discussed above with reference to FIGS. 10G-10I. The boom
portions 1022 have an upwardly bowed configuration for flight, as
shown in FIG. 10J, and can be snapped downwardly to form a
wristband when worn. The boom portions 1022, together with a
corresponding central portion 1021, form an overall support
structure 1020. The central portion 1021 can house a corresponding
camera 1031 behind an aperture 1033. The support structure 1020 can
include lightening holes 1024 in the central portion 1021 and/or
the boom portions 1022 to reduce the weight of the UAV 1010. In a
particular embodiment shown in FIG. 10J, the boom portions 1022 can
extend far enough from the central portion 1021 to allow a user to
easily catch the UAV 1010 by grasping the central portion 1021 and
avoiding the propellers 1043 at the ends of the boom portions
1022.
[0050] FIG. 11 is a partially schematic illustration of a UAV 1110
configured to be worn like a ring in accordance with another aspect
of the present technology. In particular, the UAV 1110 can include
multiple boom portions 1122, each of which supports a corresponding
motor 1141 and propeller 1143. In the wearable state, the boom
portions 1122 curve in generally the same manner described above
with reference to FIGS. 3-10F to assume the shape of a ring band
1125 that is worn on the users finger 192. Accordingly, the overall
arrangement described above with reference to the wrist-worn UAV
110 can be applied, in a scaled-down manner, to be worn on the
user's finger 192.
[0051] FIG. 12 illustrates another system 1200 having a UAV 1210
configured as a pair of eyeglasses 1250. For example, the UAV 1210
can include a lightweight, durable support 1220 that in turn
includes a rim 1251. The rim 1251 carries lenses 1252 (e.g.,
plastic lenses), and two temple pieces or arms 1253 that are
pivotably mounted to the rim 1251. The rim 1251 can rest on the
user's nose, and each temple piece 1253 can include a corresponding
earpiece 1254 engaged with the user's ears so that the UAV 1210 can
be worn, and can function, as a conventional pair of eyeglasses
1250. The temple pieces 1253 can rotate or fold inwardly and
outwardly as indicated by arrows P. In addition, the UAV 1210
includes a propulsion system 1240 that in turn includes multiple
(e.g., four) motors 1241, each of which drives a corresponding
propeller 1243. A power source 1246 (e.g., battery) can be carried
by one temple piece 1253, and other system components (e.g., a
flight controller 1260), can be carried by the other temple piece
1253 to balance the UAV 1210. For example, the components can be
arranged to place the UAV center of gravity in the center of the
rectangle formed by the four motors 1241. Wiring 1247 can be routed
along the rim 1251 and temple pieces 1253 to provide power and
signals, and can be routed through or close to the hinges between
the rim 1251 and the temple pieces 1253 to reduce or eliminate
binding or stretching. As discussed above with reference to the UAV
110, the UAV 1210 shown in FIG. 12A can include a camera 1231 or
other payload.
[0052] FIG. 13A is a front view of a prototypical embodiment of the
UAV 1210. FIG. 13B is a top-down view of the UAV 1210 shown in FIG.
13A. The temple pieces 1253 can pivot back and forth between a
folded and a deployed configuration as shown by arrows P, in the
manner of a conventional pair of eye glasses. FIG. 13C illustrates
the UAV 1220 with the temple pieces 1253 in the folded
configuration.
[0053] One feature of several embodiments discussed above is that
the UAVs can both perform a UAV mission (e.g., take photographs
and/or videos) and be worn by the user when not deployed. An
advantage of this feature is that the UAV is easier to transport
and easier to quickly deploy and stow.
[0054] Another advantage of the foregoing features is that the UAV
can be small enough, compact enough, and maneuverable enough to
take pictures and/or videos of the user and/or other subjects in a
wide variety of contexts and/or while the user or subject conducts
a wide variety of actions. Such action shots and video are well
beyond the capability of a typical "selfie" taken at arms' length
or at the end of a pole. Still further, the UAV can follow the user
as the user conducts such activities, providing yet another degree
of realism and perspective for the images the UAV takes.
