JP2019172255A - Method and device for supplying energy to uav - Google Patents

Abstract

To provide a method and a device for continuously supplying power to a plurality of specific electric components of a UAV (Unmanned Aerial Vehicle) to prevent data loss on electric components of a UAV.SOLUTION: A method for supplying energy to a UAV includes a step for supplying power to a UAV from a battery connected to the UAV, a step for evaluating the reliability of (1) a first backup energy source and (2) a second backup energy source with a help from a processor, and a step for selecting the first backup energy source or the second backup energy source on the basis of the evaluated reliability. The first backup energy source supplies power to the UAV when the battery is disconnected from the UAV. The second backup energy source supplies power to the UAV when the battery is disconnected from the UAV.SELECTED DRAWING: Figure 17

Description

[Background technology]
Multiple air vehicles, such as multiple unmanned aerial vehicles (UAVs), can be used to perform military and commercial surveillance, reconnaissance, and search tasks. A plurality of such air vehicles can carry a load configured to perform a specific function.

  Conventional UAV designs may suffer from a number of drawbacks. For example, certain electrical components of a UAV, such as a controller or inertial measurement device, can lose data if power to the component is lost. The UAV can be powered by an onboard rechargeable battery. In some situations, the battery may be removed from the UAV to be recharged or replaced with another battery. If the battery is removed, power to multiple electrical components can be lost, thereby causing data loss in the electrical components.

  There is a need to continuously supply power to specific electrical components of a UAV to prevent data loss. There is a further need to provide this power while the UAV battery is being removed for recharging or replacement with another battery. The battery may optionally be removed to reload the UAV with energy, which can optionally provide increased range of travel for multiple UAVs. It may be particularly useful if the range of movement is increased when multiple UAVs deliver multiple items, spread around, or patrol or survey an area. An automatic or semi-automatic battery charging station can advantageously allow the battery life on the UAV to be reloaded. Battery life may be reloaded on the UAV by recharging the onboard battery of the UAV or replacing the onboard battery with another battery. During recharging of the UAV-equipped battery, the system can be made to run out of power. Loss of power can lead to loss of data collected by multiple sensors on the UAV. This may include data that may be useful for UAV navigation or other functions stored in the UAV controller or inertial measurement device. A system that can provide consistent power to the UAV during battery recharging would be advantageous.

  One aspect of the present invention may include the following contents. A propulsion unit configured to enable UAV movement; and a power unit having a first battery configured to power (1) the propulsion unit and (2) a power consuming unit of the UAV; The power unit is configured to switch between (a) a first mode and (b) a second mode, and (a) in the first mode, the first mode 1 battery supplies power to (1) the propulsion unit and (2) the power consumption unit, and (b) in the second mode, the second battery supplies power to the power consumption unit. And power is not supplied to the propulsion unit.

  In some embodiments, the UAV may have a propulsion unit that includes one or more rotor blades configured to generate lift for the UAV. The UAV may have a power consuming unit, wherein the power consuming unit is one or more of a global positioning system (GPS) sensor, a motion sensor, an inertial measurement device sensor, a proximity sensor, and / or an image sensor. . When the UAV is stationary on the surface, the power unit may be switched to the second mode. The power unit may be configured to switch from the first mode to the second mode before or when the first battery is removed from the UAV and is continuous Power is supplied to the power consuming unit. The power unit may be configured to switch from the second mode to the first mode when the first battery is connected to the UAV and ready to supply power. If the UAV is not using the propulsion unit, the power unit may be switched to the second mode. When the voltage of the first battery is lower than the voltage of the second battery, the power unit may be configured to switch between the first mode and the second mode. The power unit may include a unidirectional diode that prevents current from flowing from the second battery to the power consuming unit. The unidirectional diode may have a positive electrode facing the second battery and a negative electrode facing power consumption. The power unit may include an electrical switch that is in a closed position during the first and second modes and is in an open position when the UAV is powered off.

