U.S. patent application number 16/284116 was filed with the patent office on 2019-07-11 for spraying system having a liquid flow and rotating speed feedback.
The applicant listed for this patent is SZ DJI TECHNOLOGY CO., LTD.. Invention is credited to Jiyuan AO, Zhuang FENG, Xumin WU.
Application Number | 20190210726 16/284116 |
Document ID | / |
Family ID | 57439779 |
Filed Date | 2019-07-11 |
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United States Patent
Application |
20190210726 |
Kind Code |
A1 |
WU; Xumin ; et al. |
July 11, 2019 |
SPRAYING SYSTEM HAVING A LIQUID FLOW AND ROTATING SPEED
FEEDBACK
Abstract
A method of controlling a work schedule of a spraying system of
a mobile platform includes receiving operating characteristics of
the spraying system, generating a control signal related to the
work schedule based on the operating characteristics, and
controlling the spraying system according to the control
signal.
Inventors: |
WU; Xumin; (Shenzhen,
CN) ; FENG; Zhuang; (Shenzhen, CN) ; AO;
Jiyuan; (Shenzhen, CN) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
SZ DJI TECHNOLOGY CO., LTD. |
Shenzhen |
|
CN |
|
|
Family ID: |
57439779 |
Appl. No.: |
16/284116 |
Filed: |
February 25, 2019 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
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15241715 |
Aug 19, 2016 |
10266265 |
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16284116 |
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PCT/CN2015/080531 |
Jun 1, 2015 |
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15241715 |
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
B05B 12/02 20130101;
A01M 7/00 20130101; A01M 7/0089 20130101; B64C 2201/12 20130101;
G01S 19/14 20130101; G01S 19/00 20130101; B05B 13/005 20130101;
B64C 2201/128 20130101; B05B 12/004 20130101; B05B 9/0413 20130101;
B05B 12/081 20130101; B05B 12/126 20130101; B64C 39/024 20130101;
B64D 1/18 20130101 |
International
Class: |
B64D 1/18 20060101
B64D001/18; B05B 13/00 20060101 B05B013/00; B05B 12/08 20060101
B05B012/08; B05B 9/04 20060101 B05B009/04; A01M 7/00 20060101
A01M007/00; G01S 19/00 20060101 G01S019/00; B05B 12/12 20060101
B05B012/12; B05B 12/00 20060101 B05B012/00; B05B 12/02 20060101
B05B012/02; B64C 39/02 20060101 B64C039/02 |
Claims
1. A method of controlling a work schedule of a spraying system of
a mobile platform comprising: receiving, at a processor of the
mobile platform, operating characteristics of the spraying system;
generating a control signal related to the work schedule based on
the operating characteristics; and controlling the spraying system
according to the control signal.
2. The method of claim 1, wherein the operating characteristics
include at least one of a pump speed of a pump of the spraying
system, a motor rotating speed of a motor configured to drive the
pump, or a working current of the motor.
3. The method of claim 1, wherein controlling the spraying system
according to the control signal includes at least one of:
controlling a spraying width of liquid output from the spraying
system; controlling a direction of the liquid; or controlling a
spraying time of the liquid.
4. The method of claim 1, further comprising: determining whether a
working current of a motor has fallen below a threshold current
according to the control signal, the motor being configured to
drive a pump of the spraying system.
5. The method of claim 4, further comprising: engaging an alarm to
indicate that liquid within the pump has fallen below a threshold
amount in response to determining that the working current has
fallen below the threshold current.
6. The method of claim 1, wherein the mobile platform is an
unmanned aerial vehicle (UAV).
7. The method of claim 6, wherein controlling the spraying system
includes synchronizing the work schedule of the spraying system
with a flying speed of the UAV.
8. The method of claim 7, wherein synchronizing the work schedule
with the flying speed includes controlling the spraying system to
increase a flux of sprayed liquid as the flying speed of the UAV
increases.
9. The method of claim 6, wherein controlling the spraying system
includes controlling the spraying system to increase a flux of
sprayed liquid as an altitude of the UAV increases.
10. The method of claim 6, wherein controlling the spraying system
includes controlling the spraying system to stop spraying when the
UAV has stopped moving.
11. The method of claim 6, further comprising: controlling the UAV
to return to a predetermined position or stop moving when the
operating characteristics of the spraying system indicate that
there is no more liquid to spray.
12. The method of claim 1, further comprising: measuring the
operating characteristics of the spraying system.
13. The method of claim 12, wherein measuring the operating
characteristics of the spraying system includes calculating the
operating characteristics of the spraying system based on operating
characteristics of a motor configured to drive a pump of the
spraying system.
14. The method of claim 12, further comprising: measuring, through
an electronic speed controller, at least one of a magnetic flux or
a torque of the motor, the operating characteristics of the motor
includes the at least one of the magnetic flux or the torque.
15. The method of claim 1, wherein the mobile platform is an
unmanned aerial vehicle; the method further comprising: initiating
operation of the spraying system when the UAV reaches a
predetermined altitude.
16. The method of claim 1, wherein: the spraying system includes a
plurality of fluid outlets; and controlling the spraying system
includes controlling the spraying system to use one or more of the
plurality of fluid outlets for liquid spraying based on the
operating characteristics.
17. The method of claim 16, wherein: the mobile platform is an
unmanned aerial vehicle (UAV); and controlling the spraying system
to use the one or more of the plurality of fluid outlets includes
controlling a number of the one or more of the plurality of fluid
outlets to be used by the spraying system based on at least one of
a speed or an acceleration of the UAV.
18. The method of claim 1, the mobile platform is an unmanned
aerial vehicle (UAV); the method further comprising: controlling
the spraying system to change output of spraying materials based on
a flying height of the UAV.
19. A non-transitory computer readable medium storing program
instructions that, when executed by a processor, cause the
processor to: receive operating characteristics of a spraying
system of a mobile platform; generate a control signal related to a
work schedule of the spraying system based on the operating
characteristics; and control the spraying system according to the
control signal.
20. A mobile platform comprising: a spraying system; and one or
more processors individually or collectively configured to: receive
operating characteristics of the spraying system; generate a
control signal related to a work schedule of the spraying system
based on the operating characteristics; and control the spraying
system according to the control signal.
Description
CROSS-REFERENCE
[0001] This application is a continuation of application Ser. No.
15/241,715, filed on Aug. 19, 2016, which is a continuation of PCT
Application No. PCT/CN2015/080531, filed on Jun. 1, 2015, the
entire contents of both of which are incorporated herein by
reference.
BACKGROUND OF THE DISCLOSURE
[0002] Agricultural spraying systems may be used to spread
pesticide or fertilizer across crops. However, conventional
agricultural spraying systems may utilize heavy and complicated
equipment, such as a separate flow detecting apparatus, which may
be difficult to control. Additionally, it may be difficult to
control the velocity and pressure of sprayed liquid when using
conventional spraying systems. The drawbacks of such systems may
prevent aerial systems from being efficiently used to provide
pesticide and fertilizer to crop areas. For example, the lack of a
mobile, efficient pumping system may keep agricultural spraying
systems, such as those associated with aerial vehicles such as
unmanned aerial vehicles (UAVs), from maximizing their use as
aerial spraying systems.
SUMMARY OF THE DISCLOSURE
[0003] Systems and methods are provided for determining a liquid
flow in a spraying system. In particular, the spraying system may
be used to distribute pesticide and fertilizer to agricultural
areas using a spraying apparatus and an efficient pumping system.
As such, systems and methods are related to spraying systems,
including agricultural spraying systems.
[0004] By providing efficient systems of determining liquid flow in
the spraying system, the present disclosure may be used to improve
agricultural spraying systems, such as those associated with aerial
vehicles such as unmanned aerial vehicles (UAVs). The use of
agricultural UAVs allow for spraying operations to be controlled by
a ground remote controller. Additionally, use of agricultural UAVs
allow for spraying operations to be controlled through the use of a
global positioning service (GPS) signal. An agricultural UAV can be
used to spray pesticide, seeds, powders, etc. Additionally, an
agricultural UAV can operate at a low altitude with less drifting,
and the UAV can hover without the need for dedicated airport.
Further, the downward airflow generated by the rotors may
facilitate a penetrating of the sprayed substance; therefore, the
spraying effect is improved. Since the agricultural UAV can be
operated over a long distance and the operator may not be exposed
to the pesticide, a safety in spraying operation may be improved.
Furthermore, at least 50 percent of the pesticide and 90 percent of
water may be saved by using an UAV spraying technology. As such, it
is beneficial to provide improvements to a pumping system of an
agricultural UAV to make its use more efficient.
[0005] An aspect of the disclosure may include a method of
determining a liquid flow in a spraying system. The method may
comprise determining an amount of liquid that is output from the
spraying system during a pump cycle. The method may also comprise
measuring a number of pump cycles that occur within a given amount
of time, wherein the number of pump cycles are measured using an
electronic speed controller (ESC), wherein the ESC indicates the
number of pump cycles within a given amount of time within a
threshold of precision. Additionally, the method may comprise
calculating the amount of liquid flow in the spraying system based
on the measured number of pump cycles and the determined amount of
liquid that is output from the spraying system.
[0006] Another aspect of the disclosure may include a
non-transitory computer readable medium containing program
instructions for determining a liquid flow in a spraying system.
The computer readable medium may comprise program instructions for
determining an amount of liquid that is output from the spraying
system during a pump cycle. The computer readable medium may also
comprise program instructions for measuring a number of pump cycles
that occur within a given amount of time, wherein the number of
pump cycles are measured using an electronic speed controller
(ESC), wherein the ESC indicates the number of pump cycles within a
given amount of time within a threshold of precision. Additionally,
the computer readable medium may comprise program instructions for
calculating the amount of liquid flow in the spraying system based
on the measured number of pump cycles and the determined amount of
liquid that is output from the spraying system.
[0007] Additionally, an aspect of the disclosure may include a
system for determining a liquid flow in a spraying system. The
system may comprise one or more processors of a mobile platform,
individually or collectively configured to determine an amount of
liquid that is output from the spraying system during a pump cycle.
The one or more processors may also be configured to measure a
number of pump cycles that occur within a given amount of time,
wherein the number of pump cycles are measured using an electronic
speed controller (ESC), wherein the ESC indicates the number of
pump cycles within a given amount of time within a threshold of
precision. Additionally, the one or more processors may be
configured to calculate the amount of liquid flow in the spraying
system based on the measured number of pump cycles and the
determined amount of liquid that is output from the spraying
system.
[0008] Another aspect of the disclosure may include a system for
determining a spraying liquid flow. The system may comprise a
spraying system. Additionally, the system may comprise one or more
processors of a mobile platform that are individually or
collectively configured to measure a number of pump cycles that
occur within a given amount of time, wherein the number of pump
cycles are measured using an electronic speed controller (ESC),
wherein the ESC indicates the number of pump cycles within a given
amount of time within a threshold of precision. The one or more
processors may also be configured to calculate the amount of liquid
flow in the spraying system based on the measured number of pump
cycles and a configured amount of liquid that is output from the
spraying system.
[0009] A further aspect of the present disclosure may include a
method of controlling a work schedule of a spraying system of a
mobile platform. The method may comprise receiving operating
characteristics of the spraying system at a processor of the mobile
platform. Additionally, the method may comprise generating one or
more controlling signals that relate to a work schedule of the
spraying system of the mobile platform, wherein the one or more
controlling signals are generated based on the received operating
characteristics of the spraying system. The method may also
comprise providing the generated one or more controlling signals to
the spraying system.
[0010] An aspect of the present disclosure may also include a
non-transitory computer readable medium containing program
instructions for controlling a work schedule of a spraying system
of a mobile platform. The computer readable medium may comprise
program instructions for receiving operating characteristics of the
spraying system at a processor of the mobile platform. The computer
readable medium may also comprise program instructions for
generating one or more controlling signals that relate to a work
schedule of the spraying system of the mobile platform, wherein the
one or more controlling signals are generated based on the received
operating characteristics of the spraying system. Additionally, the
computer readable medium may comprise program instructions for
providing the generated one or more controlling signals to the
spraying system.
[0011] Another aspect of the disclosure may include a system for
controlling a work schedule of a spraying system of a mobile
platform. The system may include a spraying system. Additionally,
the system may include one or more processors of the mobile
platform, individually or collectively configured to receive
operating characteristics of the spraying system. The one or more
processors may also be configured to generate one or more
controlling signals that relate to a work schedule of the spraying
system of the mobile platform, wherein the one or more controlling
signals are generated based on the received operating
characteristics of the spraying system. Additionally, the one or
more processors may be configured to provide the generated one or
more controlling signals to the spraying system.
[0012] It shall be understood that different aspects of the
disclosure can be appreciated individually, collectively, or in
combination with each other. Various aspects of the disclosure
described herein may be applied to any of the particular
applications set forth below or for any other types of movable
objects. Any description herein of aerial vehicles, such as
unmanned aerial vehicles, may apply to and be used for any movable
object, such as any vehicle. Additionally, the systems, devices,
and methods disclosed herein in the context of aerial motion (e.g.,
flight) may also be applied in the context of other types of
motion, such as movement on the ground or on water, underwater
motion, or motion in space.
[0013] Other objects and features of the disclosure will become
apparent by a review of the specification, claims, and appended
figures.
INCORPORATION BY REFERENCE
[0014] All publications, patents, and patent applications mentioned
in this specification are herein incorporated by reference to the
same extent as if each individual publication, patent, or patent
application was specifically and individually indicated to be
incorporated by reference.
BRIEF DESCRIPTION OF THE DRAWINGS
[0015] The novel features of the invention are set forth with
particularity in the appended claims. A better understanding of the
features and advantages of the disclosure will be obtained by
reference to the following detailed description that sets forth
illustrative embodiments, in which the principles of the disclosure
are utilized, and the accompanying drawings of which:
[0016] FIG. 1 illustrates a schematic of an unmanned aerial vehicle
(UAV) with an on-board fluid reservoir that contains a first amount
of fluid, in accordance with embodiments of the disclosure.
[0017] FIG. 2 illustrates a schematic of an unmanned aerial vehicle
(UAV) with an on-board fluid reservoir that contains a second
amount of fluid, in accordance with embodiments of the
disclosure.
[0018] FIG. 3 illustrates a process of providing a liquid from a
liquid reservoir to a nozzle using a flow meter, as provided in the
prior art.