2.0 Representative Control Arrangements
[0055] Each of the UAVs described above can be configured (e.g.,
programmed) to carry out a variety of tasks. The overall UAV
systems described herein can include computers or computer systems
in addition to the on-board controllers described above. Such
off-board computers can provide additional functions, and can
communicate with the UAV without adding weight to the UAV. For
example, such systems can be used to create "canned" operation
programs that are downloaded to the UAV for execution. Such systems
can also receive and/or process visual images, among other
tasks.
[0056] FIG. 14A is a block diagram of a computing system 1480 that
can be used to implement features, e.g., navigation, object
recognition, preprogrammed behavior and/or real time intelligent
behavior, of at least some of the foregoing embodiments. The
computing system 1480 can include one or more central processing
units ("processors") 1481, at least one memory 1482, input/output
devices 1485 (e.g., keyboard and/or pointing devices, and/or
display devices), storage devices 1484 (e.g., disk drives), and
network adapters 1486 (e.g., network interfaces) that are connected
to an interconnect 1483. The interconnect 1483 is illustrated
schematically and can include any one or more separate physical
buses, point-to-point connections, or both, connected by
appropriate bridges, adapters, or controllers. The interconnect
1483, therefore, can include, for example, a system bus, a
Peripheral Component Interconnect (PCI) bus or PCI-Express bus, a
HyperTransport or industry standard architecture (ISA) bus, a small
computer system interface (SCSI) bus, a universal serial bus (USB),
IIC (I2C) bus, or an Institute of Electrical and Electronics
Engineers (IEEE) standard 1394 bus, also called "Firewire".
[0057] The memory 1482 and storage devices 1484 are
computer-readable storage media that can store instructions that
implement at least some portions of the actions described herein.
In addition, the data structures and message structures can be
stored or transmitted via a data transmission medium, e.g., a
signal on a communications link. Various communications links can
be used, e.g., the Internet, a local area network, a wide area
network, or a point-to-point dial-up connection. Thus, computer
readable media can include computer-readable storage media (e.g.,
"non transitory" media) and computer-readable transmission
media.
[0058] The instructions stored in memory 1482 can be implemented as
software and/or firmware to program the processor(s) 1481 to carry
out actions described herein. In some embodiments, such software or
firmware can be initially provided to the processing system 1480 by
downloading it from a remote system to the computing system 1480
(e.g., via network adapter 1486).
[0059] The various embodiments described herein can be implemented
by, for example, programmable circuitry (e.g., one or more
microprocessors) programmed with software and/or firmware, or
entirely in special-purpose hardwired (non-programmable) circuitry,
or in a combination of such forms. Special-purpose hardwired
circuitry can be in the form of, for example, one or more ASICs,
PLDs, FPGAs, etc.
[0060] FIG. 14B is a partially schematic illustration of an overall
system 1400 that includes a UAV 1410. In a particular aspect of
this embodiment, the UAV 1410 can have a quad-rotor configuration,
with a support 1420 having four boom portions 1422, each supporting
a corresponding motor 1441 and propeller 1443. The motors 1441 can
be brushless motors with a 13 mm diameter, and the propellers can
have a 75 mm diameter, in a particular embodiment. In other
embodiments, the UAV 1410 can have any of the other configurations
described herein. A support 1420 carries a corresponding controller
1460 (e.g., an Intel Edison controller or a Tangier-Merrifield
platform), which can in turn include a housing 1466. In an
embodiment shown in FIG. 14B, the housing 1466 carries a
corresponding battery 1446 (e.g., a one-cell, 350 mAh lithium
polymer battery) and a camera 1431 (e.g., a USB webcam or state of
the art cell phone camera module with or without an optical image
stabilizer). The housing 1466 can also carry a control unit 1467, a
sensor 1464 (e.g. an MS5611 pressure sensor available from Amsys of
Mainz, Germany) for altitude control, and an inertial measurement
unit (IMU) 1468 (e.g., an MPU9250 unit available from Invensense of
San Jose, Calif.), which includes an accelerometer. The IMU 1468 (a
specific type of sensor) can in turn be secured to a vibration
isolation mount 1469 that includes a suitable vibration isolating
material, for example, Moongel.RTM.. Other equipment that may be
sensitive to vibrations (e.g., the camera 1431) can also be mounted
on the same or a different isolation mount 1469. The IMU 1468
senses accelerations and rotations along and about the x, y and z
axis in a UAV frame of reference 1411. The user has a corresponding
user's frame of reference 1493, which can be aligned or partially
aligned with the UAV frame of reference 1411 in preparation for a
flight. For example, the X axis of the users frame of reference
1493 can be aligned with the x axis of the UAV frame of reference
1411 aligned prior to flight. In a particular embodiment, the
controller unit 1467 stores acceleration and velocity values at a
suitably high frequency (e.g. about 100 Hz) and stores the values
for a period of time (e.g. 10 seconds). The velocity, acceleration
(and/or other) information can then be used to control the motors
1441 via corresponding electronic speed controllers 1475. In a
particular embodiment, the electronic speed controllers 1475 can be
located on the boom portions 1422, as shown schematically in FIG.