  In some cases, the UAV may include a charge control unit between the first battery and the second battery, and the charge control unit includes the second battery with the first battery. It is configured to control the charging of the battery.

  In some examples, the first battery may not supply power during the second mode. The first battery may be disconnected from the UAV during the second mode. During the first mode, the first battery may be electrically connected to the second battery. The first battery may be configured to supply lower voltage power than the first battery.

  The plurality of aspects of the present invention may further include the following. That is, a method for supplying energy to a UAV, wherein the method includes supplying power to the (1) propulsion unit and (2) the power consuming unit of the UAV with a first battery; Supplying power to the power consuming unit of the UAV with the second battery without supplying power to the propulsion unit with a battery; and (1) the propulsion unit of the UAV with the first battery; (2) a step of not supplying power to the power consuming unit.

  In some cases, the propulsion unit includes one or more rotor blades configured to generate lift for the UAV. When the first battery stops supplying power to (1) the propulsion unit and (2) the power consuming unit of the UAV, the UAV may be stationary on the surface. When the first battery is supplying power to the (1) propulsion unit and (2) the power consuming unit of the UAV, the UAV may be in flight.

  The energy supply station may include a battery replacement member configured to disconnect the first battery from the UAV.

  In some examples, the method further includes charging the second battery during powering the UAV's (1) propulsion unit and (2) the power consuming unit with the first battery. Good. The method may further include charging the second battery with the first battery while the UAV is in flight. The power unit may include a unidirectional diode that prevents current from flowing from the second battery to the power consuming unit. The unidirectional diode may have a positive electrode facing the second battery and a negative electrode facing power consumption. The second battery may be configured to supply a lower voltage than the first battery.

  A method for supplying energy to a UAV according to another aspect of the invention may be provided. The above method may comprise the following contents. A step of supplying power to the UAV's (1) propulsion unit and (2) a power consuming unit with a first battery, charging a second battery with the first battery, and Supplying power to the power consuming unit of the UAV with a second battery; and supplying power to the (1) propulsion unit and (2) the power consuming unit of the UAV with the first battery. And a stage that does not. The second battery may provide charge to the first battery while the UAV is in flight.

  The propulsion unit may include one or more rotor blades configured to generate lift for the UAV.

  When the first battery stops supplying power to (1) the propulsion unit and (2) the power consuming unit of the UAV, the UAV may be stationary on the surface. The surface may be a landing zone of an energy supply station configured to recharge the first battery and / or replace the first battery with another battery.

  In some cases, the energy supply station may include a battery replacement member configured to disconnect the first battery from the UAV.

  The method may further comprise charging the second battery with the first battery during (1) propulsion unit of the UAV and (2) powering the controller and / or inertial measurement device. .

  The power unit may include a unidirectional diode that prevents current from flowing from the second battery to the power consuming unit. The unidirectional diode may have a positive electrode facing the second battery and a negative electrode facing power consumption.

  In another embodiment, the present invention may include a method for providing a continuous power supply to a UAV. The method may include the following. Providing the UAV connected to a battery that supplies power to the UAV; disconnecting the battery from the UAV so that the battery stops supplying power to the UAV; and set (b) Before or during the disconnecting step of powering the UAV using a power unit, so that the UAV is connected before, during and after the battery is disconnected from the UAV. Providing a powered state.

  The method may further comprise supporting the UAV on the UAV landing zone of the energy supply station. The method may further comprise disconnecting the battery from the UAV using a battery replacement member. The method may further comprise connecting another battery to the UAV, wherein the another battery is configured to supply power to the UAV when connected to the UAV. The another battery may be connected to the UAV using a battery replacement member that disconnects the battery from the UAV. The method may further comprise the step of connecting the battery to the UAV using the battery replacement member after charging the battery while the battery is disconnected from the UAV. When the other battery is connected to the UAV, it may have a higher charge level than the battery when disconnected from the UAV.

