CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims priority to U.S. Application Serial No. 17/730,257 filed on April 27, 2022, and U.S. Provisional Application Serial No. 63/335,248 filed on April 27, 2022, the contents of both of which are incorporated fully herein by reference.

TECHNICAL FIELD

[0002] The present disclosure generally relates to unmanned aerial vehicles (UAVs).

BACKGROUND

[0003] UAVs, including drones, are aircraft without a human pilot aboard.

Conventional drones have various configurations (e.g., multiple rotors), a camera, and a global positioning system (GPS). Multirotor drones are able to capture images during flight using the camera. Components of a UAVs, such as processors and other electronics, develop heat during use.

BRIEF DESCRIPTION OF THE DRAWINGS

[0004] In the drawings, which are not necessarily drawn to scale, like numerals may describe similar components in different views. Like numerals having different letter suffixes may represent different instances of similar components. Some examples are illustrated by way of example, and not limitation, in the figures of the accompanying drawings in which:

[0005] FIG. l is a top perspective view of a UAV having a shroud with cooling openings in the propeller openings;

[0006] FIG. 2 is an enlarged sectional view of the UAV of FIG. 1;

[0007] FIG. 3 is a perspective view of a selector configured to control a function of the UAV;

[0008] FIG. 4 is a perspective view of the UAV shroud with the dial removed;

[0009] FIG. 5 is an enlarged perspective view of one propeller opening with the cooling openings providing air intake to cool internal electronics;

[0010] FIG. 6 is an enlarged sectional view of the propeller opening of FIG. 5 illustrating the propeller openings at an interface between an upper portion and a lower portion of the shroud;

[0011] FIG. 7 is a perspective view of a UAV with a removable battery;

[0012] FIG. 8 is a cross-sectional view of the UAV of FIG. 7 with a battery being inserted into a housing cavity; [0013] FIG. 9 is a cross-sectional view of the UAV of FIG. 7 with the battery inserted into a housing cavity;

[0014] FIG. 10 is a flow chart illustrating a method of assembling the UAV; and

[0015] FIG. 11 is a flow chart illustrating a method of directing air through the shroud of the UAV to cool the electronics;

[0016] FIG. 12 is a perspective view of a UAV;

[0017] FIG. 13 is a block diagram of a control system configured to automatically control the UAV of FIG. 12;

[0018] FIG. 14 is an illustration of a flight path FP1 that routes the UAV; and [0019] FIG. 15 is an illustration of another flight path FP2 that routes the UAV.

DETAILED DESCRIPTION

[0020] A UAV including a shroud with cooling openings to cool electronics in the UAV. The shroud includes propeller openings for respective propellers. The propeller openings include intake openings that draw air from outside the shroud into the shroud to cool UAV components. The propeller openings are formed at an interface between an upper portion of the shroud and a lower portion of the shroud. The UAV includes a selector, such as a dial, including exit openings under the selector that provide air outflow from the shroud.

[0021] In another example, an aerodynamic UAV with a continuous shroud surface is disclosed. The shroud includes propeller openings with a continuous wall extending through the shroud and around a periphery of each propeller opening. The UAV shroud has peripheral edges that are each rounded so that the UAV can be easily inserted into a garment, such as a pocket of pants, without damage.

[0022] Additional objects, advantages and novel features of the examples will be set forth in part in the description which follows, and in part will become apparent to those skilled in the art upon examination of the following and the accompanying drawings or may be learned by production or operation of the examples. The objects and advantages of the present subject matter may be realized and attained by means of the methodologies, instrumentalities and combinations particularly pointed out in the appended claims.

[0023] The description that follows includes systems, methods, techniques, instruction sequences, and computing machine program products illustrative of examples of the disclosure. In the following description, for the purposes of explanation, numerous specific details are set forth in order to provide an understanding of various examples of the disclosed subject matter. It will be evident, however, to those skilled in the art, that examples of the disclosed subject matter may be practiced without these specific details. In general, well-known instruction instances, protocols, structures, and techniques are not necessarily shown in detail.