[0019] FIG. 4 illustrates a process of providing a liquid from a
liquid reservoir to a nozzle without using a flow meter, in
accordance with embodiments of the disclosure.
[0020] FIG. 5 illustrates a schematic of a field orient control
electronic speed controller, in accordance with embodiments of the
disclosure.
[0021] FIG. 6 illustrates a schematic of a spraying system having a
spraying apparatus, an electronic speed controller, a driving
apparatus, and a pump, in accordance with embodiments of the
disclosure.
[0022] FIG. 7 illustrates a schematic of a spraying system having a
spraying apparatus, a driving apparatus with an integrated
electronic speed controller, and a pump, in accordance with
embodiments of the disclosure.
[0023] FIG. 8 illustrates a schematic of a spraying system having a
spraying apparatus, a driving apparatus, and a pump with an
integrated electronic speed controller, in accordance with
embodiments of the disclosure.
[0024] FIG. 9 illustrates a schematic of a UAV having a spraying
system, in accordance with embodiments of the disclosure.
[0025] FIG. 10 illustrates a UAV with a spraying apparatus spraying
a field at a first speed, in accordance with embodiments of the
disclosure.
[0026] FIG. 11 illustrates a UAV with a spraying apparatus spraying
a field at a second speed, in accordance with embodiments of the
disclosure.
[0027] FIG. 12 illustrates a relationship between speed of a UAV
and amount of fluid sprayed from a spraying system, in accordance
with embodiments of the disclosure.
[0028] FIG. 13 illustrates a process of providing feedback to a
control system, in accordance with embodiments of the
disclosure.
[0029] FIG. 14 illustrates an unmanned aerial vehicle, in
accordance with an embodiment of the disclosure.
[0030] FIG. 15 illustrates a movable object including a carrier and
a payload, in accordance with an embodiment of the disclosure.
[0031] FIG. 16 is a schematic illustration by way of block diagram
of a system for controlling a movable object, in accordance with an
embodiment of the disclosure.
[0032] FIG. 17 illustrates a flowchart of a method of determining a
liquid flow in a spraying system, in accordance with embodiments of
the disclosure.
[0033] FIG. 18 illustrates a flowchart of a method of controlling a
work schedule of a spraying system of a mobile platform, in
accordance with embodiments of the disclosure.
DETAILED DESCRIPTION OF THE EMBODIMENTS
[0034] Systems and methods are provided for determining a liquid
flow in a spraying system. A spraying system can use a separate
flow velocity detecting apparatus to provide information related to
fluid flow and fluid characteristics with in a spraying system.
However, this leads to heavy, complicated equipment which may be
detrimental when used on aerial vehicles, such as an unmanned
aerial vehicle (UAV). In particular, the addition of heavy
equipment may be taxing to the UAV and may shorten the amount of
time the UAV is in the air. Additionally, velocity and pressure
conditions of the conventionally spraying systems may significantly
affect the effect of the spraying fluid within the spraying system.
Unfortunately, it is difficult to control the pressure and flow
amount within a conventional spraying system without adding
excessive equipment to the UAV.
[0035] The spraying system may be used to distribute pesticide and
fertilizer to agricultural areas using a spraying apparatus and an
efficient pumping system. Liquid flow within the spraying system
may be evaluated using an electronic speed controller. In
particular, the electronic speed controller may assess operating
characteristics of the pumping system and may use the information
to determine fluid flow. Additionally, the fluid flow may be used
to determine when a level of liquid in a reservoir has fallen below
a certain point which may indicate that the driving apparatus
should stop. Alternatively, the determination that the liquid has
fallen below a certain threshold may indicate that the UAV should
turn around and go back to its site of origin.
[0036] The present disclosure may be used to improve agricultural
spraying systems, such as those associated with aerial vehicles
such as unmanned aerial vehicles (UAVs). The use of agricultural
UAVs allow for spraying operations to be controlled by a ground
remote controller. Additionally, use of agricultural UAVs allow for
spraying operations to be controlled through the use of a global
positioning service (GPS) signal. An agricultural UAV can be used
to spray pesticide, seeds, powders, etc. Additionally, an
agricultural UAV can operate at a low altitude with less drifting,
and the UAV can hover without the need for dedicated airport.
Further, the downward airflow generated by the rotors may
facilitate a penetrating of the sprayed substance; therefore, the
spraying effect is improved. Since the agricultural UAV can be
operated over a long distance and the operator may not be exposed
to the pesticide, a safety in spraying operation may be
improved.
[0037] Examples of spraying system are provided, as illustrated in
figures below. FIG. 1 illustrates a schematic of an unmanned aerial
vehicle (UAV) 100 with an on-board fluid reservoir 110 that
contains a first amount of fluid, in accordance with embodiments of
the disclosure. The UAV may have a housing 105. While the spraying
system may contain a fluid reservoir to contain spraying materials,
such as fluids, other containers may also or alternatively be used
to store spraying materials. Spraying materials may include fluids,
liquids, agricultural materials, agricultural mediums, agricultural
products, slurries, gaseous components, powders, and other products
described herein. Additionally, in examples, spraying materials may
be stored in a fluid reservoir, a product container, a product
reservoir, or other storage containers of spraying materials. The
spraying material storage area, such as a reservoir, may be made of
rigid, semi-rigid, or flexible material. Additionally, the spraying
material storage area may have a volume of about: 1 cm.sup.3, 2
cm.sup.3, 5 cm.sup.3, 10 cm.sup.3, 20 cm.sup.3, 30 cm.sup.3, 40
cm.sup.3, 50 cm.sup.3, 60 cm.sup.3, 70 cm.sup.3, 80 cm.sup.3, 90
cm.sup.3, 100 cm.sup.3, 150 cm.sup.3, 200 cm.sup.3, 300 cm.sup.3,
500 cm.sup.3, 750 cm.sup.3, 1000 cm.sup.3, 5000 cm.sup.3, 10,000
cm.sup.3, 100,000 cm.sup.33, 1 m.sup.3, or 10 m.sup.3. Conversely,
the total volume of the movable object may be greater than or equal
to about: 1 cm.sup.3, 2 cm.sup.3, 5 cm.sup.3, 10 cm.sup.3, 20
cm.sup.3, 30 cm.sup.3, 40 cm.sup.3, 50 cm.sup.3, 60 cm.sup.3, 70
cm.sup.3, 80 cm.sup.3, 90 cm.sup.3, 100 cm.sup.3, 150 cm.sup.3, 200
cm.sup.3, 300 cm.sup.3, 500 cm.sup.3, 750 cm.sup.3, 1000 cm.sup.3,
5000 cm.sup.3, 10,000 cm.sup.3, 100,000 cm.sup.3, 1 m.sup.3, 10
m.sup.3. or greater than 10 m.sup.3. Additionally, the spraying
system may have a portion that contains spraying materials prior to
dispersion. Further, the spraying system may disperse materials
using spraying system outlets. An example of spraying system
outlets includes nozzles.
[0038] The UAV 100 may be configured to fly in response to a signal
from a remote terminal. The UAV may respond to manual instructions
provided by a user via the remote terminal. The UAV may be
configured to operate autonomously or semi-autonomously. The UAV
may be capable of flight autonomously in accordance with
instructions from one or more processors without requiring input
from a user.
[0039] The UAV may be capable of flight with aid of one or more
propulsion units 130 on-board the UAV. The propulsion units 130 may
include one or more rotors driven by one or more actuators. The
rotors may include one or more rotor blades that may generate lift
for the UAV. The rotor blades may rotate to generate lift for the
UAV. In some embodiments, the UAV may include multiple propulsion
units (e.g., two or more, three or more, four or more, five or
more, six or more, seven or more, eight or more, nine or more, or
ten or more propulsion units). The propulsion units may be capable
of generating lift for the UAV. The propulsion units may operate in
accordance with a flight control unit. The flight control unit may
be on-board the UAV. The flight control unit may generate signals
to control the propulsion units in accordance with signals from a
remote terminal. The UAV may be capable of taking off and/or
landing vertically with aid of the one or more propulsion
units.
[0040] The UAV may comprise a central body. One or more arms may
extend from the central body. In some embodiments, the arms may
extend radially from the body. The arms may extend symmetrically
from the UAV. The UAV may have two halves that may mirror one
another. The arms may be radially symmetric from one another. The
arms may or may not be equally spaced apart from one another. The
one or more propulsion units may be supported by the one or more
arms of the UAV. For instance, the one or more propulsion units may
be attached to the arms of the UAV. The one or more propulsion
units may be attached at or near the end of the arms of the UAV.
The one or more propulsion units may be positioned within 50%, 40%,
30%, 25%, 20%, 15%, 10%, 5%, 3%, 1%, or 0.5% of the end of the
arms, along the length of the arm.
[0041] The UAV may have a housing 105. The housing may partially or
completely enclose one or more components of the UAV. The housing
may form the central body. The housing may form an enclosure of the
central body. The housing may or may not form the arms or a portion
of the arms. The housing may or may not form an enclosure of the
arms. In some embodiments, the arms may be separably attached to
the central body. Alternatively, the arms may be affixed to the
central body, or may be integrally formed with the central body. A
housing may be formed of a single piece or multiple pieces. The
housing may form a single integral piece for the central body
and/or the arms. Alternatively, the housing may be a single
integral piece for the central body while the arms are formed from
separate pieces. In some instances, the housing may be formed as
multiple pieces for the central body. The housing may be formed as
multiple pieces for the central body and the arms. In some
instances, the housing may form a shell or cover that may enclose
one or more components.
[0042] The housing may define an interior space or cavity. The
interior space or cavity may contain one or more electrical
components of the UAV. For example, the flight control unit may be
provided within the interior space or cavity of the housing. Other
examples of components that may be within the interior cavity may
include sensors, navigation units (e.g., global positioning system
(GPS), inertial measurement unit (IMU), communication units (e.g.,
for direct or indirect forms of communication), image processing
units, payload data or control units, power control units, or any
other type of components. For instance, a power source that may
power the UAV may be provided within an interior space or cavity.
The housing may encompass or enclose one or more of these
components.
[0043] The UAV may comprise one or more sensors to determine the
temperature or pressure of the UAV. The UAV may further comprise
other sensors that may be used to determine a location of the UAV,
such as global positioning system (GPS) sensors, inertial sensors
which may be used as part of or separately from an inertial
measurement unit (IMU) (e.g., accelerometers, gyroscopes,
magnetometers), lidar, ultrasonic sensors, acoustic sensors, WiFi
sensors. The UAV can have sensors on board the UAV that collect
information directly from an environment without contacting an
additional component off board the UAV for additional information
or processing. For example, a sensor that collects data directly in
an environment can be a vision or audio sensor. Alternatively, the
UAV can have sensors that are on board the UAV but contact one or
more components off board the UAV to collect data about an
environment. For example, a sensor that contacts a component off
board the UAV to collect data about an environment may be a GPS
sensor or another sensor that relies on connection to a another
device, such as a satellite, tower, router, server, or other
external device. Various examples of sensors may include, but are
not limited to, location sensors (e.g., global positioning system
(GPS) sensors, mobile device transmitters enabling location
triangulation), vision sensors (e.g., imaging devices capable of
detecting visible, infrared, or ultraviolet light, such as
cameras), proximity or range sensors (e.g., ultrasonic sensors,
lidar, time-of-flight or depth cameras), inertial sensors (e.g.,
accelerometers, gyroscopes, inertial measurement units (IMUs)),
altitude sensors, attitude sensors (e.g., compasses) pressure
sensors (e.g., barometers), audio sensors (e.g., microphones) or
field sensors (e.g., magnetometers, electromagnetic sensors). Any
suitable number and combination of sensors can be used, such as
one, two, three, four, five, or more sensors. Optionally, the data
can be received from sensors of different types (e.g., two, three,
four, five, or more types). Sensors of different types may measure
different types of signals or information (e.g., position,
orientation, velocity, acceleration, proximity, pressure, etc.)
and/or utilize different types of measurement techniques to obtain
data. For instance, the sensors may include any suitable
combination of active sensors (e.g., sensors that generate and
measure energy from their own energy source) and passive sensors
(e.g., sensors that detect available energy). As another example,
some sensors may generate absolute measurement data that is
provided in terms of a global coordinate system (e.g., position
data provided by a GPS sensor, attitude data provided by a compass
or magnetometer), while other sensors may generate relative
measurement data that is provided in terms of a local coordinate
system (e.g., relative angular velocity provided by a gyroscope;
relative translational acceleration provided by an accelerometer;
relative attitude information provided by a vision sensor; relative
distance information provided by an ultrasonic sensor, lidar, or
time-of-flight camera). The sensors onboard or off board the UAV
may collect information such as location of the UAV, location of
other objects, orientation of the UAV, or environmental
information. A single sensor may be able to collect a complete set
of information in an environment or a group of sensors may work
together to collect a complete set of information in an
environment. Sensors may be used for mapping of a location,
navigation between locations, detection of obstacles, detection of
a target, or measurement of barometric pressure.
[0044] The UAV may include an on-board spraying system 120. The UAV
may support the weight of the on-board spraying system while the
UAV is flight. The UAV may support the weight of the on-board
spraying system while the UAV is landed. The spraying system may
include a pump, a driving apparatus, a fluid reservoir 110, one or
more outlets, and an assembly for controlling flow of fluid from
the fluid reservoir to the one or more outlets. The fluid may be an
agricultural material, medium, and/or product. The fluid may
include a liquid, a gaseous fluid, a slurry, or a combination
thereof. In some embodiments, the fluid may include particles
therein. For instance, the gaseous fluid may include powder or
other particles that may be with the gaseous fluid. Any description
herein of fluid handled by the spraying system may also apply to
any particulates, powders, or other solid substances that may be
handled by the spraying system.
[0045] The spraying system may be attached to the UAV. The spraying
system may be mounted within the UAV, such as within a housing of
the UAV. The spraying system may be within a space or cavity formed
by the housing. In some instances, at least as portion of the
spraying system may be within the housing. Optionally, a portion or
all of the spraying system may be outside the housing of the UAV.