  The battery replacement member may be part of the energy supply station. In some cases, the battery replacement member may be a robot arm.

  The UAV may be a rotorcraft that can take off vertically from a station. The UAV may be a rotary wing aircraft capable of landing on a station vertically.

  The UAV landing zone may include a plurality of visible markers configured to assist the UAV in landing. The plurality of visible markers may be a plurality of LED lights or a plurality of images.

  In some cases, the energy supply station may be portable.

  The above method may further include the following contents. That is, the method includes a step of removing the other battery from the movable battery storage unit, and the movable battery storage unit collectively stores a plurality of batteries capable of supplying power to the UAV when connected to the UAV. The movable battery storage section is configured to allow simultaneous movement of the plurality of holding stations relative to the UAV landing zone. The method may further include supplying power to the UAV using the power unit while a battery is not connected to the UAV. The method may also include connecting the power unit to the UAV before disconnecting the battery from the UAV.

  The power unit may be an electrical line from an electrical energy source. The electrical energy source may be a renewable energy generating power source. The electrical energy source may be a power supply network. The power unit may be a separate battery. Another battery may be mounted on the energy supply station that supports the UAV. Another battery may be mounted on the UAV.

  In some embodiments, the UAV may have a maximum dimension of up to 100 cm. The UAV may include a recessed area in which the battery is removed to be disconnected from the UAV. The UAV may include a recessed area, in which the battery is inserted to connect to the UAV and supply power to the UAV. After the battery is disconnected from the UAV, the battery or another battery may be inserted into the recessed area to connect to the UAV and supply power to the UAV.

  The battery may be stored in a movable storage unit, and the movable storage unit is configured to collectively store a plurality of batteries capable of supplying power to the UAV when connected to the UAV. A holding station is included, and the movable battery storage section is configured to allow simultaneous movement of the plurality of holding stations relative to the UAV landing zone.

  In another embodiment, the present invention may include the following. That is, a UAV energy supply station comprising a UAV landing zone, a battery replacement member, and a power unit, wherein the UAV landing zone supports the UAV when the UAV is stationary on the station. The UAV is connected to a battery that supplies power to the UAV, and the battery replacement member disconnects the battery from the UAV so that the battery does not supply power to the UAV. And the power unit supplies power to the UAV before or during disconnection, whereby the UAV is powered before, during, and after the battery is disconnected from the UAV. It is configured to be in a supplied state.

  The UAV energy supply station may further include a support for the UAV on the UAV landing zone of the energy supply station. The energy supply station may further comprise a battery replacement member. The battery replacement member may be part of the energy supply station. The battery exchange member may be a robot arm.

  The UAV may be a rotorcraft that can take off vertically from the station. The UAV may be a rotary wing aircraft that can land vertically from a station.

  The UAV landing zone may include a plurality of visible markers configured to assist the UAV in landing. The plurality of visible markers may be a plurality of LED lights or a plurality of images.

  In some cases, the energy supply station may be portable.

  The UAV energy supply station may further comprise another battery connected to the UAV, which is configured to supply power to the UAV when connected to the UAV. The another battery may be connected to the UAV using a battery replacement member that disconnects the battery from the UAV. When the other battery is connected to the UAV, it may have a higher charge level than the battery when disconnected from the UAV. The UAV energy supply station may further include a movable battery storage unit that, when connected to the UAV, collectively stores a plurality of batteries capable of supplying power to the UAV. A plurality of holding stations configured may be included, and the mobile battery storage section is configured to allow simultaneous movement of the plurality of holding stations relative to the UAV landing zone.

  In some examples, the energy supply station may further comprise a power unit configured to supply power to the UAV while a battery is not connected to the UAV. The power unit may be a conduit from an electrical energy source. The electrical energy source may be a renewable energy generating power source. The electrical energy source may be a power supply network. The power unit may be a separate battery. Another battery may be mounted on the energy supply station that supports the UAV. Another battery may be mounted on the UAV.