[0024] The terms and expressions used herein are understood to have the ordinary meaning as is accorded to such terms and expressions with respect to their corresponding respective areas of inquiry and study except where specific meanings have otherwise been set forth herein. Relational terms such as first and second and the like may be used solely to distinguish one entity or action from another without necessarily requiring or implying any actual such relationship or order between such entities or actions. The terms “comprises,” “comprising,” “includes,” “including,” or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises or includes a list of elements or steps does not include only those elements or steps but may include other elements or steps not expressly listed or inherent to such process, method, article, or apparatus. An element preceded by “a” or “an” does not, without further constraints, preclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0025] The term “coupled” as used herein refers to any logical, optical, physical, or electrical connection, link or the like by which signals or light produced or supplied by one system element are imparted to another coupled element. Unless described otherwise, coupled elements or devices are not necessarily directly connected to one another and may be separated by intermediate components, elements or communication media that may modify, manipulate, or carry the light or signals.

[0026] Reference now is made in detail to the examples illustrated in the accompanying drawings and discussed below.

[0027] Commercial UAVs typically include a camera for imaging the earth and other objects below, for instance, capturing still images and video. In some versions, the camera is fixed to the UAV, without the use of a gimbal for selectively positioning the camera. More complicated UAVs include an electronic receiver and an electronically configurable gimble and camera. A remotely located controller establishes a wireless link with the receiver of the UAV to control the UAV and the camera. The electronic receiver, electrically controllable gimbles, and cameras are expensive, fragile, and mechanically complex, and add to the weight and bulkiness of the UAV. Additionally, some of the components generate heat during use that can impact the performance of these components.

[0028] FIG. 1 is a top perspective view of a UAV 10 having a shroud 12 and a plurality of propellers 14 positioned in respective openings 16 extending through the shroud 12. Each of the openings 16 is formed by a cylindrical wall 18 annularly extending around a periphery of the opening 16. Each of the propellers 14 include multiple blades 20. Each blade 20 may be metal or a non-conductive material. Typically, non-conductive materials, such as plastic, are used since they are lighter.

[0029] The shroud 12 has smooth surfaces and peripheral edges 22 and is sized such that it can fit in a garment (e.g., a pocket of pants or a jacket). The peripheral edges 22 are rounded such that there are no sharp edges, allowing the UAV 10 to be easily slipped into the pocket without damage to the UAV 10. The smooth surfaces and peripheral edges 22 also provide an elegant aesthetic design.

[0030] The shroud 12 includes a rectangular upper portion 30 and a rectangular lower portion 32 (FIGs. 2 and 7) that are coupled to each other at an interface 34 (FIG. 2). In the illustrated example, the rectangular portions 30/32 completely encompass the propellor openings 16.

[0031] An annular air intake vent 36 is formed at the interface 34 in the cylindrical wall 18 between the upper portion 30 and the lower portion 32. A respective air intake vent 36 surrounds and is adjacent to each of the propellers 14. The air intake vent 36 includes a plurality of air intake openings 38 configured to draw air in from the respective openings 16 for delivery to electronics 40 disposed in the shroud 12.

[0032] Air pressure created by the rotating propeller 14 causes air to flow through the respective openings 38 of the intake vent 36 from an exterior of the shroud 12 into the shroud 12, to flow through the shroud 12 (e.g., along an air flow path 54 flowing adjacent components within the shroud 12; FIG. 2), and to exit the shroud 12 (e.g., through an air outflow vent 50; FIG. 4). The air entering the shroud 12 through the intake vent 36 is cooler than the components within the shroud 12 of the UAV 10, which produce heat during use. Heat from the components transfers to the air through thermal convention, thereby cooling the components and heating the air in the air flow as it passes the components. The heated air then exits the shroud to remove the heat from the interior of the shroud and make room for additional cool air to be drawn into the shroud

12. [0033] FIG. 2 is a cross-sectional view of the UAV 10 illustrating an air flow path 54 that directs air though the shroud and adjacent the electronics 40. The air flow path 54 extends from the respective propeller opening 16, in through the air intake vent 36, through a shroud cavity 56 to cool the electronics 40, and out through the outflow vent 50. The electronics may include components of the UAV 10 such as, for example, a battery, a processor, and wireless transceiver. A propeller guard 60 is positioned over each of the propeller openings 16 to prevent unintentional access to a rotating propeller 14 for safety.