In some instances, a portion of the spraying system may be within a
housing of the UAV while a portion of the spraying system may be
outside the housing of the UAV. For example, a fluid reservoir may
be provided within a housing of the UAV while the one or more
outlets may be provided outside the UAV. In some instances, a fluid
reservoir and a fluid control assembly may be within the housing of
the UAV while all or a portion of the outlet may protrude from the
housing. In other instances, a fluid reservoir may be within the
housing while the fluid control assembly and at least a portion of
the outlet is outside the housing. In some instances, the fluid
reservoir, the fluid control assembly, and at least a portion of
the outlet may be outside the housing. Optionally, the fluid
reservoir and at least a portion of the outlet may be outside the
housing while the fluid control assembly is within the housing. Any
combination of components of the spraying system may be provided
within the housing, outside the housing, or both inside and outside
the housing.
[0046] In some implementations, the spraying system, or a component
of the spraying system, may be attached to an internal wall of the
housing of the UAV. The spraying system, or a component of the
spraying system, may be attached to an interior surface of the
housing. The spraying system, or a component of the spraying
system, may be attached to a floor, side-wall, or ceiling of the
housing. Any of the components of the housing system may be
attached to an internal wall of the housing. The spraying system,
or any components thereof, may be arranged on the UAV so that the
components of the UAV remain fixed relative to the UAV.
[0047] Alternatively, the spraying system may be externally mounted
to the UAV. One or more components of the spraying system may be
mounted externally to the UAV. Any description herein of a spraying
system may apply to any individual components of the spraying
system as described anywhere herein.
[0048] The spraying system may be mounted such that the center of
gravity of the spraying system is lower than the center of gravity
of the UAV as a whole. The spraying system may be mounted such that
the center of gravity of the spraying system is within a central
region of the UAV. The spraying system may be mounted so that the
center of gravity of the spraying system is not too offset to the
side. The spraying system may be arranged so that it is laterally
within about equal to or less than 50%, 40%, 30%, 20%, 10%, 5%, 3%,
or 1% of a center of the UAV.
[0049] The spraying system may operate while the UAV is flight.
Operation of the spraying system may include delivery of fluid from
a fluid reservoir to one or more outlets of the spraying system.
For example, the spraying system may include a spraying apparatus.
The spraying apparatus may be mounted to the UAV. The spraying
apparatus may be attached within the UAV. The spraying apparatus
may be supported by the central body of the UAV. The spraying
system may be attached to the central body of the UAV. The spraying
system may be externally mounted to the UAV. The spraying system
may be internally mounted to the UAV. The spraying apparatus may be
supported by a landing stand. The spraying apparatus may be between
a landing stand when a UAV is resting on a surface.
[0050] In this example, a pump of the spraying system may deliver
fluid from the fluid reservoir to outlets of the spraying
apparatus. The fluid may be sprayed from the one or more outlets of
the spraying apparatus. Thus, fluid may be sprayed from the UAV
while the UAV is in flight. The spraying system may operate while
the UAV is landed. The spraying system may optionally be prevented
from operating while the UAV is landed. The spraying system may be
able to operate only while the UAV is flight. The spraying system
may automatically start operating while the UAV is in flight. The
spraying system may automatically start operating when the UAV
reaches a predetermined altitude. Alternatively, the spraying
system may operate in response to a user command to operate. The
user command to operate may be delivered with aid of a remote
terminal.
[0051] The spraying system may operate with aid of a power source
of the spraying system. The power source of the spraying system may
or may not be the same as a power source that powers one or more
propulsion units of the UAV. The power source of the spraying
system may or may not be the same as a power source that powers one
or more electrical components of the UAV. The power source of the
spraying system may be provided within a housing of the UAV. The
power source of the spraying system may alternatively be provided
outside the housing of the UAV.
[0052] The on-board fluid reservoir of FIG. 1 provides a first
amount of fluid. As a spraying system transfers the fluid within
the fluid reservoir to a spraying apparatus, the amount of fluid
within the fluid reservoir will decrease. Accordingly, FIG. 2
illustrates a schematic of an unmanned aerial vehicle (UAV) 200
with an on-board fluid reservoir 210 that contains a second amount
of fluid, in accordance with embodiments of the disclosure. The UAV
may include an on-board spraying system 220 that includes a fluid
reservoir 210 within housing 205. In other examples, a fluid
reservoir may be positioned outside of the UAV, as provided in FIG.
9. Additionally, the level of fluid within fluid reservoir may
decrease as spraying materials stored within the fluid reservoir
are sprayed from the UAV. The UAV may be capable of flight with aid
of one or more propulsion units 230 on-board the UAV. While the
amount of fluid within the liquid reservoir may be measured
volumetrically, or even by weight based upon the density of the
fluid, it is more difficult to determine the amount of fluid that
is within a spraying system at any given time. In particular, it is
difficult to determine the amount of fluid that is being processed
by the spraying apparatus. This ambiguity is rooted in a number of
factors, including the varying speed of a pump as it is exposed to
different conditions and the difficulty in gauging how efficiently
a spraying system is working.
[0053] A flow meter apparatus may be introduced to determine
characteristics of fluid within a spraying system. FIG. 3
illustrates a process 300 of providing a liquid from a liquid
reservoir 310 to a nozzle 340 using a flow meter 330. In
particular, a pump 320 transmits liquid from the liquid reservoir
to the nozzle using the flow meter. The process of FIG. 3
illustrates the process that is used in conventional spraying
systems. In particular, conventional spraying systems use separate
equipment to provide a flow meter apparatus. In addition to
requiring excess weight, the use of a flow meter apparatus may
cause extra complications for the determination of fluid
characteristics within a spraying system. Additionally, the use of
a flow meter apparatus may generate different results based on
conditions surrounding the apparatus.
[0054] Instead of using a flow meter apparatus, embodiments of the
disclosure are directed towards the use of other forms of assessing
fluid characteristics through the use of a spraying system without
having to use a heavy, inconvenient, excessive device. In some
instances, the spraying system may weigh no more than 400 kg. The
weight of the spraying system may be less than or equal to about:
400 kg, 300 kg, 200 kg, 150 kg, 100 kg, 80 kg, 70 kg, 60 kg, 50 kg,
45 kg, 40 kg, 35 kg, 30 kg, 25 kg, 20 kg, 15 kg, 12 kg, 10 kg, 9
kg, 8 kg, 7 kg, 6 kg, 5 kg, 4 kg, 3 kg, 2 kg, 1 kg, 0.5 kg, 0.1 kg,
0.05 kg, or 0.01 kg. Conversely, the weight may be greater than or
equal to about: 400 kg, 300 kg, 200 kg, 150 kg, 100 kg, 80 kg, 70
kg, 60 kg, 50 kg, 45 kg, 40 kg, 35 kg, 30 kg, 25 kg, 20 kg, 15 kg,
12 kg, 10 kg, 9 kg, 8 kg, 7 kg, 6 kg, 5 kg, 4 kg, 3 kg, 2 kg, 1 kg,
0.5 kg, 0.1 kg, 0.05 kg, or 0.01 kg.
[0055] Accordingly, FIG. 4 illustrates a process 400 of providing a
liquid from a liquid reservoir 410 to a nozzle 430 without using a
flow meter, in accordance with embodiments of the disclosure. As
seen in FIG. 4, a pump 420 transmits liquid from the liquid
reservoir to the nozzle. In particular, methods and systems are
provided for determining fluid flow within a spraying system
utilizing an electronic speed controller.
[0056] The spraying system may include a driving apparatus. The
driving apparatus may operate to effect the operation of the pump.
The driving apparatus may be operatively connected to the pump such
that rotational energy produced by the driving apparatus is
received at the pump. In particular, the rotational energy that is
generated by the driving apparatus may be transmitted to the pump
using a motor shaft. The rotational energy produced by the driving
apparatus may be received at an offset piece of a pump. The offset
piece of the pump may be a part of a piston assembly within the
pump such that rotational energy that is received at the eccentric
from the driving apparatus is used to engage the piston assembly of
the pump. When the driving apparatus is initiated, the pump may
also be initiated. In particular, the movement of the piston may
cause the diaphragm of a diaphragm pump to expand so as to take in
fluid.
[0057] The pump in the spraying system may be used to transmit
material from a fluid reservoir and provide that material to a pump
outlet. Material from the reservoir may include liquids, such as
pesticides, fertilizer, and water. Materials in the reservoir may
be pressurized. Alternatively, materials from the reservoir may not
be pressurized. Material from the reservoir may include powder,
such as fire extinguishing powder. The pump may be connected to a
fluid reservoir such that engaging the pump forms a vacuum at the
fluid reservoir, which draws spraying material into the pump. The
spraying material may then be transmitted through the pump to a
pump outlet.
[0058] The pump outlet, in turn, may be connected to a spraying
apparatus. During operation of the pump, pressure within the pump
may build to a point where the spraying material may be expelled.
An example of this is seen in a diaphragm pump, which expands to
hold material in a chamber before expelling the mater. Accordingly,
in examples, the pump may comprise a diaphragm pump. In particular,
a diaphragm pump may be a volumetric pump that changes volume by
reciprocating deformation of a diaphragm. Alternative pumps may
also be used to effect the intake, transmittal, and expulsion of
spraying material. In other examples, a pump may comprise a
pressure-based pump, a hydraulic pump, a piston pump, or a
centrifuge pump.
[0059] An electronic speed controller may be used to assess
operating characteristics of a spraying system and use those
operating characteristics to determine characteristics of fluid
within a spraying system. A particular electronic speed controller
that may be used is a field oriented control electronic speed
controller to control the driving apparatus of the spraying system.
The electronic speed controller may also be used for assessing
speed of the driving apparatus. The electronic speed controller may
also be used to signal alarms that are associated with levels of
fluid within a fluid reservoir.
[0060] FIG. 17 illustrates a flowchart 1700 of a method of
determining a liquid flow in a spraying system, in accordance with
embodiments of the disclosure. At block 1710, an amount of liquid
that is output from the spraying system during a pump cycle is
determined. At block 1720, a number of pump cycles that occur
within a given amount of time are measured. The pump cycles may be
measured using an electronic speed controller. Additionally, the
electronic speed controller may indicate the number of pump cycles
within a given amount of time within a threshold of precision. At
block 1730, the amount of liquid flow in the spraying system may be
calculated based on the measured number of pump cycles.
Additionally, the amount of liquid that is output from the spraying
system is determined.
[0061] In examples, the liquid flow in a spraying system may be
determined based on an assessment of a pump having a fixed volume
chamber. In this example, each pump cycle is associated with a
particular volume of liquid that flows through the pump chamber.
The particular volume of liquid is determined based upon the fixed
volume of the pump chamber. The pump, in turn, is operably coupled
to a spraying apparatus such that the volume of liquid that flows
out of the pump flows through the spraying apparatus and out of the
spraying outlets. In examples, the volume of liquid that flows out
of the pump equals to the volume of liquid that is output from the
spraying outlets. In other examples, the volume of liquid that
flows out of the pump is a function of the volume of liquid that is
output from the spraying outlets. For instance, a spraying system
may include a recycling system such that half of the volume of
liquid that flows from the pump is recycled back to the fluid
reservoir while half of the volume of liquid that flows from the
pump flows through the spraying apparatus and out the spraying
outlets. In further examples, some of the liquid that flows out of
the pump may leak or evaporate prior to being output from the
spraying outlets, and this loss of liquid may be modeled in
calculation of volume that is output from the spraying system.
Accordingly, an amount of liquid that is output during each pump
cycle from the spraying system, which includes the pump and the
spraying apparatus, may be determined.
[0062] Once the amount of liquid that is output during each pump
cycle is determined, the number of pump cycles that occur within a
given amount of time may be measured to determine liquid flow in
the spraying system. The number of pump cycles may be measured
using an electronic speed controller (ESC). In particular, the ESC
may indicate the number of pump cycles within a given amount of
time within a threshold of precision. Based on the amount of liquid
that is output during each pump cycle and the number of pump cycles
as measured during a period of time, the liquid flow in the
spraying system may be calculated. In particular, the liquid flow
in the spraying system may be calculated based on the measured
number of pump cycles and the determined amount of liquid that is
output from the spraying system during a pump cycle.
[0063] In other examples, the liquid flow in a spraying system may
be determined based on an assessment of a pump having a variable
chamber volume. The pump chamber volume may be variable in a
predictable manner. The pump chamber volume may be variable in a
dynamic manner. The pump chamber volume may be variable in a
controlled manner. The pump chamber volume may be variable in an
uncontrolled manner. In a pump having a variable chamber volume,
the chamber volume of the pump may be continually assessed so as to
determine the chamber volume of the pump chamber at any given time.
This assessed volume may then be associated with a volume of liquid
that flows through the pump in a given pump cycle.
[0064] The particular volume of liquid is determined based upon the
volume of the pump chamber. As the volume of the pump chamber may
vary, the particular volume of liquid may vary as well, and may
vary in accordance with the variance of the volume of the pump
chamber. The pump, in turn, is operably coupled to a spraying
apparatus such that the volume of liquid that flows out of the pump
flows through the spraying apparatus and out of the spraying
outlets. In examples, the volume of liquid that flows out of the
pump equals to the volume of liquid that is output from the
spraying outlets of the spraying system. In other examples, the
volume of liquid that flows out of the pump is a function of the
volume of liquid that is output from the spraying outlets. For
instance, a spraying system may include a recycling system such
that half of the volume of liquid that flows from the pump is
recycled back to the fluid reservoir while half to the volume of
liquid that flows from the pump flows through the spraying
apparatus and out the spraying outlets. In further examples, some
of the liquid that flows out of the pump may leak or evaporate
prior to being output from the spraying outlets, and this loss of
liquid may be modeled in calculation of volume that is output from
the spraying system. Accordingly, an amount of liquid that is
output during each pump cycle from the spraying system, which
includes the pump and the spraying apparatus, may be
determined.
[0065] Once the amount of liquid that is output during each pump
cycle is determined, the number of pump cycles that occur within a
given amount of time may be measured to determine liquid flow in
the spraying system. The number of pump cycles may be measured
using an electronic speed controller (ESC). In particular, the ESC
may indicate the number of pump cycles within a given amount of
time within a threshold of precision. Based on the amount of liquid
that is output during each pump cycle and the number of pump cycles
as measured during a period of time, the liquid flow in the
spraying system may be calculated. In particular, the liquid flow
in the spraying system may be calculated based on the measured
number of pump cycles and the determined amount of liquid that is
output from the spraying system during a pump cycle.