14B.
[0061] Particular embodiments described below represent methods for
pre-programming the trajectory of the UAV. A representative method
includes launching the UAV by hand, while the motion of the launch
is measured. The measurements, e.g., the parameters of this motion,
can be used to pre-program the trajectory. For example, the
direction of the launch can be used to set the direction of a
linear trajectory, and the acceleration during the launch
(resulting in a launch velocity at and shortly after launch) can be
used to set the length of the trajectory. Setting direction and
length of a linear trajectory allows the user to control the return
point of the UAV in three dimensions in some embodiments. A
simplified version of this algorithm can constrain the height of
the UAV via altitude stabilization. This version can allow a user
to control the direction and length of the linear trajectory in a
two-dimensional plane perpendicular to gravity.
[0062] One feature of the techniques described herein is that they
can be faster and more intuitive to the user. In addition,
embodiments of the techniques do not require additional equipment,
nor a manually operated interface (e.g., push buttons) to operate
the UAV, e.g., with the exception of an emergency shut off switch
which is readily accessible to the user. In other embodiments, the
user can optionally operate the UAV in a more conventional
manner.
[0063] FIGS. 15A-15G illustrate the user 190 operating the UAV 1410
in accordance with a particular embodiment of the present
technology. Beginning with FIG. 15A, in a first (e.g., "idle")
phase 1595a, the user 190 carries the UAV 1410 (after having worn
it) in preparation for launch. In FIG. 15B, during a second, e.g.,
"throw" phase 1595b, the user throws the UAV 1410 as indicated by
arrow E1. In a particular embodiment, the user can incorporate, in
the throwing gesture, information regarding the desired pose,
orientation and/or maneuver to be undertaken by the UAV once it
reaches its target location. For example, if the user throws the
UAV with the camera pointing toward the user, the UAV can re-assume
this orientation when it reaches the target location. In particular
embodiments, the UAV may be programmed with pre-set orientations or
poses, and can interpolate, based on the input received from the
user as the user throws the UAV, to determine a final pose.
[0064] After the user has released the UAV 1410 during the course
of the throw, the UAV 1410 can begin a third, e.g., "freefall"
phase 1595c (FIG. 15C), as indicated by arrow E2, under the
influence of gravity. During a fourth, e.g., "deceleration" phase
1595d shown in FIG. 15D, the propulsion system of the UAV 1410
operates to counter the freefall acceleration, as indicated by
arrow E3. In FIG. 15E, the UAV 1410 engages in a payload-specific
fifth (e.g., "mission") phase 1595e. For example, when the UAV 1410
includes a camera, the fifth phase 1595e can include taking a
picture of the user 190 or other target. The UAV 1410 can
automatically orient the camera toward the user 190, or the user
can direct the UAV 1410 to assume a different, e.g., mission
specific, orientation. Accordingly, the UAV 1410 can include
machine-vision functions to provide object recognition. Machine
vision can also be used for navigation, tagging, and/or other
tasks. The UAV can also execute other pre-defined maneuvers, e.g.,
circling the user or following the user, both of which maneuvers
can be performed while the camera is trained on the user or other
target.