[0034] The UAV 10 also includes a selector 44, such as a dial, configured to be moved by a user to select functions of the electronics 40, such as a flight path stored in memory of the electronics 40. FIG. 3 depicts the selector 44 coupled to an exterior surface of the shroud 12. FIG. 4 depicts the selector 44 with the knob 46 removed to reveal an air outflow vent 50 under the knob 46 formed by a plurality of annularly positioned openings 52 adjacent the selector 44. The air outflow vent 50 is configured to allow the cooling air flowing past the electronics 40 in shroud cavity 56 along air flow path 54 to be expelled to the ambient environment. In another example, the vent 50 can be configured as an air inflow vent configured to draw ambient air into the shroud 12, and one or more of the vents 36 can also be configured to draw ambient air into the shroud 12 to cool the electronics 40 to customize the air flow path 54. In another example, air can be drawn into the shroud 12 through a first portion of the openings 38 of a vent 36 while air can be expelled from the shroud 12 through a second portion of the openings 38 of the same vent 36. Thus, the vents 36 and the vent 50 are each configured to draw air and expel air to customize the air flow path 54.

[0035] FIG. 5 is an enlarged view of one propeller 14 within an opening 16 that shows the vent 36 including the annular openings 38. FIG. 6 is a sectional view of the opening illustrating an annular series of semicircles 42 separated by teeth 43 in a lower portion 32. The upper portion 30 includes a similar annular series of semicircles separated by teeth that mate with the semicircles/teeth of the lower portion 32. The semicircles/teeth of the respective portions form the air intake openings 38, when joined.

[0036] FIG. 7 depicts another example of a UAV 70 with a lower portion 73 of a shroud 71 including a camera 72 configured to capture images and a battery 74 configured to be selectively stored in a cavity within the lower portion 73 such that a bottom surface 76 of the battery 74 is flush with a bottom surface 78 of the lower portion 73. In another example, the camera 72 is a navigation camera used for navigation. The bottom facing camera 72 is used to identify visual features on the ground and help the UAV 10 navigate. The electronics 40 include memory containing a flight path configured to navigate the UAV 10. The camera 72 uses an approach of visual -inertiaiodometry for position sensing, where the camera 72 uses "vision-based position sensing and navigation" rather than GPS. In another example, the camera 72 is used to for navigation and another separate camera is used for capturing images.

[0037] FIGs. 8 and 9 are cross-sectional views of the UAV 70 with a front assembly 80 and a latch assembly 90 showing the battery 74 being inserted into a cavity 82 of the shroud 71 (FIG. 8) and the battery 74 secured in the UAV 70 by the front assembly 80 and the latch assembly 90 (FIG. 9). The front assembly 80 includes a flange 84 secured to a forward end of the battery 74 and a hook 86 located at a front portion of the shroud 71. The hook 86 is configured to secure the flange 84 in a stowed position as shown in FIG. 9. The latch assembly 90, at a rear portion of the cavity 82, includes a flange 92 and a protrusion 94 coupled to a rear portion of the battery 74 that is received by the flange 92 when the battery 74 is securely stowed in the cavity 82.

[0038] When the battery 74 is stowed, as shown in FIG. 9, the bottom surface 76 of the battery 74 is flush with the bottom surface 78 of the shroud 71. The bottom surface 76 and the bottom surface 78 together create an aerodynamic surface and allows the UAV 70 to be slid into a pocket of the user without damage.

[0039] FIG. 10 illustrates a method 1000 of securing the battery 74 in the cavity 82 of the shroud 71 of the UAV 70.

[0040] At block 1002, a user inserts the battery 74 into the cavity 82 such that the protrusion 94 of the battery 74 is inserted into the flange 92 at the rear portion of the cavity 82 as shown in FIG. 8. The protrusion 94 and the flange 92 form a hinge allowing the battery 74 to be hinged and secured in the cavity 82.

[0041] At block 1004, the user pushes the battery 74 completely into the cavity 82 such that the battery 74 lies flat in the shroud 71 and the outer surface 76 of the battery is flush with the bottom surface 78 of the housing 71 as shown in FIG. 9. The flange 84 bends slightly and captures the hook 86 to lock the battery 74 securely within the UAV 70 in a locked state. To remove the battery 74, such as for charging, the user releases the flange 84 and pulls the battery 74 from the cavity 82.

[0042] FIG. 11 illustrates a method 1100 for directing air through the shroud 12 of UAV 10 and toward the electronics 40. [0043] At block 1102, air is drawn from outside the shroud 12 into the shroud 12 via the openings 38 of the air inflow vent 36. The rotating propellers 14 create pressurized air that directs an inflow of air from outside the shroud 12 into the shroud 12 through the openings 38 that encompass the respective opening 16.