  In some cases, the UAV may have a maximum dimension of up to 100 cm. The UAV may include a recessed area within which the battery is removed to be disconnected from the UAV. The UAV may include a recessed area, in which the battery is inserted to connect to the UAV and supply power to the UAV. After the battery is disconnected from the UAV, the battery or another battery may be inserted into the recessed area to connect to the UAV and supply power to the UAV.

  The battery may be in a movable battery storage unit, and the movable battery storage unit is configured to collectively store a plurality of batteries connected to the UAV and capable of supplying power to the UAV. A holding station is included, and the movable battery storage section is configured to allow simultaneous movement of the plurality of holding stations relative to the UAV landing zone.

  In another embodiment, the present invention may include: That is, a UAV energy supply station comprising a UAV landing zone and a battery replacement member, wherein the UAV landing zone is configured to support the UAV when the UAV is stationary on the station. The UAV is connected to (1) a battery that supplies power to the UAV and (2) a backup power source that supplies power to the UAV when the battery is not connected to the UAV. The battery replacement member is configured to disconnect the battery from the UAV so that the battery does not supply power to the UAV, and the backup power source supplies power to the UAV before or at the time of disconnection. Before the battery is disconnected from the UAV, And thereafter, it is configured to a state in which the UAV is powered.

  The backup power source may be another battery installed in the UAV. The backup power source may be a renewable energy generation power source installed in the UAV.

  The UAV energy supply station may further include a support for the UAV on the UAV landing zone of the energy supply station. The energy supply station may include a battery replacement member. The battery replacement member may be part of the energy supply station. The battery exchange member may be a robot arm.

  The UAV may be a rotorcraft that can take off vertically from a station. The UAV may be a rotary wing aircraft that can land vertically on the station.

  The UAV landing zone may include a plurality of visible markers configured to assist the UAV in landing. The plurality of visible markers may be a plurality of LED lights or a plurality of images.

  In some cases, the energy supply station may be portable.

  The UAV energy supply station may further comprise another battery connected to the UAV, which is configured to supply power to the UAV when connected to the UAV. The another battery may be connected to the UAV using a battery replacement member that disconnects the battery from the UAV. When the other battery is connected to the UAV, it may have a higher charge level than the battery when disconnected from the UAV. The UAV energy supply station may further comprise a movable battery storage unit that, when connected to the UAV, collectively stores a plurality of batteries capable of supplying power to the UAV. A plurality of holding stations configured may be included, and the mobile battery storage section is configured to allow simultaneous movement of the plurality of holding stations relative to the UAV landing zone.

  In some examples, the energy supply station may further comprise a power unit configured to supply power to the UAV while a battery is not connected to the UAV. The power unit may be an electrical line from an electrical energy source. The electrical energy source may be a renewable energy generating power source. The electrical energy source may be a power supply network. The power unit may be a separate battery. Another battery may be mounted on the energy supply station that supports the UAV. Another battery may be mounted on the UAV.

  In some cases, the UAV may have a maximum dimension of up to 100 cm. The UAV may include a recessed area within which the battery is removed to be disconnected from the UAV. The UAV may include a recessed area, in which the battery is inserted to connect to the UAV and supply power to the UAV. After the battery is disconnected from the UAV, the battery or another battery may be inserted into the recessed area to connect to the UAV and supply power to the UAV.

  The battery may be in a movable battery storage unit, and the movable battery storage unit is configured to collectively store a plurality of batteries capable of supplying power to the UAV when connected to the UAV. The movable battery storage section is configured to allow simultaneous movement of the plurality of holding stations relative to the UAV landing zone.