[0065] In FIG. 15F, the UAV 1410 operates in a sixth (e.g.,
"return") phase 1595f, in which it begins flying back toward the
user 190, as indicated by arrow E4, or lands on the ground, or
undergoes another suitable (e.g., end-of-mission) maneuver. In FIG.
15G, the user 190 catches the UAV 1410 during a seventh (e.g.,
"catch") phase 1595g of the operation.
[0066] In one aspect of the foregoing embodiment, the gesture-based
technique for identifying, and guiding the UAV 1410 to its target
location is the only technique used to control the UAV. In other
embodiments, the UAV 1410 can include an optional manual operating
function (e.g., via a joy stick and/or other controller) and/or a
manual override function (e.g., to take over control after an
errant throw), and/or voice control techniques (received via a
microphone) and/or hand gestures (e.g., sign language received via
the on-board camera). In still further embodiments, the UAV 1410
can fly to pre-programmed way points or other locations.
[0067] FIG. 16 is a flow diagram illustrating aspects of the
operation described above with reference to FIG. 15. In an "idle"
phase, mode, or step 1610, the UAV controller can store the IMU
data and run a routine to detect a freefall event 1620. "Freefall"
as used herein can refer to a state when no other forces other than
friction with the air and/or gravity act on the UAV--thus, throwing
the UAV up in the air can be considered "freefall" and freefall is
not limited to the UAV "falling down". "Freefall" detection as used
herein can include detection of a launch event, which does not
result from falling, but rather from a forceful release from the
user's hand.
[0068] To detect freefall, for example, the routine can receive and
track inputs from the IMU 1468 (FIG. 14B), and check the values
against a threshold condition. For example, when the routine
determines that all acceleration values from the last 0.05 seconds
are below 0.1 times the earth's acceleration, i.e. all acceleration
values are below 1 m/sec.sup.2, this can correspond to a freefall
event. If freefall is not detected, the controller can repeat steps
1610 and 1620. If freefall is detected, the controller can
calculate the velocity and attitude of the motion of the UAV
relative to the user's frame of reference 1493 (FIG. 14B).
[0069] The routine executed by the controller can be programmed to
"assume" the release of the UAV to have happened in a particular
time window before the freefall detection event (e.g., from 1-0.05
seconds prior to freefall). In other embodiments the release can be
explicitly identified. By integrating the acceleration over the
time window, the routine can determine the velocity vector v1 of
the UAV (block 1630). The motors of the UAV can be turned on and it
can be stabilized to zero acceleration along the X- and the Y-axis,
to hold the position along the Z-axis (e.g., "altitude-hold mode.")
The axes in this example are relative to the user reference frame,
which can be stationary or moving depending upon the embodiment.
The flight controller can use the input of an air pressure sensor
to help stabilize the UAV's altitude in combination with providing
inertial navigation along the Z axis.
[0070] At block 1650, the UAV starts its flight. The start flight
event can take about 0.8 seconds in particular embodiments.
Following the start flight event, the UAV can be decelerated to
zero velocity in the user's reference frame by accelerating with
constant acceleration al along the X- and Y-direction for time t1
given by, e.g., v1=a1*t1 (block 1660). The absolute value of the
constant acceleration a1 can be set in advance, e.g., to about 2
m/sec.sup.2 in some embodiments, e.g., with or without a smooth
acceleration ramp. Now the UAV can be at rest in the user's frame
and can take a picture and/or a video (block 1670). After taking
the picture, the UAV can return to the user by accelerating with an
acceleration of a1 for time t1 (block 1680). The UAV can now be
moving at velocity -v1 toward the user and the user can catch the
UAV in mid-air. The UAV can be decelerated before getting close to
the user, so as to reduce sudden peaks in acceleration. Any
absolute acceleration along, e.g., the X or Y axes higher than,
e.g., 5 m/sec.sup.2 can be detected as a catch (block 1690). In
other embodiments, other sensors can be used in addition to or in
lieu of an accelerometer. If no catch is detected, the UAV can
decelerate and slow down and perform an automated landing (block
1691). In other embodiments, the UAV can be tethered to the user
and the user can pull on the tether to return the UAV to the user
or to land the UAV such that it can be readily recovered. If a
catch is detected the motors can be switched off, e.g.,
automatically, (block 1692) and the UAV can be placed back into
idle mode (block 1610).