[0044] At block 1104, the inflow of air is routed through the shroud 12 and toward the electronics 40. The airflow circulates within the shroud 12 and about the electronics 40 to cool the electronics 40. The airflow draws heat from the electronics as it passes adjacent the electronics.

[0045] At block 1106, the heated airflow is expelled from shroud 12 via the openings 52 of the air outflow vent 50.

[0046] Commercial UAVs typically include a camera for imaging the earth and other objects below, for instance, capturing still images and video. In some versions, the camera is fixed to the UAV, without the use of a gimbal for selectively positioning the camera. More complicated UAVs include an electronic receiver and an electronically configurable gimble and camera. A remotely located controller establishes a wireless link with the receiver of the UAV to control the UAV and the camera. The electronic receiver, electrically controllable gimbles, and cameras are expensive, fragile, and mechanically complex, and add to the weight and bulkiness of the UAV. The UAV described herein is smaller and more lightweight than conventional UAVs. Additionally, the UAV has continuous surfaces and is sized to facilitate placement in a pocket of a garment.

[0047] FIG. 12 is a perspective view of a UAV 1210 having a shroud 1212 with propeller openings 1215 extending through shroud 1212. Propellers 1214 are positioned in respective propeller openings 1215. The shroud 1212 is a housing including a rectangular lower surface 1218 and a rectangular upper surface (not shown) with a smooth continuous edge 1217 extending around the entire UAV 1210 between the upper and lower surfaces. The shroud encompasses electronics (e.g., processor 1302, memory 1304, GPS receiver 1308; FIG. 13) and structural components of the UAV 1210. In the illustrated example, the rectangular surfaces completely encompass the propellor openings 1215.

[0048] Each propeller opening 1215 extends through shroud 1212 from the upper surface to the lower surface 1218 and includes a continuous wall 1224 extending around a periphery of the propeller opening 1215. Although four propeller openings 1215 with respective propellers 1214 are shown and described, more or fewer propeller openings 1215 with respective propellers may be present. As used herein, the term continuous wall means a wall with a surface free of any visually perceptible through holes.

[0049] Each propeller 1214 includes multiple blades 1216. Each blade 1216 is made of metal or a non-conductive material. Typically, non-conductive materials, such as plastic, are used for the blades since they are lighter.

[0050] The shroud 1212 has a smooth continuous surface 1222 and the peripheral edges 1217 are also smooth. The shroud 1212 is sized such that the UAV 1210 can fit in a garment (e.g., a pocket of pants or a jacket). The peripheral edges 1217 are rounded to facilitate placement of the UAV 1210 into a garment pocket. The smooth continuous surface 1222 and peripheral edges 1217 also provide an elegant aesthetic design. As used herein, the term smooth continuous surface means free of any visually perceptible through holes or sharp edges.

[0051] Camera 1220 is positioned adjacent lower surface 1218 of the shroud 1212. The camera 1220 faces outward from the lower surface 1218 and is configured to capture images at a fixed pitch angle with respect to the shroud 1212. In this example, the camera 1220 is facing downward from shroud 1212 such that the camera pitch angle is 90 degrees with respect to the lower surface 1218. In other examples, the camera pitch angle can also be fixed at other pitch angles, such as -5 degrees downward from horizontal, or other pitch angles as desired.

[0052] In examples of a UAV including propeller openings with a continuous wall, the UAV includes a shroud, electronics disposed in the shroud, a propeller opening extending through the shroud, the propeller opening comprising a continuous wall extending through the shroud and around a periphery of the propeller opening, and a propeller coupled to the shroud and positioned within the propeller opening. The shroud of the UAV may have a continuous surface with peripheral edges, the entire shroud may comprise continuous surfaces, each of the peripheral edges may be rounded, and/or the shroud may completely encompasses the electronics. In one example, the shroud has a rectangular surface. The UAV may further include a navigation camera coupled to the shroud and a memory containing a flight path, the camera may have a fixed pitch angle, and/or the UAV may have a global positioning system (GPS) coupled to the shroud and a memory containing a flight path (which may included a plurality of waypoints).