[0066] The liquid flow in a spraying system may be determined based
on an assessment of a pump that operates at a constant speed. In
this example, the liquid flow through the spraying system may also
be constant. In other examples, however, the liquid flow may be
determined based on an assessment of a pump that operates at
variable speed. The pump speed may be variable in a predictable
manner. The pump speed may be variable in a dynamic manner. The
pump speed may be variable in a periodic manner. The pump speed may
be variable in a controlled manner. The pump speed may be variable
in an uncontrolled manner. In a pump that operates at a variable
speed, the speed of the pump may be continually assessed so as to
determine the speed of the pump at any given time. This assessed
speed may then be associated with the liquid flow through the
spraying system.
[0067] The pump, in turn, is operably coupled to a spraying
apparatus such that the liquid flow out of the pump is transmitted
through the spraying apparatus and out of the spraying outlets. In
examples, the liquid flow out of the pump equals to the liquid flow
that is output from the spraying outlets. In other examples, the
liquid flow out of the pump is a function of the liquid flow that
is output from the spraying outlets. For instance, some of the
liquid that flows out of the pump may leak or evaporate prior to
being output from the spraying outlets, and this loss of liquid may
be modeled in calculation of liquid flow that is output from the
spraying system. Accordingly, an amount of liquid flow that is
output from the spraying system based on the pump operating at a
given speed may be determined. As a pump operates at a faster
speed, a higher liquid flow may be output from the spraying system.
As the pump operates at a slower speed, a lower liquid flow may be
output from the spraying system.
[0068] In additional examples, the liquid flow in a spraying system
may be determined based on an assessment of a pump having a
variable speed. The pump speed may be variable in a predictable
manner. The pump speed may be variable in a dynamic manner. The
pump speed may be variable in a controlled manner. The pump speed
may be variable in an uncontrolled manner. In a pump having a
variable speed, the speed of the pump may be continually assessed
so as to determine the speed of the pump at any given time. This
assessed speed may then be associated with a volume of liquid that
flows through the pump in a given amount of time. Additionally, the
pump is operably coupled to the spraying system such that the
volume of liquid that flows out of the pump flows into the spraying
system. As such, the amount of liquid that flows into the spraying
system is determined as the amount of liquid that flows out from
the pump equals the amount of liquid that flows into the spraying
system. Alternatively, the amount of liquid that flows into the
spraying system may be determined as a function of the amount of
liquid that flows out of the pump. For example, the amount of
liquid that flows into the spraying system may be half of the
amount of liquid that flows out of the pump. In both of these
examples, the amount of liquid that flows into the spraying system
is based on the amount of liquid that flows from the pump.
Additionally, the amount of liquid that flows into the spraying
system may be used to determine the amount of liquid that flows out
of the spraying system when the spraying system is a symmetric
system. Alternatively, the amount of liquid that flows out of the
spraying system may be a function of the amount of liquid that
flows into the spraying system, such as if a percentage of the
liquid that flows into the spraying system evaporates, leaks, or
otherwise leaves the spraying system in a manner other than through
outlets of the spraying system.
[0069] FIG. 5 illustrates a schematic 500 of a field oriented
control electronic speed controller 510 to control a brushless
motor 520, in accordance with embodiments of the disclosure. In
particular, a field oriented control may identify the three stator
currents used in a brushless motor as two orthogonal components:
torque and magnetic flux. These two components may allow the
three-component system to be analyzed using vectors.
[0070] FIG. 6 illustrates a schematic of a spraying system 600
having an electronic speed controller 605, a driving apparatus 610,
a pump 620, and a spraying apparatus 630, in accordance with
embodiments of the disclosure. One or more components of the
spraying system may be united in a single unit or the one or more
components may be united. One or more components of the spraying
system may be provided together or the one or more components may
be provided separately across different parts of an unmanned aerial
vehicle (UAV). Additionally, the spraying system may be positioned
within a landing stand when the UAV is on the ground.
[0071] The spraying system may be attached to the UAV. The spraying
system may be externally attached to the UAV. Alternatively, the
spraying system may be within a housing of the UAV. In particular,
the spraying system may be within a UAV. Alternatively, the
spraying system may be within a holder. A holder may comprise a
portable or hand-held apparatus that is adapted to hold a spraying
apparatus. For example, the holder may be a bag, a backpack, or
another form of carrying device or vehicle. In examples, the
driving apparatus and pump may be exposed to an external
environment. In examples, the spraying system may be exposed to an
external environment. In other examples, one or more components of
the spraying system may be exposed to an external environment.
[0072] Fluid within the fluid reservoir may be moved through the
spraying apparatus using a pump. The pump may be a device that
moves a material, medium, and/or product, such as agricultural
material, medium, and/or product, by mechanical action. The pump
may be a fluid pump that may move a liquid, gas, powder, or slurry
by way of mechanical action. The pump may be a diaphragm pump, a
pressure-based pump, a hydraulic pump, or another type of pump.
During operation of the pump, pressure within the pump may build to
a point where the spraying material, such as fluid from the fluid
reservoir, may be expelled. Spraying material may be expelled as a
result of positive pressure that is created using a pump. Spraying
material may be a result of pressure from a pressurized reservoir.
The spraying of material may be aided by the use of gravity. In
examples, spraying material may be expelled using one or more
mechanical features that push or distribute the material out.
[0073] An example of a pump that is used to expel material is seen
in a diaphragm pump, which expands to hold material in a chamber
before expelling the material. Accordingly, in examples, the pump
may comprise a diaphragm pump. In particular, a diaphragm pump may
be a volumetric pump that changes volume by reciprocating
deformation of a diaphragm. Further, the pump may be an electric
mini-diaphragm pump. Using an electric mini-diaphragm pump may
significantly reduce the weight of a spraying system. Alternative
pumps may also be used to effect the intake, transmittal, and
expulsion of spraying material. In examples, a pump may comprise a
pressure-based pump. In examples, a pump may comprise a hydraulic
pump. In examples, the pump may comprise a piston pump. In
examples, the pump may comprise a centrifuge pump.
[0074] The pump may have a volume of 1 cm.sup.3, 2 cm.sup.3, 5
cm.sup.3, 10 cm.sup.3, 15 cm.sup.3, 20 cm.sup.3, 25 cm.sup.3, 30
cm.sup.3, 35 cm.sup.3, 40 cm.sup.3, 45 cm.sup.3, 50 cm.sup.3, or
greater than 50 cm.sup.3. The pump may have a weight of 0.01 kg,
0.05 kg, 0.1 kg, 0.2 kg, 0.3 kg, 0.4 kg, 0.5 kg, 0.6 kg, 0.7 kg,
0.8 kg, 0.9 kg, 1 kg, 1.5 kg, 2 kg, 3 kg, 4 kg, 5 kg, or more than
5 kg. Additionally, the pump may have a footprint of 1 cm.sup.2, 2
cm.sup.2, 5 cm.sup.2, 10 cm.sup.2, 15 cm.sup.2, 20 cm.sup.2, 25
cm.sup.2, 30 cm.sup.2, 35 cm.sup.2, 40 cm.sup.2, 45 cm.sup.2, 50
cm.sup.2, or greater than 50 cm.sup.2. The pump may have a flow of
0.01 mL/min, 0.02 mL/min, 0.03 mL/min, 0.04 mL/min, 0.05 mL/min,
0.1 mL/min, 0.2 mL/min, 0.3 mL/min, 0.4 mL/min, 0.5 mL/min, 0.6
mL/min, 0.7 mL/min, 0.8 mL/min, 0.9 mL/min, 1 mL/min, 10 mL/min, 20
mL/min, 30 mL/min, 40 mL/min, 50 mL/min, 60 mL/min, 70 mL/min, 80
mL/min, 90 mL/min, 0.01 L/min, 0.2 L/min, 0.3 L/min, 0.4 L/min, 0.5
L/min, 1 L/min, 2 L/min, 3 L/min, or greater than 3 L/min.
[0075] The driving apparatus may be operatively connected to the
pump. In particular, the driving apparatus may be physically
coupled to the pump. Alternatively, the driving apparatus may be
physically coupled to another component that is physically coupled
to the pump. The driving apparatus may be directly or indirectly
connected to the pump. The driving apparatus may be a motor. In
particular, the driving apparatus may be a brush direct current
motor, a brushless direct current motor, an alternating current
induction motor, a permanent magnet synchronous motor, or another
type of motor.
[0076] The driving apparatus may operate to effect the operation of
the pump. The driving apparatus may be operatively connected to the
pump such that rotational energy produced by the driving apparatus
is received at the pump. In particular, the rotational energy that
is generated by the driving apparatus may be transmitted to the
pump using a motor shaft. The rotational energy produced by the
driving apparatus may be received at an offset piece of a pump. The
offset piece of the pump may be a part of a piston assembly within
the pump such that rotational energy that is received at the offset
piece from the driving apparatus is used to engage the piston
assembly of the pump. When the driving apparatus is initiated, the
pump may also be initiated. In particular, the movement of the
piston may cause the diaphragm of a diaphragm pump to expand so as
to take in fluid. When the driving apparatus is accelerated, the
pump may be accelerated.
[0077] A proportional relationship may be provided between speed of
the driving apparatus and speed of the pump. A directly linear
proportional relationship may be provided. As such, a relationship
exists between rotational energy that is generated by a driving
apparatus and pump cycles that are generated at the pump. This
relationship may be used to determine liquid flow within a spraying
system. However, the system can determine the characteristics of
the operation of the components within a spraying system so as to
calculate the flow, e.g. a liquid flow, within a desired threshold
of precision.
[0078] The driving apparatus and the pump may be able to operably
disconnect such that the shutdown of the driving apparatus does not
necessarily shutdown the pump. For example, if the driving
apparatus shuts down, the pump may have a back-up driving apparatus
such as a generator. Further, the spraying system may have settings
where the pump is securely coupled to the driving apparatus, such
that the halting of the driving apparatus necessarily halts a pump
that is securely coupled to the driving apparatus. Additionally,
the pump system may have settings where the pump is decouplable
from the driving apparatus. When the pump is decouplable from the
driving apparatus, the pump may be switched to a secondary driving
apparatus if the first driving apparatus fails or stops
suddenly.
[0079] In examples, the driving apparatus and the pump may form a
single unit. The driving apparatus and pump may form a single unit
by sharing a common housing. The driving apparatus and pump may be
inseparable from one another. The driving apparatus and pump may
share one or more components in common. The single unit may form a
small unit. The single unit may have a volume of 2 cm.sup.3, 5
cm.sup.3, 10 cm.sup.3, 15 cm.sup.3, 20 cm.sup.3, 25 cm.sup.3, 30
cm.sup.3, 35 cm.sup.3, 40 cm.sup.3, 45 cm.sup.3, 50 cm.sup.3, or
greater than 50 cm.sup.3. The single unit may have a weight of 0.01
kg, 0.05 kg, 0.1 kg, 0.2 kg, 0.3 kg, 0.4 kg, 0.5 kg, 0.6 kg, 0.7
kg, 0.8 kg, 0.9 kg, 1 kg, 1.5 kg, 2 kg, 3 kg, 4 kg, 5 kg, or more
than 5 kg.
[0080] In examples, the driving apparatus of the spraying system
may take advantage of a motor. In particular, the driving apparatus
may comprise a brushless motor. The brushless motor may comprise a
type of electric motor that doesn't require a commutator. Examples
of types of brushless motors may include brushless direct current
motor, an alternating current induction motor, a permanent magnet
synchronous motor. Additionally, by using a brushless motor rather
than a brush motor, the weight of the spraying system may be
greatly reduced. For instance, the weight of the spraying system
may be reduced by 50%. The reduction of the weight may permit a UAV
a longer flight time and an increased range when the UAV is
carrying a reduced-weight spraying system. When a brushless motor
is used in a spraying system, the overall volume of the spraying
system may also be smaller. As such, spraying systems that utilize
a brushless motor may be more compact and easier to fit within
carrying holders. A holder may comprise a portable or hand-held
apparatus that is adapted to hold a spraying apparatus. For
example, the holder may be a bag, a backpack, or another form of
carrying device or vehicle. In examples, the driving apparatus and
pump may be exposed to an external environment.
[0081] The pump in the spraying system may be used to transmit
material from a reservoir and provide that material to one or more
outlets of the spraying system. Material from the reservoir may
include liquids, such as pesticides, fertilizer, and water.
Materials in the reservoir may be pressurized. Alternatively,
materials from the reservoir may not be pressurized. Material from
the reservoir may include powder, such as fire extinguishing
powder. The pump may be connected to a reservoir such that engaging
the pump forms a vacuum at the fluid reservoir, which draws
spraying material into the pump. The spraying material may then be
transmitted through the pump to one or more outlets of the spraying
system.
[0082] During operation of the pump, pressure within the pump may
build to a point where the spraying material may be expelled. An
example of this is seen in a diaphragm pump, which expands to hold
material in a chamber before expelling the mater. Accordingly, in
examples, the pump may comprise a diaphragm pump. In particular, a
diaphragm pump may be a volumetric pump that changes volume by
reciprocating deformation of a diaphragm. Further, the pump may be
an electric mini-diaphragm pump. Using an electric mini-diaphragm
pump may significantly reduce the weight of a pumping system.
Alternative pumps may also be used to effect the intake,
transmittal, and expulsion of spraying material. In other examples,
a pump may comprise a pressure-based pump or a hydraulic pump.