[0071] In the foregoing embodiment, the control algorithm
determines when and where the UAV stops (i.e., hovers) and turns.
The algorithm can use two parameters to make this determination.
For example, the direction of the throw can determine the direction
of travel for the UAV, and the intensity, e.g., the integrated
acceleration, of the throw can determine the distance the UAV
travels. The extension of the algorithm to define three parameters
can proceed as follows: Instead of controlling the UAV to be at a
constant height. The two angles and the absolute value of the throw
velocity vector are used to control the turning point of the UAV in
three dimensions. This results in full three dimensional control
over the turning point of the UAV.
[0072] FIGS. 17A-17B illustrate control modes for interpreting a
user's motions (e.g., gestures and/or interactions with the UAV) in
accordance with some embodiments of the present technology. Some
users may be more comfortable indicating flight patterns with their
gestures (e.g., by throwing the UAV, as described above with
reference to FIG. 15). Other users, however, may not be able to
throw the UAV with the accuracy they desire. Accordingly, the
disclosed UAVs can operate in one or more modes (which can be
selected, e.g., by operating a selector on the UAV) to accommodate
different user preferences.
[0073] As shown in FIG. 17A, the UAV 1410 can be set in a "complete
control mode" by the user 190. In this mode, the throw velocity
vector can be used to determine the flight path taken by the UAV.
For example, if the user throws the UAV gently in an upward
direction, the UAV will travel along a first vector v1 for a first
distance D1 to a first target location TL1. The first target
location TL1 is determined by the throw velocity (e.g., integrated
acceleration) provided by the user's throwing gesture or motion.
Signal processing can be performed to identify the first vector v1
at release, as distinguished, e.g., the pre-release rotation of the
user's arm. The UAV is then directed along the first vector v1
until it reaches the first target location TL1. Similarly, a very
hard throw in the direction of a second vector v2 will cause the
UAV to travel a much greater distance (e.g., a second distance D2)
corresponding to the magnitude of the throw, to arrive at a second
target location TL2. Finally, a throw with intermediate
acceleration between the first and second vectors v1, v2 can result
in a distance of a third vector v3 to arrive at a third target
location TL3. In some embodiments, gestures that would cause the
UAV to hit the ground can be recognized by the flight controller as
such, and the flight controller can direct the UAV to maintain an
offset relative to the earth. The flight controller can also
project the launch vector onto a plane above the earth's surface to
identify a suitable flight path.
[0074] While "complete control mode" can provide experienced users
with the ability to exactly place the UAV, some users can find the
granularity and/or required accuracy frustrating. As shown in FIG.
17B, the UAV can instead be set in a "constrained input mode" by
the user 190. Constrained flight can incorporate one or more
surfaces into the flight path and can project the user's commands
onto those surfaces. In this example, regardless of the direction
of the launch vectors v1, v2, v3, the system can identify a
distance, e.g., D1, D2, D3, corresponding to the magnitude or force
of the throw, project the launch vector onto a plane, e.g., 7 feet
above the earth's surface, or at the launch altitude, and then set
a flight path or trajectory (TR1, TR2, TR3) which will bring the
UAV to a position on the plane, with the distance corresponding to
the magnitude of the force with which the user launched the UAV.