  In another case, the present invention may include the following. A method for supplying energy to a UAV, wherein the method provides the UAV connected to a battery configured to supply power to the UAV, and with the assistance of a processor, (1) (2) evaluating the reliability of the first backup energy source for the UAV and (2) the second backup energy source for the UAV, and with the aid of a processor, the evaluated reliability. Selecting the first backup energy source or the second backup energy source based on the first backup energy source, wherein the first backup energy source for the UAV includes the battery from the UAV. When disconnected, the UAV is configured to supply power and a second backup for the UAV is configured. Energy source, if the battery is disconnected from the UAV, is configured to power supplied to the UAV.

  The method may further comprise supporting the UAV on the UAV landing zone of the energy supply station. The method may also include disconnecting the battery from the UAV using a battery replacement member of the energy supply station. The first backup energy source may be another battery mounted on the UAV. A lower state of charge may correspond to a lower rated reliability for the first backup energy source. The second backup energy source may be a power unit mounted on an energy supply station that supports the UAV while the UAV is not in flight. The reliability may be evaluated based on the consistency of power over time supplied by the power unit. A greater inconsistency may correspond to a lower rated reliability for the second backup energy source. If the first backup energy source has a higher rated reliability than the second backup energy source, the first backup energy source may be selected, and the second backup energy source is The second backup energy source is selected if it has a higher rated reliability than the first backup energy source. If the first backup energy source is a predetermined source and the estimated reliability of the first backup energy source does not fall below a predetermined threshold, the first backup energy source is selected, and If the second backup energy source is a predetermined source and the evaluated reliability of the second backup energy source does not fall below a predetermined threshold, the second backup energy source is selected.

  The method may further comprise: That is, disconnecting the second battery from the UAV using a battery replacement member, and the selected first backup energy source or second backup while the battery is not connected to the UAV. Supplying power to the UAV using an energy source, wherein the battery is configured not to supply power to the UAV when disconnected from the UAV in the disconnecting step.

Other objects and features of the present invention will become apparent with reference to the specification, claims and appended drawings.
[Incorporation by reference]

  All publications, patents, and patent applications mentioned in this specification are herein the same as if each individual publication, patent, or patent application was specifically incorporated by reference. Incorporated by reference.

  The novel features of the invention are set forth with particularity in the appended claims. The features and advantages of the present invention may be better understood with reference to the following detailed description, which describes a number of exemplary embodiments. In the exemplary embodiments, the principles of the present invention are utilized, and the following content is described in the accompanying drawings.

1 shows a battery charging system including UAVs and energy supply stations used in the system. A detailed example of an energy supply station is shown. Fig. 4 shows a UAV with a recessed area for at least one battery housing. FIG. 3 shows a schematic diagram of first and second battery systems. 6 shows a flowchart relating to a procedure for charging or replacing a battery on the UAV while continuously supplying power to the UAV. A complete energy supply station is shown. An example of the landing guide in the landing zone of an energy supply station is shown. A detailed view of the UAV mating with the landing guide is shown. Self-correction when UAV landed on landing guide. An example of a battery storage rotation type conveyance machine is shown. An example of a battery storage container is shown. An example of a battery storing rotary transporter located below the landing zone is shown. Fig. 4 illustrates several components related to possible mechanisms for replacing a battery on a UAV. Fig. 4 illustrates an embodiment of a robot arm clamp for replacing a UAV battery. A detailed example of a mechanism for replacing a UAV battery is shown. An example of a complete energy supply station is shown. A flow chart for possible communication between the UAV and the energy supply station is provided. 1 illustrates a drone according to an embodiment of the present invention. Fig. 5 shows a movable object including a carrier and a load according to an embodiment of the present invention. FIG. 3 is a schematic diagram using a block diagram of a system for controlling a movable object according to an embodiment of the present invention.