[0083] A spraying system may spray materials at an angle with
respect to a vertical. For example, the spraying system may spray
materials at an angle of 1.degree., 2.degree., 3.degree.,
4.degree., 5.degree., 100, 15.degree., 20.degree., 25.degree.,
30.degree., 35.degree., 40.degree., 45.degree., 50.degree.,
55.degree., 60.degree., 65.degree., 70.degree., 75.degree.,
80.degree., 85.degree., 90.degree., 95.degree., 100.degree.,
105.degree., 110.degree., 115.degree., 120.degree., 125.degree.,
130.degree., 135.degree., 140.degree., 145.degree., 150.degree.,
155.degree., 160.degree., 165.degree., 170.degree., 175.degree.,
180.degree., or more than 180.degree. from with respect to the
vertical in either direction. Additionally, material that is
sprayed may be sprayed in a stream of varying width. In particular,
the width of a spray stream may be 0.01 cm, 0.05 cm, 0.1 cm, 0.2
cm, 0.3 cm, 0.4 cm, 0.5 cm, 0.6 cm, 0.7 cm, 0.8 cm, 0.9 cm, 1 cm, 2
cm, 3 cm, 4 cm, 5 cm, 6 cm, 7 cm, 8 cm, 9 cm, 10 cm, 15 cm, 20 cm,
25 cm, 50 cm, 1 m, 5 m, 10 m, 20 m, or greater than 20 m. Further,
the material that is sprayed may be sprayed with a force of 0.01 N,
0.05 N, 0.1 N, 0.2 N, 0.3 N, 0.4 N, 0.5 N, 0.6 N, 0.7 N, 0.8 N, 0.9
N, 1 N, 2 N, 3 N, 4 N, 5 N, 6 N, 7 N, 8 N, 9 N, 10 N, 15 N, 20 N,
25 N, 50 N, or greater than 50 N. Additionally, a spraying system
can cover a large area of land. Depending on the height of the
spraying apparatus from its target, the spraying apparatus may
spray a land area of 1 cm.sup.2, 2 cm.sup.2, 5 cm.sup.2, 10
cm.sup.2, 15 cm.sup.2, 20 cm.sup.2, 25 cm.sup.2, 30 cm.sup.2, 35
cm.sup.2, 40 cm.sup.2, 45 cm.sup.2, 50 cm.sup.2, 75 cm.sup.2, 1
m.sup.2, 2 m.sup.2, 3 m.sup.2, 5 m.sup.2, 10 m.sup.2, 20 m.sup.2,
50 m.sup.2, 100 m.sup.2, 200 m.sup.2, 300 m.sup.2, 500 m.sup.2, or
greater than 500 m.sup.2.
[0084] A spraying apparatus may be used for distributing fluids
that are processed using the spraying system. In particular, the
spraying apparatus may be used for spraying pesticides or
fertilizer. Spraying systems that include a spraying apparatus may
be used by individuals spraying pesticides or fertilizer in a
field. In particular, the spraying system may be coupled with the
spraying apparatus within a holder which may then be carried by a
farmer who is tending to his field. A holder may comprise a
portable or hand-held apparatus that is adapted to hold a spraying
apparatus. For example, the holder may be a bag, a backpack, or
another form of carrying device or vehicle. In examples, the
driving apparatus and pump may be exposed to an external
environment. Alternatively, spraying systems that include a
spraying apparatus may be used in an agricultural unmanned aerial
vehicle (UAV) for pumping out pesticides or fertilizer from the
spraying apparatus.
[0085] The spraying apparatus may include a fluid reservoir, one or
more spraying outlets, and an assembly for controlling flow of
fluid from the fluid reservoir to the one or more spraying outlets.
The one or more outlets may be nozzles. In examples of the spraying
system, a pump may transmit fluid from the fluid reservoir of the
spraying apparatus to nozzles of the spraying apparatus. The fluid
may include a liquid or a gaseous fluid. In some embodiments, the
fluid may include particles therein. For instance, the gaseous
fluid may include powder or other particles that may be with the
gaseous fluid. Any description herein of fluid handled by the
spraying system may also apply to any particulates, powders, or
other solid substances that may be handled by the spraying system.
The spraying apparatus may also be used to spray fertilizer, seeds,
or powders. In examples, the spraying apparatus may be a pesticide
spraying apparatus.
[0086] Additionally, an electronic speed controller may be attached
to the spraying system. The electronic speed controller may be
within the spraying system. The electronic speed controller may be
within a housing that contains the spraying system. The electronic
speed controller may be affixed to an interior cavity of a housing
that contains the spraying system. The electronic speed controller
may be attached to an exterior of a housing that contains the
spraying system. In examples where the spraying system is within an
unmanned aerial vehicle (UAV), the electronic speed controller may
be attached to the interior of the UAV. Alternatively, the
electronic speed controller may be attached to the exterior of the
UAV. The electronic speed controller may be permanently affixed to
the UAV. The electronic speed controller may be detachably affixed
to the UAV.
[0087] The electronic speed controller may operate with aid of a
power source of the electronic speed controller. The power source
of the electronic speed controller may or may not be the same as a
power source that powers the spraying system. The power source of
the electronic speed controller may or may not be the same as a
power source that powers the one or more propulsion units of a UAV
having a housing that contains the spraying system. The power
source of the electronic speed controller may or may not be the
same as a power source that powers one or more electrical
components of the UAV. The power source of the electronic speed
controller may be provided within a housing of the spraying system.
The power source of the electronic speed controller may be provided
within a housing of the UAV. The power source of the spraying
system may alternatively be provided outside the housing of the
UAV.
[0088] Different types of electronic speed controllers may be used
to control the spraying system. For instance, an electronic speed
controller that is a field oriented control may be used to control
a driving apparatus of the spraying system. In particular, an FOC
may be used to as a type of electronic speed controller that
measures operating characteristics of a motor, such as torque and
magnetic flux of the motor, and uses the characteristics to provide
control to the motor.
[0089] The electronic speed controller may be attached to the
driving apparatus. Alternatively, the electronic speed controller
may be attached to the pump. In other examples, the electronic
speed controller may be separate from the driving apparatus and the
pump. For example, when the spraying system is within a UAV, the
electronic speed controller may be mounted to the UAV. In
particular, the electronic speed controller may be within the UAV.
In examples, the electronic speed controller may be attached to the
UAV.
[0090] In examples, an electronic speed controller may be
integrated within a driving apparatus of a spraying system. FIG. 7
illustrates a schematic of a spraying system 700 having a spraying
apparatus 730, a driving apparatus 710 with an integrated
electronic speed controller 705, and a pump 720, in accordance with
embodiments of the disclosure. The electronic speed controller may
be attached to the driving apparatus. The electronic speed
controller may be within the driving apparatus. The electronic
speed controller may be within a housing of the driving apparatus.
The electronic speed controller may be attached to the exterior of
the driving apparatus. The electronic speed controller may be
constructed as a part of (or permanently affixed to) the driving
apparatus. The electronic speed controller may be detachably
affixed to the driving apparatus.
[0091] The electronic speed controller may operate with aid of a
power source of the electronic speed controller. The power source
of the electronic speed controller may or may not be the same as a
power source that powers the driving apparatus. The power source of
the electronic speed controller may or may not be the same as a
power source that powers the one or more propulsion units of the
UAV. The power source of the electronic speed controller may or may
not be the same as a power source that powers one or more
electrical components of the UAV. The power source of the
electronic speed controller may be provided within a housing of the
driving apparatus. The power source of the electronic speed
controller may be provided within a housing of the UAV. The power
source of the spraying system may alternatively be provided outside
the housing of the UAV.
[0092] The use of an integrated electronic speed controller within
a driving apparatus may be a benefit when customizing a driving
apparatus for use in a spraying system. In particular, integrating
the electronic speed controller within a particular driving
apparatus may be used to ensure compatibility between the driving
apparatus and the electronic speed controller. This internal
compatibility may be useful when a type of the driving apparatus
within a spraying system is exchanged for another type of driving
apparatus that is integrated with another electronic speed
controller that is compatible.
[0093] In other examples, an electronic speed controller may be
integrated within a pump of a spraying system. Accordingly, FIG. 8
illustrates a schematic of a spraying system 800 having a spraying
apparatus 830, a driving apparatus 810, and a pump 820 with an
integrated electronic speed controller 815, in accordance with
embodiments of the disclosure. The electronic speed controller may
be attached to the pump. The electronic speed controller may be
within the pump. The electronic speed controller may be within a
housing of the pump. The electronic speed controller may attached
to the exterior of the pump. The electronic speed controller
permanently affixed to the pump. The electronic speed controller
may be detachably affixed to the pump.
[0094] The electronic speed controller may operate with aid of a
power source of the electronic speed controller. The power source
of the electronic speed controller may or may not be the same as a
power source that powers the pump. The power source of the
electronic speed controller may or may not be the same as a power
source that powers the one or more propulsion units of the UAV. The
power source of the electronic speed controller may or may not be
the same as a power source that powers one or more electrical
components of the UAV. The power source of the electronic speed
controller may be provided within a housing of the pump. The power
source of the electronic speed controller may be provided within a
housing of the UAV. The power source of the spraying system may
alternatively be provided outside the housing of the UAV.
[0095] The electronic speed controller may control the pump. In
particular, the electronic speed controller may control a volume of
liquid that is pumped through the pump. For example, when the pump
is coupled with a spraying apparatus, the amount of spraying liquid
that flows through the spraying system may be precisely controlled
using an electronic speed controller. Additionally, the electronic
speed controller may control a pressure of liquid that is pumped
through the pump. In this way, the flow response within a pump may
be easily adjusted using the electronic speed controller and may be
adjusted with a fast response time. In particular, the flow
response within a pump may be adjusted independent of the type of
electronic speed controller that is used to measure flux.
[0096] FIG. 9 illustrates a schematic of a UAV 900 having a
spraying system 910, in accordance with embodiments of the
disclosure. Additionally, the spraying system may have a pump (not
shown) that is operatively coupled to a fluid reservoir.
Accordingly, FIG. 9 illustrates a fluid reservoir 925 that is a
payload of the UAV. A fluid reservoir may be attached externally to
the UAV. In particular, the fluid reservoir may be attached to an
external portion of a housing of the UAV. Alternatively, the fluid
reservoir may be partially within the UAV and may partial extend
outside of the UAV. Additionally, the fluid reservoir may be
communicatively coupled to a pump. The pump may be used to obtain
fluid from the fluid reservoir and provide the fluid to spray
outlets of the spraying system. Different portion(s) of the
spraying system (e.g., fluid reservoir, pump, spray outlets) may be
provided between landing stands of the UAV when the UAV is in a
landed state, or when the UAV is in a flying state. Different
portion(s) of the spraying system may be within or below the
central body of the UAV. Any portion of the spraying system may or
may not be stabilized using a carrier, such as a gimbal system. In
some embodiments, some spraying system may be stabilized while
other portions are not stabilized.
[0097] The use of a spraying system and a controller 920 within
agricultural UAVs allows for spraying operations to be controlled
by an external device. The UAV may have an on-board controller 920
that may effect operations of the spraying system. The on-board
controller may receive communications (directly or indirectly) that
have been provided by an external device. The external device may
be any object that may be communicating with the UAV. For instance,
the external device may be a remote controller (e.g., remote
terminal) that may receive a user input to effect operation of the
UAV. The remote controller may provide signals that may effect
operations of the spraying system. The remote controller may
provide signals that may effect flight of the UAV. The remote
controller may provide signals that may effect communications of
the UAV. The remote controller may provide signals that may effect
operation of a payload of the UAV, which may include a component of
the spraying system, an imaging device, any type of sensor, or any
type of emitter. The remote controller may affect a power state of
the payload, positioning of the payload relative to the UAV central
body (e.g., spatial disposition and/or orientation). The remote
controller may be a handheld device, wearable device, or may be any
other type of device capable of interaction with the user.
[0098] Another example of an external device may be a ground
station (i.e. ground remote controller). In particular, the
controller may receive information and/or instructions from ground
stations, which may be connected to a remote server or servers with
analytics information. The ground station may or may not receive a
user input. The ground station may be capable of operating
independently of a manual user input. The ground station may be
substantially stationary (e.g., incapable of self-propulsion) or
may be mobile (e.g., capable of self propulsion, such as a
vehicle). The ground station may be capable of effecting operation
of the UAV and/or any component carried by the UAV, such as
operations described with respect to the remote controller. For
instance, the ground station may supply information that may affect
operation of the spraying system of the UAV. The ground station may
or may not be capable of permitting a UAV to land on the ground
station. The ground station may be capable of accepting a payload,
such as a package, from the UAV. The ground station may be capable
of providing a payload, such as a package, to the UAV. The ground
station may be capable of providing energy to the UAV. For
instance, the ground station may recharge a power unit (e.g.,
battery) of the UAV. The power unit may be recharged while the
power unit is on-board the UAV or may be recharged after the power
unit has been removed from the UAV. The ground station may be
capable of swapping the power unit of the UAV for another power
unit. The other power unit may be provided by the ground station
and may optionally have a higher state of charge than the UAV power
unit. The ground station may optionally have sensors, such as any
type of sensor described elsewhere herein, that may collect
information about an environment of the ground station. Examples of
such environmental information may include images of the
environment, audio data, temperature data, wind speed and/or
direction data, detection of precipitation, detection of
vibrations, detection of movement, detection of chemical
signatures, or any other type of data.
[0099] Another example of an external device may be an aerial
external device. The aerial external device may be another UAV. The
other UAV may or may not be of the same type of UAV. The aerial
external device may be a balloon, blimp, airplane, helicopter,
glider, satellite, or any other type of aerial device. The external
aerial device may or may not have an on-board spraying system. The
external aerial device may or may not have sensors that may collect
information about an environment of the external aerial device. Any
type of sensors described elsewhere herein, may be provided on the
external aerial device. The aerial external device may be capable
of sending signals that may affect operation of the UAV and/or any
component carried by the UAV, such as operations described with
respect to the remote controller. For instance, the aerial external
device may supply information that may affect operation of the
spraying system of the UAV.
[0100] An external device may be a server or a cloud-based
infrastructure that may be capable of receiving information from
other sources, such as other types of external devices described
herein. The external device may be able to directly or indirectly
communicate with the
[0101] The external device may provide any type of signal that may
be directly or indirectly received by the controller 920. The
external device may provide a signal that directly controls
operation of the spraying system, such as instructions to turn on
the spraying system, turn off the spraying system, control
direction of spray, control spraying rate, control spraying outlets
that may be individually turned on or off, or effect a selection of
the material that is sprayed, from a plurality of material options.
The spraying path or route of the UAV may also be directly
controlled. In some embodiments, the direct spray control commands
may be provided directly by a user, or may be determined by one or
more processors of an external device. Alternatively, the external
device may provide information that may aid the controller in
controlling operation of the spraying system. The data from the
external device may be considered by the controller, possibly in
combination with additional data, to turn on the spraying system,
turn off the spraying system, control direction of spray, control
spraying rate, control spraying outlets that may be individually
turned on or off, or effect a selection of the material that is
sprayed, from a plurality of material options. The spraying path or
route of the UAV may also be determined based on the information
from the external device. The additional data may optionally
include data from on-board the UAV, such as data described
elsewhere herein. The data from the external device may include
environmental information (e.g., weather information), images from
around the external device, data from one or more sensors of the
external device, information about operation of the external
device, business information, insurance information, or
agricultural information. The agricultural information may relate
to types of materials, volumes of materials, timing information, or
how materials should be applied to different types of agricultural
products. Such agricultural information may take into account
conditions under which the materials are applied (e.g., weather
conditions, time of day, season, visual images about the state of
the agricultural product, age or level of maturity of the
agricultural product, etc.). For instance, the controller may
receive agricultural information that is associated with an
optimization of type of fertilizer that is provided to a particular
type of crop. The agricultural information may be updated to
include the latest knowledge and breakthroughs for agricultural
products. The business information may include information about
costs of spraying materials, types and/or yields of agricultural
products (optionally, based on the materials applied), financial
information associated with the agricultural products, costs of
operation and/or maintenance of the spraying system and/or UAV, or
any other business-related information. The business information
may include financial information which includes costs, revenues,
or projected profits. Insurance information may relate to
information on returns for loss of crops, returns for damage to the
spraying system and/or UAV, details about insurance policies, or
any other insurance-related information. The data may include
projections or may be used to form projections. For instance, the
data may include projected environmental conditions (e.g., weather
patterns) for a period of time in the future (e.g., the coming
hours, days, weeks, months, etc.). The data may include data
collected or generated by external sources (e.g., third parties,
such as a weather system or website), that may be provided to the
external device.