The corresponding target locations are identified as TL10, TL20 and
TL30, respectively, in FIG. 17B. In another constrained input mode,
both the distance and altitude are preset, and the user's throwing
motion determines only the direction of the target location. This
arrangement can be particularly useful for accurately and
repeatedly capturing an image of the user, even if the user is
preoccupied with other tasks (e.g., climbing or other sports
activities) and does not wish to focus on accurately placing the
UAV. In particular embodiments, the user can change among the
various control modes (via a mechanical switch or a software
interface provided by a smart phone or other device), e.g., by
reducing constraints as the user becomes more proficient.
[0075] Though depicted in FIG. 17B as a flat plane, the projection
surface can have other shapes in other embodiments. For example,
the surface can be hemispherical (e.g., located about the user)
with the throwing force corresponding to the height in the sphere
of the target location), spherical, a conical or cylindrical (e.g.,
for which the magnitude indicates how quickly and/or how far up the
UAV is to circle the user while rising upward along the surface).
In other embodiments, representative processes map the user's
gesture to the UAVs trajectory and/or location in accordance with
other steps.
[0076] For embodiments in which the UAV includes a camera, the
flight path taken by the UAV can include an adjustment such that
the camera faces the point of launch. In other embodiments, the UAV
can be controlled in other manners. For example, if the user spins
the UAV upon release, the UAV can take the plane corresponding to
the spin as the plane upon which it is to project its flight path,
or the spin axis can correspond to the axis of a conical or other
surface upon which the flight path is to be based, or the motion
can signal the UAV to circle around the user after reaching its
turning point.
[0077] In some embodiments, inductance sensors and/or other sensors
can be used to determine when the user's hand is no longer touching
the UAV device during a release. Alone or in conjunction with such
sensors, the UAV can also be controlled based on the time series of
previous IMU information. For example, FIG. 18 is a plot of a UAV's
velocity over time during a launch in accordance with particular
embodiments. Beginning at time t0, the system can be idle (e.g., in
the user's bag, worn by the user or on the user's clothing.) During
launch (e.g., during a wind up for a throw) between time t1 and t2,
a velocity pattern associated with the launch will occur. Following
launch at time t2, a "freefall" period can follow. A UAV
controller, reviewing the record of IMU data, can infer at time t3
that a launch has occurred and can begin flight operations based
upon the UAV data thereafter. The determination can be coupled with
other contextual factors (e.g., input from an inductance sensor,
pressure sensor, and/or other sensor) to distinguish non-launch
behaviors (e.g., passive movement while the UAV is worn), from
launch behaviors.
[0078] In either of the foregoing embodiments, the system can
include a feedback/learning routine. For example, over the course
of time, the system can, with feedback from the user, be taught to
understand that an imparted acceleration of an amount P corresponds
to a desired travel distance of an amount Q. Using this feedback
mechanism, the control algorithm can adjust for differences in
accelerations provided by different users.
[0079] The foregoing techniques for controlling the UAV can be
applied to a variety of types of UAVs, including a multirotor
vehicle, a helicopter, and/or a fixed-wing aircraft. Depending upon
the embodiment, the UAV can also receive further input via voice
commands or gestures, which can be detected by an on-board camera
of the UAV, or from input provided by a separate device, such as a
smart phone or tablet. Additional commands can be used to trigger
the camera, and/or direct the UAV to fly additional flight
patterns. For example, once the UAV has reached a target location,
the user can take over manual control of the UAV and/or can request
that the UAV execute one or more pre-programmed flight patterns. In
still further embodiments, the UAV can be activated by methods
other than the freefall event detection described above Such other
embodiments can include detection by a push button (e.g., located
on the UAV) or a voice command. The trajectory control can be
combined with image processing algorithms, including object
tracking. For example, the trajectory control can account for
movement by the user. In a particular embodiment, the UAV can move
to a turning point and then use computer vision to follow the user
at a set offset angle and distance until it is prompted to
return.
[0080] To enable the foregoing functions and/or to facilitate
photography and/or videography, the camera carried by the UAV can
swivel around only a single axis (e.g., the X-axis) or multiple
axes (e.g., any combination of the X, Y, and Z axes).