[0053] FIG. 13 illustrates a control system 1300 configured to automatically control the UAV 10, including UAV operation along a flight path (FP). The control system 1300 includes an electronic processor 1302 comprising a flight controller, a memory 1304 including flight plans, instructions and code for operating processor 1302 to control and operate the UAV 1210, data tables 1306 stored in memory 1304, and a global positioning system (GPS) receiver 1308 providing global positioning of the UAV 1210. The electronic processor 1302 establishes the FP of the UAV 1210 based on performance data in data tables 1306 and the GPS 1308. Multiple FPs are stored in memory 1304, wherein the FPs can be custom programmed and downloaded into memory 1304 by a user of the UAV 1210 wirelessly or by a cable. In another example, the camera 1220 is a navigation camera used for navigation. The bottom facing camera 1220, rather than the GPS, is used to identify visual features on the ground and help the UAV 1210 navigate. The camera 1220 uses an approach of visual-inertial-odometry for position sensing, where the camera 1220 uses "vision-based position sensing and navigation" rather than GPS. In another example, the camera 1220 is used for navigation and another separate camera is used for capturing images.

[0054] FIG. 14 illustrates a graphical representation of a flight path FP1 that routes the UAV 1210 from a starting position 1400 to an end position 1402. The FP1 routes the UAV 1210 along a smooth path at varying altitudes to a target(s) 1404, also referred to as a point of interest (POI). The target 1404 can comprise of many features including buildings, trees, people etc. The limited or restricted space around the target 1404 constrains and may limit the maneuvering of the UAV 1210 about target 1404, and thus the camera imaging. This spacing creates difficulty for the UAV 1210 having a fixed position camera 1220.

[0055] FIG. 15 illustrates a graphical representation of a more complex flight path FP2 that the UAV 1210 traverses to and about target 1404. Flight path FP2 includes multiple waypoints WP and multiple image capture points including image capture points CPI and CP2. The flight path FP2 also includes performance variables of the UAV 1210, and the orientation of the UAV 1210 including a pitch angle PA of the camera 1220 with respect to horizontal at each waypoint, including proximate the image capture points CPI and CP2. In this example, the UAV 1210 traverses the flight path FP2 having multiple waypoints to image capture point CPI proximate the target 1404.

[0056] In an example, the flight path FP2 orients the UAV 1210 such that the camera 1220 is directed at a pitch angle PA3 facing target 1404 when approaching, and at, image capture point CPI. The camera 1220 captures images of target 1404 at image capture point CPI for a predetermine image capture time and stores the images in memory 1304. The UAV 1210 subsequently traverses flight path FP2 to image capture point CP2 proximate target 1404. Flight path FP2 also orients the UAV 1210 such that the camera 1220 is directed downwardly at a pitch angle PA5 toward target 1404. The camera 1220 again captures images at image capture point CP2 and stores the images in memory 1304.

[0057] Since the camera 1220 is fixed to shroud 1212 at the fixed pitch angle, orienting the UAV 1210 in a predetermined stable position at an angle is not an ordinary task. More importantly, establishing a predetermined camera angle of the camera 1220 relative to the target 1404 at capture points CPI and CP2, is not an ordinary task. The flight paths are automatically determined by electronic processor 1302 based upon the GPS position of the capture points CPI and CP2, and the desired camera pitch angle at capture points CPI and CP2. The processor 1302 determines the operational parameters of the UAV 1210, and it takes into account the weight and flight performance of the UAV 1210. The determined flight paths increase the image capture time at capture points CPI and CP2, at the desired pitch angle, which is very beneficial for imaging. [0058] In addition, in the foregoing Detailed Description, it can be seen that various features are grouped together in various examples for the purpose of streamlining the disclosure. This method of disclosure is not to be interpreted as reflecting an intention that the claimed examples require more features than are expressly recited in each claim. Rather, as the following claims reflect, the subject matter to be protected lies in less than all features of any single disclosed example. Thus, the following claims are hereby incorporated into the Detailed Description, with each claim standing on its own as a separately claimed subject matter.

[0059] The examples illustrated herein are described in sufficient detail to enable those skilled in the art to practice the teachings disclosed. Other examples may be used and derived therefrom, such that structural and logical substitutions and changes may be made without departing from the scope of this disclosure. The Detailed Description, therefore, is not to be taken in a limiting sense, and the scope of various examples is defined only by the appended claims, along with the full range of equivalents to which such claims are entitled.