[0102] Information that is received at the controller of the
spraying system may be used to control the operation of the
spraying systems. The controller may include one or more processors
that may individually or collectively effect any of the analysis
described herein. The controller may receive information from any
external device, such as those described herein, or any combination
of external devices. For example, the controller may receive
information associated with the amount of spraying materials that
are ideal for crops given a particular weather condition. The
analytics information may also include predicted weather patterns
over the next few days or weeks. While sensors on the UAV may be
used to assess present weather conditions, which may then be
assessed by the spraying system, the use of analytical information
that may be retrieved from an external source may allow the
spraying system to operate in a way that accounts for past and
future data, as well as present data that may be acquired by
sensors of a UAV.
[0103] As such, spraying systems may have analytical and deductive
components, making them "smart" systems. For example, a controller
of the spraying system may receive information from an external
device, such as a ground station, that indicates a particular crop
area has been under drought for a number of weeks. However, the
sensors of the UAV to which the spraying system is attached may
indicate that the current weather predictions are associated with a
high chance of rain. If the spraying system only had the
information related to a high chance of rain, the spraying system
may provide a high rate of spraying materials, such as fertilizer
or pesticides, to counter the expectation that the rain would
dilute the spraying material. However, if the spraying system
accounts for the weeks-long history of drought, the spraying system
may assess that the current ground conditions may not be ideal for
providing spraying materials, as the ground may be excessively dry,
and that it would be better to delay spraying the crops until after
the rain has occurred. Thus, the controller may take one, two, or
more types of information into account when effecting control of
the spraying system, such as information generated on-board the
UAV, information from an external device, and/or information
pre-stored in memory on-board the UAV. The controller may take one,
two, or more types of information into account when effecting
control of the spraying system, such as past information (e.g.,
historical data), current information (e.g., information currently
being collected/sensed), and/or future information (e.g.,
projections). The controller may take one, two, or more types of
information into account when effecting control of the spraying
system, such as data from external sources, sensed information, or
background data from the external device(s).
[0104] Additionally, the use of a spraying system and a controller
within agricultural UAVs allows for spraying operations to be
controlled through the use of a global positioning service (GPS)
signal. Controlling signals that are generated by the controller
may be based on pulse-width modulation. Pulse-width modulation is a
technique used to encode a message into a pulsing signal. For
example, pulse-width modulation may be used to encode a message
into a pulsing signal to output a certain amount of spraying
material during each pump cycle. Alternatively, pulse-width
modulation may be used to encode a message into a pulsing signal to
output a spraying material in a particular direction. Additionally,
pulse-width modulation may be used to encode a message into a
pulsing signal to output a spraying material for a certain amount
of time. Further, pulse-width modulation may be used to encode a
message into a pulsing signal that indicates fluid within the pump
has fallen below a certain threshold.
[0105] In generating controlling signals, the controller may
incorporate and analyze information from different sensors
associated with the UAV. In particular, the controller may be able
to analyze information associated with a flight control of the UAV.
Additionally, the controller may be able to analyze information
associated with an image sensor of the UAV. Further, the controller
may be able to analyze information associated with a remote server
of the UAV.
[0106] The downward airflow generated by the rotors of a UAV may
facilitate a penetrating of the sprayed substance to the desired
target. As such, by using a UAV, to distribute sprayed substances,
the spraying effect of the substances may be improved. Since the
UAVs can be operated over a long distance, and since an operator
may not be exposed to the pesticide, safety in using a spraying
system that utilizes UAV may be improved.
[0107] The spraying system may operate while the UAV is in flight.
Operation of the spraying system may include delivery of fluid from
a fluid reservoir to one or more outlets of the spraying system.
The spraying system may operate while the UAV is landed. The
spraying system may optionally be prevented from operating while
the UAV is landed. The spraying system may be able to operate only
while the UAV is flight. The spraying system may automatically
start operating while the UAV is in flight.
[0108] The spraying system may automatically start operating when
the UAV reaches a predetermined altitude. The spraying system may
start operating, or modify operation of, the spraying system based
on sensed characteristics of a surrounding environment. In
particular, the spraying system may spray material based on
feedback received from one or more sensor, or based on measured
energy/power output. Additionally, the spraying system may spray
materials based on the identification of a particular target. In
particular, a UAV may have target identifying capabilities that may
be used to identify a target, which in turn may cause the spraying
system to expel materials. A target may be identified using visual
detection, GPS sensors, or other ways of determining location.
Alternatively, the spraying system may operate in response to a
user command to operate. The user command to operate may be
delivered with aid of a remote terminal. In examples, a user
command may include instructions to turn on the spraying system,
turn off the spraying system, control the volume of liquid that
passes through a spraying system, or control a direction of fluid
that passes through a spraying system.
[0109] The UAV may also assess operating characteristics of the
spraying system itself. In examples, the operation of the UAV may
be affected by conditions within the spraying system. For example,
if there are no more spraying materials within the spraying system,
the UAV may alter its flight plan to return to its home or return
to a close location to refill its spraying system with spraying
materials. In particular, the UAV may return to a predetermined
position when the operating characteristics of the spraying system
indicate that there is no more liquid, or other form of spraying
materials, to spray.
[0110] Additionally, the operation of the spraying system may be
affected by the operation of the UAV. In particular, the spraying
system may alter its output of spraying material based on the
operation of the UAV. One operation may include the speed of the
UAV, which may be measured using one or more of the sensors
described above. For example, the speed of a UAV may be assessed
using a GPS system, an IMU, an image capture device, an ultrasound,
or other examples. As the UAV accelerates, the spraying system may
increase the amount of spraying materials that are output. As the
UAV decelerates, the spraying system may decrease the amount of
spraying materials that are output. In other examples, when a UAV
travels at a speed above a certain threshold, the spraying system
may increase the amount of spraying materials that are output. When
the UAV travels at a speed below a certain threshold, the spraying
system may decrease the amount of spraying materials that are
output. Additionally, the spraying system may have a plurality of
fluid outlets. Based on the speed, acceleration, deceleration, or
other factors, the spraying system may utilize a greater number of
fluid outlets or a lesser number of fluid outlets of the plurality
of outlets. For example, if the UAV is accelerating, the spraying
system may increase the number of fluid outlets that the spraying
system is using. If the UAV is decelerating, the spraying system
may decrease the number of fluid outlets that the spraying system
is using.
[0111] Additionally, the spraying system may alter its output of
spraying material based on the flying height or altitude of the
UAV. As the UAV gains altitude, the spraying system may increase
the amount of spraying materials that are output. As the UAV loses
altitude, the spraying system may decrease the amount of spraying
materials that are output. Additionally, the spraying system may
have a plurality of fluid outlets. Based on the altitude of the
UAV, the spraying system may utilize a greater number of fluid
outlets or a lesser number of fluid outlets of the plurality of
outlets. For example, if the UAV is gaining altitude, the spraying
system may increase the number of fluid outlets that the spraying
system is using. If the UAV is losing altitude, the spraying system
may decrease the number of fluid outlets that the spraying system
is using. Further, the UAV may choose a particular selection of
fluid outlets that may be associated with directionality of sprayed
output. The selection of fluid outlets may be based on the desired
direction of sprayed output, which in turn may be determined based
on factors such as UAV speed, altitude, and geographic location.
The spray pattern that is used may also be determined based on such
considerations, and may include a narrow spray pattern, a wide
spray pattern, or other variations.
[0112] In addition to including the spraying system, the UAV may
include one or more electronic components such as a flight control
module, a GPS unit, and a wireless communication module. Data that
is received from the one or more electrical components may be used
to affect the spraying system. In particular, information that is
gathered using the flight control module may be used to alter the
output of the spraying system based on the UAV flight patterns. In
examples, the spraying system may cease outputting spraying
materials when the UAV is taking off. Alternatively, the spraying
system may cease outputting spraying materials when the UAV is
landing. Additionally, information that is gathered using the GPS
unit may be used to alter the output of the spraying system based
on the UAV's geographic position. In examples, the spraying system
may initiate spraying materials when the UAV has arrived at
pre-determined geographic coordinates. Further, information that is
obtained using the wireless communication module may be used to
alter the output of the spraying system based on instructions
received over the wireless communication module. In examples, the
spraying system may initiate spraying materials in response to
receiving, from the wireless communication module, instructions to
initiate spraying materials. Alternatively, the spraying system may
halt spraying materials in response to receiving, from the wireless
communication module, instructions to halt spraying materials. In
other examples, the spraying system may increase the amount of
fluid that is sprayed in response to receiving, from the wireless
communication module, instructions to increase the amount of
spraying materials.
[0113] Additionally, the UAV may comprise a payload. The payload
may include multiple parts. The payload may be an imaging device,
such as an image capture device 930. The payload may be carried
beneath a central body of the UAV. The payload may also be movable
with respect to the central body of the UAV. Additionally, the
payload may weigh at least 10 kg. In some embodiments, the payload
can be a material reservoir. The payload may be the spraying
system. In some instances, multiple payloads and/or types of
payloads may be provided. For example, an agricultural material,
medium, and/or product distribution system and a camera may be
provided as payloads of a UAV.
[0114] Additionally, information that is gathered from an image
capture device that is connected to the UAV may affect the
operation of the spraying system. In particular, the spraying
system may alter its output of spraying material based on the image
data that is received by the UAV. When the UAV is spraying densely
spaced agricultural crops, such as cornfields, the UAV may increase
the amount of spraying material that is output. When the UAV is
spraying sparsely spaced agricultural crops, such as orchards, the
UAV may decrease the amount of spraying material that is output.
The identification of densely spaced agricultural crops and/or
sparsely spaced agricultural crops may be made by the controller
based on information that is received from the image capture
device. In other examples, the image capture device may gather data
that is used by the controller to identify urban areas. The
identification of urban areas by the controller may be used to
provide the UAV with instructions to cease its output of spraying
materials.
[0115] FIG. 18 illustrates a flowchart 1800 of a method of
controlling a work schedule of a spraying system of a mobile
platform, in accordance with embodiments of the disclosure. At
block 1810, operating characteristics of the spraying system are
received at a processor of the mobile platform. The operating
characteristics may include pump speed. The operating
characteristics may include motor speed.
[0116] At block 1820, one or more controlling signals that relate
to a work schedule of the spraying system of the mobile platform
are generated. The one or more controlling signals may be generated
based on the received operating characteristics of the spraying
system. Additionally, the one or more controlling signals may be
based on pulse-width modulation. The pulse-width modulation may be
used to encode instructions into a pulsing signal. The pulse-width
modulation may be used to encode a spraying amount for each pump
cycle into a pumping signal.
[0117] At block 1830, the one or more controlling signals that are
generated are provided to the spraying system. The one or more
controlling signals may be used to control the spraying width of
liquid that is output from the spraying system. The one or more
controlling signals may be used to control the directionality of
liquid that is output from the spraying system. The one or more
controlling signals may be used to control the spraying time of
liquid that is output from the spraying system. The one or more
controlling signals may be used to determine when the working
current has fallen below a threshold amount. The one or more
controlling signals may be used to synchronize the work schedule of
the spraying system with the flying speed of the UAV. The one or
more controlling signals may be used to instruct the spraying
system to increase the flux of liquid sprayed as the UAV increases
in speed. The one or more controlling signals may be used to
instruct the spraying system to increase the flux of liquid sprayed
as the UAV increases in altitude. The one or more controlling
signals may be used to instruct the spraying signal to stop
spraying when the UAV is not moving.
[0118] The method of controlling a work schedule of a spraying
system of a mobile platform may further comprise determining that
the working current has fallen below a threshold amount.
Additionally, the method of controlling a work schedule of a
spraying system of a mobile platform may further comprise engaging
an alarm to indicate that fluid within the pump has fallen below a
threshold amount.
[0119] As discussed above, spraying systems that utilize efficient
pumps as discussed herein may be carried on agricultural UAVs to
spray materials, such as pesticides or fertilizers, onto crops.
Accordingly, FIG. 10 illustrates a UAV 1000 with a spraying system
1010 spraying a field at a first speed, in accordance with
embodiments of the disclosure. The spraying system may be within a
housing 1005 of the UAV. Alternatively, the spraying system may be
mounted to the UAV as a payload. Additionally, the operation of the
spraying system may be affected by the operation of the UAV.
[0120] In particular, the spraying system may alter its output of
spraying material based on the operation of the UAV. This is shown
in FIG. 11 illustrates a UAV 1100 with a spraying system 1110
within a housing 1105 of the UAV. Spraying system 1110 is spraying
a field at a second speed, in accordance with embodiments of the
disclosure. Comparing FIG. 10 to FIG. 11, the increase of speed
between FIGS. 10 and 11 is represented with an increased number of
directional arrows. Additionally, the amount of material that is
sprayed also increases between FIGS. 10 and 11. Additionally, FIG.
12 illustrates a relationship between speed of a UAV and amount of
fluid sprayed from a spraying system, in accordance with
embodiments of the disclosure. While the relationship shown in FIG.
12 is linear, other examples may illustrate a different
relationship. In particular, a user may program a desired
mathematical function to be representative of the relationship
between the speed of a UAV and the amount of material that is
provided.