[0081] As discussed above, the launch gesture or movement can be
used to provide additional information beyond simply the desired
target location. For example, the additional information can be
used to identify the desired pose or orientation of the vehicle
once it reaches the target location. In further embodiments, such
information can be used to control the manner in which the UAV
reaches the target location, and/or other aspects of the flight
path of the UAV. For example, if the user executes a swinging
gesture (e.g., immediately prior to releasing the UAV) the UAV can
be programmed to interpret this movement as a directive to fly in a
circle around the user, for example, to capture a panorama.
[0082] The UAV can carry any of a suitable combination of sensors
to assist in performing its mission and/or navigating and/or
controlling the UAV. Such sensors can include radio strength signal
sensors, global positioning systems, image processing sensors, air
pressure sensors, among others. The sensors can be used to control
the limits of the UAVs motion. For example, the sensors can be used
to prevent the UAV from flying too high, or too far, or too low, or
against obstacles, or into the user. The camera, and in particular
an autofocus function of the camera, can receive distance
information from an external sensor to more quickly focus on a
particular target.
[0083] Reference in the present specification to "one embodiment"
or "an embodiment" means that a particular feature, structure, or
characteristic described in connection with the embodiment is
included in at least one embodiment of the disclosed technology.
The appearances of the phrase "in one embodiment" in various places
in the specification are not necessarily all referring to the same
embodiment, nor are separate or alternative embodiments mutually
exclusive of other embodiments. Moreover, various features are
described which can be exhibited by some embodiments and not by
others. Similarly, various requirements are described which can be
requirements for some embodiments, but not for other
embodiments.
[0084] From the foregoing, it will be appreciated that specific
embodiments of the disclosed technology have been described herein
for purposes of illustration, but that various modifications may be
made without deviating from the technology. For example, the
missions carried out by the foregoing UAVs can include tasks in
addition to or in lieu of photography and/or videography.
Representative tasks include gas detection, amusement (as a toy),
and locating objects (e.g., using pattern recognition). Still
further suitable missions include: [0085] obtaining video (e.g.,
live stream video) from perspectives that are not accessible to the
user [0086] providing a mobile baby monitor or nanny camera
function, or providing a close-up view to a parent, guardian,
and/or other user [0087] providing a chaperone function while the
user walks in dangerous or dark places [0088] obtaining pictures
and/or video to obtain help in an emergency and/or tag or mark an
assailant [0089] providing assistance to the blind while navigating
in public and at home [0090] providing an assistant and/or beacon
functions for victims in a disaster, such as an earthquake or
avalanche [0091] providing assistance to the elderly and/or
disables and/or people at risk for injury [0092] provide an
assistant function for rescuers and/or deliver critical resources
to victims [0093] supporting reporters [0094] engaging in physical
games with UAVs using the UAV to obtain a third person view in
gaming [0095] locating and deliver small objects and/or provide
assistance in locating such objects (e.g., keys).
[0096] While the UAV can be controlled using the gesture-based
technique described above, in other embodiments, the UAVs can be
controlled using more conventional one-way or two-way radio links.
The UAV can use inertial navigation, radio signal strength (e.g.,
to detect the distance from a user-worn signal transmitter), GPS,
and/or other satellite-based techniques for navigation. In still
further embodiments, the UAV can be controlled via Bluetooth or
other wireless communication links. The flight controller can
incorporate a commercially-available component, such as an
Arduino.TM. device as the microcontroller, or a 6- or other
multi-axis motion sensor available from Invensense, or a
radio-frequency receiver available from FlySky.TM. as a receiver.
The UAV can be controlled from other wearable devices, such as a
smart phone device. The sensors carried by the UAV can include, in
addition to or in lieu of those described above, a GPS sensor,
and/or a magnetometer. The pictures taken by the UAV can be stored
in a memory located on the UAV and/or transmitted to the user (or
another location) via a radio frequency link. When provided to the
user, the user can view the information recorded by the UAV, in
real-time, or after a transmission delay. The pivotable mount that
connects the camera with the UAV can compensate for the orientation
of the UAV and/or UAV vibration. As discussed above, the UAV can be
incorporated into other devices, for example, the wrist-mounted UAV
can be integrated into a smart watch, and/or the glasses configured
UAV can be integrated into a smart device such as a Google glass
device. The structures described above can have other shapes and/or
configurations in other embodiments. For example, the shields 144
described above with reference to FIG. 1 can have different
circumferential extents including extents that fully encircle the
propellers 143 while the UAV is flying. The UAV can have other
numbers of propellers (e.g., 1, 2, 3, or more than 4).