[0121] In other examples, as the UAV accelerates, the spraying
system may increase the amount of spraying materials that are
output. As the UAV decelerates, the spraying system may decrease
the amount of spraying materials that are output. Additionally, the
spraying system may vary the amount of spraying material that is
dispersed based on the location of the UAV. In particular, the
spraying system may vary the amount of spraying material that is
dispersed based on the geographic location of the UAV as determined
by a global positioning system (GPS). As such, the spraying system
may initiate the spraying of material from the fluid reservoir when
the UAV is in an area that is designated as being within a
pre-determined zone, and the spraying system may cease the spraying
of the material from the fluid reservoir when the spraying system
has left the pre-determined zone. Geographic boundaries may be
defined by the use of GPS, by the use of relational calculations of
the UAV and a last-recognized geographic location, and by the
detection of geofences.
[0122] The UAV is able to spray the field with a spraying fluid.
The amount of fluid that is sprayed across the field may vary based
on the dispersion rate of the liquid, the speed that the UAV is
flying, weather factors, and the characteristics of the liquid
itself. In examples, the spraying system may be used to spray
non-liquid materials, such as seeds and powders. Additionally, the
composition of the spraying material that is output from the
spraying system may vary based on factors such as weather, speed,
and other conditions. For example, if the UAV determines that it is
raining, the UAV may alter the composition of the spraying material
to be more viscous so as to make the spraying material less easy to
dilute in the precipitation.
[0123] When an efficient spraying system that has a pump and a
brushless motor is used, the spraying system that is used to
transmit liquid from the fluid reservoir to liquid outlets of the
spraying system may be significantly lighter than when a spraying
system having a brush motor is used. This, in turn, may result in
greater fuel efficiency when using an aerial mobile vehicle such as
a UAV. As such, when lighter spraying systems are used, the UAV may
be able to have a longer cruise duration than when heavier spraying
systems are used.
[0124] FIG. 13 illustrates a process 1300 of providing feedback to
a control system, in accordance with embodiments of the disclosure.
In particular, FIG. 13 provides a process of evaluating operating
characteristics; evaluating a driving apparatus based on operating
characteristics; and determining instructions for the driving
apparatus. At block 1310, operating characteristics of a driving
apparatus are evaluated. In particular, the speed of the driving
apparatus may be evaluated. Additionally, operating characteristics
of the driving apparatus itself, such as magnetic flux and torque
may be evaluated by a field oriented control electronic speed
control.
[0125] After obtaining the operating characteristics, an evaluation
of the driving apparatus based on operating characteristics may be
performed at block 1320. In particular, characteristics associated
with the spraying system may be calculated based on operating
characteristics of the driving apparatus. For example, a
correlation may exist between the amount of energy generated by the
driving apparatus and an amount of fluid that is processed using a
pump. When a pump is dry, the working current (or energy) of the
driving apparatus may be zero. This, in turn, may indicate that
there is no fluid in the pump. Alternatively, when there is fluid
in the pump, a determination of the amount of fluid may be made
based evaluating working current (or energy) of the driving
apparatus.
[0126] By determining the number of pump cycles that occur based on
the evaluated operating characteristics, a determination of fluid
that has been transmitted through the spraying system may be
calculated. This, in turn, may initiate an action that is based on
the calculated information. For example, if the calculated fluid
flow through the spraying system is found to meet or exceed a
threshold amount of fluid, the UAV or the UAV operator may be
notified that the UAV is running low on spraying fluids. This
indicator, which may be considered a low-fluid, no-fluid, or status
alarm of the amount of liquid within a liquid reservoir of the
spraying system, may prompt the UAV to head home. Alternatively,
the liquid-based alarm may prompt the UAV to head to a nearby
refueling station. The UAV may use the refueling station to refuel
spraying materials, to refuel gasoline/energy, or a combination of
the two.
[0127] Further, once the driving apparatus has been evaluated based
on operating characteristics, instructions for the driving
apparatus may be determined at block 1330. Using the example above,
once a fluid-based indicator has been initiated, instructions may
be generated to have the UAV access a nearby refueling station.
These instructions are then provided back to block 1320, where the
instructions that are provided to the UAV may contextualize
operating characteristics that are received.
[0128] The systems, devices, and methods described herein can be
applied to a wide variety of movable objects. As previously
mentioned, any description herein of an aerial vehicle, such as a
UAV, may apply to and be used for any movable object. Any
description herein of an aerial vehicle may apply specifically to
UAVs. A movable object of the present disclosure can be configured
to move within any suitable environment, such as in air (e.g., a
fixed-wing aircraft, a rotary-wing aircraft, or an aircraft having
neither fixed wings nor rotary wings), in water (e.g., a ship or a
submarine), on ground (e.g., a motor vehicle, such as a car, truck,
bus, van, motorcycle, bicycle; a movable structure or frame such as
a stick, fishing pole; or a train), under the ground (e.g., a
subway), in space (e.g., a spaceplane, a satellite, or a probe), or
any combination of these environments. The movable object can be a
vehicle, such as a vehicle described elsewhere herein. In some
embodiments, the movable object can be carried by a living subject,
or take off from a living subject, such as a human or an animal.
Suitable animals can include avines, canines, felines, equines,
bovines, ovines, porcines, delphines, rodents, or insects.
[0129] The movable object may be capable of moving freely within
the environment with respect to six degrees of freedom (e.g., three
degrees of freedom in translation and three degrees of freedom in
rotation). Alternatively, the movement of the movable object can be
constrained with respect to one or more degrees of freedom, such as
by a predetermined path, track, or orientation. The movement can be
actuated by any suitable actuation mechanism, such as an engine or
a motor. The actuation mechanism of the movable object can be
powered by any suitable energy source, such as electrical energy,
magnetic energy, solar energy, wind energy, gravitational energy,
chemical energy, nuclear energy, or any suitable combination
thereof. The movable object may be self-propelled via a propulsion
system, as described elsewhere herein. The propulsion system may
optionally run on an energy source, such as electrical energy,
magnetic energy, solar energy, wind energy, gravitational energy,
chemical energy, nuclear energy, or any suitable combination
thereof. Alternatively, the movable object may be carried by a
living being.
[0130] In some instances, the movable object can be an aerial
vehicle. For example, aerial vehicles may be fixed-wing aircraft
(e.g., airplane, gliders), rotary-wing aircraft (e.g., helicopters,
rotorcraft), aircraft having both fixed wings and rotary wings, or
aircraft having neither (e.g., blimps, hot air balloons). An aerial
vehicle can be self-propelled, such as self-propelled through the
air. A self-propelled aerial vehicle can utilize a propulsion
system, such as a propulsion system including one or more engines,
motors, wheels, axles, magnets, rotors, propellers, blades,
nozzles, or any suitable combination thereof. In some instances,
the propulsion system can be used to enable the movable object to
take off from a surface, land on a surface, maintain its current
position and/or orientation (e.g., hover), change orientation,
and/or change position.
[0131] The movable object can be controlled remotely by a user or
controlled locally by an occupant within or on the movable object.
The movable object may be controlled remotely via an occupant
within a separate vehicle. In some embodiments, the movable object
is an unmanned movable object, such as a UAV. An unmanned movable
object, such as a UAV, may not have an occupant onboard the movable
object. The movable object can be controlled by a human or an
autonomous control system (e.g., a computer control system), or any
suitable combination thereof. The movable object can be an
autonomous or semi-autonomous robot, such as a robot configured
with an artificial intelligence.
[0132] The movable object can have any suitable size and/or
dimensions. In some embodiments, the movable object may be of a
size and/or dimensions to have a human occupant within or on the
vehicle. Alternatively, the movable object may be of size and/or
dimensions smaller than that capable of having a human occupant
within or on the vehicle. The movable object may be of a size
and/or dimensions suitable for being lifted or carried by a human.
Alternatively, the movable object may be larger than a size and/or
dimensions suitable for being lifted or carried by a human. In some
instances, the movable object may have a maximum dimension (e.g.,
length, width, height, diameter, diagonal) of less than or equal to
about: 2 cm, 5 cm, 10 cm, 50 cm, 1 m, 2 m, 5 m, or 10 m. The
maximum dimension may be greater than or equal to about: 2 cm, 5
cm, 10 cm, 50 cm, 1 m, 2 m, 5 m, or 10 m. For example, the distance
between shafts of opposite rotors of the movable object may be less
than or equal to about: 2 cm, 5 cm, 10 cm, 50 cm, 1 m, 2 m, 5 m, or
10 m. Alternatively, the distance between shafts of opposite rotors
may be greater than or equal to about: 2 cm, 5 cm, 10 cm, 50 cm, 1
m, 2 m, 5 m, or 10 m.
[0133] In some embodiments, the movable object may have a volume of
less than 100 cm.times.100 cm.times.100 cm, less than 50
cm.times.50 cm.times.30 cm, or less than 5 cm.times.5 cm.times.3
cm. The total volume of the movable object may be less than or
equal to about: 1 cm.sup.3, 2 cm.sup.3, 5 cm.sup.3, 10 cm.sup.3, 20
cm.sup.3, 30 cm.sup.3, 40 cm.sup.3, 50 cm.sup.3, 60 cm.sup.3, 70
cm.sup.3, 80 cm.sup.3, 90 cm.sup.3, 100 cm.sup.3, 150 cm.sup.3, 200
cm.sup.3, 300 cm.sup.3, 500 cm.sup.3, 750 cm.sup.3, 1000 cm.sup.3,
5000 cm.sup.3, 10,000 cm.sup.3, 100,000 cm.sup.33, 1 m.sup.3, or 10
m.sup.3. Conversely, the total volume of the movable object may be
greater than or equal to about: 1 cm.sup.3, 2 cm.sup.3, 5 cm.sup.3,
10 cm.sup.3, 20 cm.sup.3, 30 cm.sup.3, 40 cm.sup.3, 50 cm.sup.3, 60
cm.sup.3, 70 cm.sup.3, 80 cm.sup.3, 90 cm.sup.3, 100 cm.sup.3, 150
cm.sup.3, 200 cm.sup.3, 300 cm.sup.3, 500 cm.sup.3, 750 cm.sup.3,
1000 cm.sup.3, 5000 cm.sup.3, 10,000 cm.sup.3, 100,000 cm.sup.3, 1
m.sup.3, or 10 m.sup.3.
[0134] In some embodiments, the movable object may have a footprint
(which may refer to the lateral cross-sectional area encompassed by
the movable object) less than or equal to about: 32,000 cm.sup.2,
20,000 cm.sup.2, 10,000 cm.sup.2, 1,000 cm.sup.2, 500 cm.sup.2, 100
cm.sup.2, 50 cm.sup.2, 10 cm.sup.2, or 5 cm.sup.2. Conversely, the
footprint may be greater than or equal to about: 32,000 cm.sup.2,
20,000 cm.sup.2, 10,000 cm.sup.2, 1,000 cm.sup.2, 500 cm.sup.2, 100
cm.sup.2, 50 cm.sup.2, 10 cm.sup.2, or 5 cm.sup.2.
[0135] In some instances, the movable object may weigh no more than
1000 kg. The weight of the movable object may be less than or equal
to about: 1000 kg, 750 kg, 500 kg, 200 kg, 150 kg, 100 kg, 80 kg,
70 kg, 60 kg, 50 kg, 45 kg, 40 kg, 35 kg, 30 kg, 25 kg, 20 kg, 15
kg, 12 kg, 10 kg, 9 kg, 8 kg, 7 kg, 6 kg, 5 kg, 4 kg, 3 kg, 2 kg, 1
kg, 0.5 kg, 0.1 kg, 0.05 kg, or 0.01 kg. Conversely, the weight may
be greater than or equal to about: 1000 kg, 750 kg, 500 kg, 200 kg,
150 kg, 100 kg, 80 kg, 70 kg, 60 kg, 50 kg, 45 kg, 40 kg, 35 kg, 30
kg, 25 kg, 20 kg, 15 kg, 12 kg, 10 kg, 9 kg, 8 kg, 7 kg, 6 kg, 5
kg, 4 kg, 3 kg, 2 kg, 1 kg, 0.5 kg, 0.1 kg, 0.05 kg, or 0.01
kg.
[0136] In some embodiments, a movable object may be small relative
to a load carried by the movable object. The load may include a
payload and/or a carrier, as described in further detail elsewhere
herein. In some examples, a ratio of a movable object weight to a
load weight may be greater than, less than, or equal to about 1:1.
In some instances, a ratio of a movable object weight to a load
weight may be greater than, less than, or equal to about 1:1.
Optionally, a ratio of a carrier weight to a load weight may be
greater than, less than, or equal to about 1:1. When desired, the
ratio of an movable object weight to a load weight may be less than
or equal to: 1:2, 1:3, 1:4, 1:5, 1:10, or even less. Conversely,
the ratio of a movable object weight to a load weight can also be
greater than or equal to: 2:1, 3:1, 4:1, 5:1, 10:1, or even
greater.
[0137] In some embodiments, the movable object may have low energy
consumption. For example, the movable object may use less than
about: 5 W/h, 4 W/h, 3 W/h, 2 W/h, 1 W/h, or less. In some
instances, a carrier of the movable object may have low energy
consumption. For example, the carrier may use less than about: 5
W/h, 4 W/h, 3 W/h, 2 W/h, 1 W/h, or less. Optionally, a payload of
the movable object may have low energy consumption, such as less
than about: 5 W/h, 4 W/h, 3 W/h, 2 W/h, 1 W/h, or less.
[0138] FIG. 14 illustrates an unmanned aerial vehicle (UAV) 1400,
in accordance with embodiments of the present disclosure. The UAV
may be an example of a movable object as described herein. The UAV
1400 can include a propulsion system having four rotors 1402, 1404,
1406, and 1408. Any number of rotors may be provided (e.g., one,
two, three, four, five, six, or more). The rotors, rotor
assemblies, or other propulsion systems of the unmanned aerial
vehicle may enable the unmanned aerial vehicle to hover/maintain
position, change orientation, and/or change location. The distance
between shafts of opposite rotors can be any suitable length 410.
For example, the length 1410 can be less than or equal to 2 m, or
less than equal to 5 m. In some embodiments, the length 1410 can be
within a range from 40 cm to 1 m, from 10 cm to 2 m, or from 5 cm
to 5 m. Any description herein of a UAV may apply to a movable
object, such as a movable object of a different type, and vice
versa. The UAV may use an assisted takeoff system or method as
described herein.
[0139] In some embodiments, the movable object can be configured to
carry a load. The load can include one or more of passengers,
cargo, equipment, instruments, and the like. The load can be
provided within a housing. The housing may be separate from a
housing of the movable object, or be part of a housing for a
movable object. Alternatively, the load can be provided with a
housing while the movable object does not have a housing.
Alternatively, portions of the load or the entire load can be
provided without a housing. The load can be rigidly fixed relative
to the movable object. Optionally, the load can be movable relative
to the movable object (e.g., translatable or rotatable relative to
the movable object). The load can include a payload and/or a
carrier, as described elsewhere herein.
[0140] In some embodiments, the movement of the movable object,
carrier, and payload relative to a fixed reference frame (e.g., the
surrounding environment) and/or to each other, can be controlled by
a terminal. The terminal can be a remote control device at a
location distant from the movable object, carrier, and/or payload.
The terminal can be disposed on or affixed to a support platform.
Alternatively, the terminal can be a handheld or wearable device.
For example, the terminal can include a smartphone, tablet, laptop,
computer, glasses, gloves, helmet, microphone, or suitable
combinations thereof. The terminal can include a user interface,
such as a keyboard, mouse, joystick, touchscreen, or display. Any
suitable user input can be used to interact with the terminal, such
as manually entered commands, voice control, gesture control, or
position control (e.g., via a movement, location or tilt of the
terminal).
[0141] The terminal can be used to control any suitable state of
the movable object, carrier, and/or payload. For example, the
terminal can be used to control the position and/or orientation of
the movable object, carrier, and/or payload relative to a fixed
reference from and/or to each other. In some embodiments, the
terminal can be used to control individual elements of the movable
object, carrier, and/or payload, such as the actuation assembly of
the carrier, a sensor of the payload, or an emitter of the payload.
The terminal can include a wireless communication device adapted to
communicate with one or more of the movable object, carrier, or
payload.
[0142] The terminal can include a suitable display unit for viewing
information of the movable object, carrier, and/or payload. For
example, the terminal can be configured to display information of
the movable object, carrier, and/or payload with respect to
position, translational velocity, translational acceleration,
orientation, angular velocity, angular acceleration, or any
suitable combinations thereof. In some embodiments, the terminal
can display information provided by the payload, such as data
provided by a functional payload (e.g., images recorded by a camera
or other image capturing device).
[0143] Optionally, the same terminal may both control the movable
object, carrier, and/or payload, or a state of the movable object,
carrier and/or payload, as well as receive and/or display
information from the movable object, carrier and/or payload. For
example, a terminal may control the positioning of the payload
relative to an environment, while displaying image data captured by
the payload, or information about the position of the payload.
Alternatively, different terminals may be used for different
functions. For example, a first terminal may control movement or a
state of the movable object, carrier, and/or payload while a second
terminal may receive and/or display information from the movable
object, carrier, and/or payload. For example, a first terminal may
be used to control the positioning of the payload relative to an
environment while a second terminal displays image data captured by
the payload. Various communication modes may be utilized between a
movable object and an integrated terminal that both controls the
movable object and receives data, or between the movable object and
multiple terminals that both control the movable object and
receives data. For example, at least two different communication
modes may be formed between the movable object and the terminal
that both controls the movable object and receives data from the
movable object.
[0144] FIG. 15 illustrates a movable object 1500 including a
carrier 1502 and a payload 1504, in accordance with embodiments.
Although the movable object 1500 is depicted as an aircraft, this
depiction is not intended to be limiting, and any suitable type of
movable object can be used, as previously described herein. One of
skill in the art would appreciate that any of the embodiments
described herein in the context of aircraft systems can be applied
to any suitable movable object (e.g., an UAV). In some instances,
the payload 1504 may be provided on the movable object 1500 without
requiring the carrier 1502. The movable object 1500 may include
propulsion mechanisms 1506, a sensing system 1508, and a
communication system 1510.
[0145] The propulsion mechanisms 1506 can include one or more of
rotors, propellers, blades, engines, motors, wheels, axles,
magnets, or nozzles, as previously described. The movable object
may have one or more, two or more, three or more, or four or more
propulsion mechanisms. The propulsion mechanisms may all be of the
same type. Alternatively, one or more propulsion mechanisms can be
different types of propulsion mechanisms. The propulsion mechanisms
1506 can be mounted on the movable object 1500 using any suitable
means, such as a support element (e.g., a drive shaft) as described
elsewhere herein. The propulsion mechanisms 1506 can be mounted on
any suitable portion of the movable object 1500, such on the top,
bottom, front, back, sides, or suitable combinations thereof.
[0146] In some embodiments, the propulsion mechanisms 1506 can
enable the movable object 1500 to take off vertically from a
surface or land vertically on a surface without requiring any
horizontal movement of the movable object 1500 (e.g., without
traveling down a runway). Optionally, the propulsion mechanisms
1506 can be operable to permit the movable object 1500 to hover in
the air at a specified position and/or orientation. One or more of
the propulsion mechanisms 1500 may be controlled independently of
the other propulsion mechanisms. Alternatively, the propulsion
mechanisms 1500 can be configured to be controlled simultaneously.
For example, the movable object 1500 can have multiple horizontally
oriented rotors that can provide lift and/or thrust to the movable
object. The multiple horizontally oriented rotors can be actuated
to provide vertical takeoff, vertical landing, and hovering
capabilities to the movable object 1500. In some embodiments, one
or more of the horizontally oriented rotors may spin in a clockwise
direction, while one or more of the horizontally rotors may spin in
a counterclockwise direction. For example, the number of clockwise
rotors may be equal to the number of counterclockwise rotors. The
rotation rate of each of the horizontally oriented rotors can be
varied independently in order to control the lift and/or thrust
produced by each rotor, and thereby adjust the spatial disposition,
velocity, and/or acceleration of the movable object 1500 (e.g.,
with respect to up to three degrees of translation and up to three
degrees of rotation).
[0147] The sensing system 1508 can include one or more sensors that
may sense the spatial disposition, velocity, and/or acceleration of
the movable object 1500 (e.g., with respect to up to three degrees
of translation and up to three degrees of rotation). The one or
more sensors can include global positioning system (GPS) sensors,
motion sensors, inertial sensors, proximity sensors, or image
sensors. The sensing data provided by the sensing system 1508 can
be used to control the spatial disposition, velocity, and/or
orientation of the movable object 1500 (e.g., using a suitable
processing unit and/or control module, as described below).
Alternatively, the sensing system 1508 can be used to provide data
regarding the environment surrounding the movable object, such as
weather conditions, proximity to potential obstacles, location of
geographical features, location of manmade structures, and the
like.
[0148] The communication system 1510 enables communication with
terminal 1512 having a communication system 1514 via wireless
signals 1516. The communication systems 1510, 1514 may include any
number of transmitters, receivers, and/or transceivers suitable for
wireless communication. The communication may be one-way
communication, such that data can be transmitted in only one
direction. For example, one-way communication may involve only the
movable object 1500 transmitting data to the terminal 1512, or
vice-versa. The data may be transmitted from one or more
transmitters of the communication system 1510 to one or more
receivers of the communication system 1512, or vice-versa.
Alternatively, the communication may be two-way communication, such
that data can be transmitted in both directions between the movable
object 1500 and the terminal 1512. The two-way communication can
involve transmitting data from one or more transmitters of the
communication system 1510 to one or more receivers of the
communication system 1514, and vice-versa.
[0149] In some embodiments, the terminal 1512 can provide control
data to one or more of the movable object 1500, carrier 1502, and
payload 1504 and receive information from one or more of the
movable object 1500, carrier 1502, and payload 1504 (e.g., position
and/or motion information of the movable object, carrier or
payload; data sensed by the payload such as image data captured by
a payload camera). In some instances, control data from the
terminal may include instructions for relative positions,
movements, actuations, or controls of the movable object, carrier
and/or payload. For example, the control data may result in a
modification of the location and/or orientation of the movable
object (e.g., via control of the propulsion mechanisms 1506), or a
movement of the payload with respect to the movable object (e.g.,
via control of the carrier 1502). The control data from the
terminal may result in control of the payload, such as control of
the operation of a camera or other image capturing device (e.g.,
taking still or moving pictures, zooming in or out, turning on or
off, switching imaging modes, change image resolution, changing
focus, changing depth of field, changing exposure time, changing
viewing angle or field of view). In some instances, the
communications from the movable object, carrier and/or payload may
include information from one or more sensors (e.g., of the sensing
system 1508 or of the payload 1504). The communications may include
sensed information from one or more different types of sensors
(e.g., GPS sensors, motion sensors, inertial sensor, proximity
sensors, or image sensors). Such information may pertain to the
position (e.g., location, orientation), movement, or acceleration
of the movable object, carrier and/or payload. Such information
from a payload may include data captured by the payload or a sensed
state of the payload. The control data provided transmitted by the
terminal 1512 can be configured to control a state of one or more
of the movable object 1500, carrier 1502, or payload 1504.
Alternatively or in combination, the carrier 1502 and payload 1504
can also each include a communication module configured to
communicate with terminal 1512, such that the terminal can
communicate with and control each of the movable object 1500,
carrier 1502, and payload 1504 independently.
[0150] In some embodiments, the movable object 1500 can be
configured to communicate with another remote device in addition to
the terminal 1512, or instead of the terminal 1512. The terminal
1512 may also be configured to communicate with another remote
device as well as the movable object 1500. For example, the movable
object 1500 and/or terminal 1512 may communicate with another
movable object, or a carrier or payload of another movable object.
When desired, the remote device may be a second terminal or other
computing device (e.g., computer, laptop, tablet, smartphone, or
other mobile device). The remote device can be configured to
transmit data to the movable object 1500, receive data from the
movable object 1500, transmit data to the terminal 1512, and/or
receive data from the terminal 1512. Optionally, the remote device
can be connected to the Internet or other telecommunications
network, such that data received from the movable object 1500
and/or terminal 1512 can be uploaded to a website or server.
[0151] FIG. 16 is a schematic illustration by way of block diagram
of a system 1600 for controlling a movable object, in accordance
with embodiments. The system 1600 can be used in combination with
any suitable embodiment of the systems, devices, and methods
disclosed herein. The system 1600 can include a sensing module
1602, processing unit 1604, non-transitory computer readable medium
1606, control module 1608, and communication module 1610.
[0152] The sensing module 1602 can utilize different types of
sensors that collect information relating to the movable objects in
different ways. Different types of sensors may sense different
types of signals or signals from different sources. For example,
the sensors can include inertial sensors, GPS sensors, proximity
sensors (e.g., lidar), or vision/image sensors (e.g., a camera).
The sensing module 1602 can be operatively coupled to a processing
unit 1604 having a plurality of processors. In some embodiments,
the sensing module can be operatively coupled to a transmission
module 1612 (e.g., a Wi-Fi image transmission module) configured to
directly transmit sensing data to a suitable external device or
system. For example, the transmission module 1612 can be used to
transmit images captured by a camera of the sensing module 1602 to
a remote terminal.
[0153] The processing unit 1604 can have one or more processors,
such as a programmable processor (e.g., a central processing unit
(CPU)). The processing unit 1604 can be operatively coupled to a
non-transitory computer readable medium 1606. The non-transitory
computer readable medium 1606 can store logic, code, and/or program
instructions executable by the processing unit 1604 for performing
one or more steps. The non-transitory computer readable medium can
include one or more memory units (e.g., removable media or external
storage such as an SD card or random access memory (RAM)). In some
embodiments, data from the sensing module 1602 can be directly
conveyed to and stored within the memory units of the
non-transitory computer readable medium 1606. The memory units of
the non-transitory computer readable medium 1606 can store logic,
code and/or program instructions executable by the processing unit
1604 to perform any suitable embodiment of the methods described
herein. For example, the processing unit 1604 can be configured to
execute instructions causing one or more processors of the
processing unit 1604 to analyze sensing data produced by the
sensing module. The memory units can store sensing data from the
sensing module to be processed by the processing unit 1604. In some
embodiments, the memory units of the non-transitory computer
readable medium 1606 can be used to store the processing results
produced by the processing unit 1604.
[0154] In some embodiments, the processing unit 1604 can be
operatively coupled to a control module 1608 configured to control
a state of the movable object. For example, the control module 1608
can be configured to control the propulsion mechanisms of the
movable object to adjust the spatial disposition, velocity, and/or
acceleration of the movable object with respect to six degrees of
freedom. Alternatively or in combination, the control module 1608
can control one or more of a state of a carrier, payload, or
sensing module.
[0155] The processing unit 1604 can be operatively coupled to a
communication module 1610 configured to transmit and/or receive
data from one or more external devices (e.g., a terminal, display
device, or other remote controller). Any suitable means of
communication can be used, such as wired communication or wireless
communication. For example, the communication module 1610 can
utilize one or more of local area networks (LAN), wide area
networks (WAN), infrared, radio, WiFi, point-to-point (P2P)
networks, telecommunication networks, cloud communication, and the
like. Optionally, relay stations, such as towers, satellites, or
mobile stations, can be used. Wireless communications can be
proximity dependent or proximity independent. In some embodiments,
line-of-sight may or may not be required for communications. The
communication module 1610 can transmit and/or receive one or more
of sensing data from the sensing module 1602, processing results
produced by the processing unit 1604, predetermined control data,
user commands from a terminal or remote controller, and the
like.
[0156] The components of the system 1600 can be arranged in any
suitable configuration. For example, one or more of the components
of the system 1600 can be located on the movable object, carrier,
payload, terminal, sensing system, or an additional external device
in communication with one or more of the above. Additionally,
although FIG. 16 depicts a single processing unit 1604 and a single
non-transitory computer readable medium 1606, one of skill in the
art would appreciate that this is not intended to be limiting, and
that the system 1600 can include a plurality of processing units
and/or non-transitory computer readable media. In some embodiments,
one or more of the plurality of processing units and/or
non-transitory computer readable media can be situated at different
locations, such as on the movable object, carrier, payload,
terminal, sensing module, additional external device in
communication with one or more of the above, or suitable
combinations thereof, such that any suitable aspect of the
processing and/or memory functions performed by the system 1800 can
occur at one or more of the aforementioned locations.
[0157] While some embodiments of the present disclosure have been
shown and described herein, it will be obvious to those skilled in
the art that such embodiments are provided by way of example only.
Numerous variations, changes, and substitutions will now occur to
those skilled in the art without departing from the disclosure. It
should be understood that various alternatives to the embodiments
of the disclosure described herein may be employed in practicing
the disclosure. It is intended that the following claims define the
scope of the invention and that methods and structures within the
scope of these claims and their equivalents be covered thereby.
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