[0097] Certain aspects of the technology described in the context
of particular embodiments may be combined or eliminated in other
embodiments. For example, the control techniques described above
with reference to FIGS. 15-18 can be implemented with UAVs having a
wearable configuration or a different, non-wearable configuration.
Further, while advantages associated with certain embodiments of
the disclosed technology have been described in the context of
those embodiments, other embodiments may also exhibit such
advantages, and not all embodiments need necessarily exhibit such
advantages to fall within the scope of the technology. Accordingly,
the disclosure and associated technology can encompass other
embodiments not expressly shown or described herein.
FURTHER EMBODIMENTS
[0098] Particular embodiments of the present technology include a
UAV that further includes a wearable, flyable support structure,
and a propulsion system carried by the support structure. The
propulsion system can include a power source and a plurality of
propellers. In further particular embodiments, the support
structure is changeable between a first configuration in which the
support structure is arranged to be worn by a user, and a second
configuration in which the support structure is arranged to fly.
For example, the support structure can include a boom portion
extending along an axis, with the boom portion being curved about
the axis in the first configuration, and curved transverse to the
axis in the second configuration. The support structure can form a
wristband.
[0099] In further embodiments, the UAV can include a flight
controller. The flight controller can be programmed with
instructions that, when executed, direct the UAV from a user to a
pre-determined location, direct an on-board camera to take a
picture, and direct the UAV to the user. A representative method
for operating a UAV in accordance with the present technology
includes wearing the UAV, taking the UAV off, launching the UAV on
a flight path, retrieving the UAV, and putting the UAV back on. In
particular embodiments, the method can further include moving away
from the UAV after launching, while the UAV follows.
[0100] A further embodiment includes a method for directing the use
of a UAV, and includes instructing a user to wear the UAV, take the
UAV off, launch the UAV on a flight path, retrieve the UAV, and put
the UAV back on. In a particular embodiment, the method can further
include programming the UAV with instructions to take a picture of
the user while in flight, and/or follow the user while in
flight.
[0101] Further embodiments of the technology include a
computer-implemented method for operating a UAV, which includes
detecting at least one parameter of a motion of the UAV as a user
releases the UAV for flight, and, based at least in part on the at
least one detected parameter, establishing a flight path for the
UAV. The method can still further include directing the UAV to fly
the flight path. In particular embodiments, the flight path
includes a target location, and is the only flight path used by the
UAV to reach the target location. In a particular embodiment,
detecting at least one parameter includes detecting an acceleration
and a direction, with the acceleration correlated with a target
distance on the flight path, and with the direction correlated with
the direction of the flight path. In further particular
embodiments, the flight path includes a first segment in a
direction away from the user and a second segment back to the user,
with both the first and second segments executed autonomously
without external input after the user releases the UAV for flight.
In yet a further embodiment, the method can include, in response to
sensing the user catching the UAV, and automatically turning off
propellers carried by the UAV.
[0102] A representative method for manufacturing a UAV includes
programming a controller of the UAV with instructions that, when
executed, detect at least one parameter of a motion of the UAV as a
user releases the UAV for flight. Based at least in part on the at
least one detected parameter, the method can further include
establishing a flight path for the UAV, and directing the UAV to
fly the flight path. Establishing the flight path can include
establishing a direction to a target location based at least in
part on the direction of the UAV at release. In another embodiment,
establishing the flight path can include projecting a vector of the
release onto a surface.
[0103] To the extent any materials incorporated herein by reference
conflict with the present disclosure, the present disclosure
controls.
* * * * *