  In one embodiment, the present invention provides multiple systems, devices, and methods relating to a mechanism for providing continuous power to an unmanned aerial vehicle (UAV). The description UAV may be applied to any other type of unmanned transporter, or any other type of movable object. The description of transport can be applied to ground, underground, underwater, water surface, aviation, or space-based transport. Supplying continuous power to the UAV may include interaction with an energy supply station. The exchange may include docking between the energy supply station and the UAV. Multiple communications may occur between the UAV and the energy supply station while the UAV is disconnected from the energy supply station and / or while the UAV is connected to the energy supply station. The UAV may be powered by a first rechargeable battery that may be recharged on board the UAV or removed from the UAV prior to recharging. In addition to the first rechargeable battery, the UAV may also have a second battery or a secondary power source. The energy supply station may replace the first or second UAV onboard battery with another battery. The energy supply station may store a plurality of batteries. The energy supply station may be mobile with respect to the UAV. The energy supply station may supply power to the UAV during removal of the first or second battery from the UAV so that the UAV is continuously connected to the power supply. The energy supply station may supply power to the UAV using the energy supply station's onboard battery or a renewable energy source.

  FIG. 1 shows an example of an unmanned aerial vehicle (UAV) that can be associated with an energy supply station. The UAV may land on or take off from the energy supply station. The energy supply system 100 may be provided according to one embodiment of the present invention. The energy supply system may comprise a UAV 101 and an energy supply station 102. The UAV may be adapted to identify and communicate with the energy supply station.

  Any reference to UAV 101 herein may be applied to any type of movable object. The description UAV may be applied to any type of unmanned movable object (eg, one that may traverse air, ground, water, or space). The UAV may be able to respond to multiple commands from the remote controller. The remote controller may not be connected to the UAV, and the remote controller may communicate wirelessly with the UAV from a distance. In some examples, the UAV may be able to operate autonomously or semi-autonomously. The UAV may be able to follow a set of programmed instructions. In some examples, the UAV may operate semi-autonomously by responding to one or more commands from a remote controller, or may operate autonomously. For example, one or more commands from a remote controller may initiate a series of autonomous or semi-autonomous operations by the UAV according to one or more parameters.

  The UAV 101 may be an air carrier. A UAV may have one or more propulsion units that may allow the UAV to move about in the air. One or more propulsion units move around with one or more UAVs, more than one or more, more than two or two, more than three or three, more than four or four, more than five or five, more than six or six You may be able to do that. In some examples, the UAV may be able to rotate about 1, 2, 3 or more axes of rotation. The rotation axes may be orthogonal to each other. The plurality of axes of rotation may remain orthogonal to one another during UAV flight. The plurality of rotation axes may include a pitch axis, a roll axis, and / or a yaw axis. A UAV may be movable along one or more dimensions. For example, the UAV may be able to move upward by lift generated by one or more rotor blades. In some examples, the UAV may be movable along the Z-axis (which may be above the UAV orientation), the X-axis, and / or the Y-axis (which may be lateral). The UAV may be movable along one, two, or three axes that may be orthogonal to each other.

  UAV 101 may be a rotary wing aircraft. In some examples, the UAV may be a multi-rotor aircraft that may include multiple rotors. The plurality of rotor blades may be rotatable to generate UAV lift. The plurality of rotor blades may be a plurality of propulsion units that may allow the UAV to move about freely in the air. The plurality of rotor blades may rotate at the same speed and / or generate the same amount of lift or thrust. Optionally, the plurality of rotor blades may rotate at a plurality of different speeds, thereby generating a plurality of different amounts of lift or thrust, and / or allow the UAV to rotate. In some examples, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10 or more rotors may be provided to the UAV. The plurality of rotor blades may be arranged such that their rotation axes are parallel to each other. In some examples, a rotor may have multiple axes of rotation that are at an arbitrary angle with respect to each other, thereby affecting UAV movement.

  FIG. 2 shows a detailed view of one possible embodiment of an energy supply system comprising a UAV 201 and an energy supply station 202. A UAV 201 shown in FIG. 2 is an example of a UAV that may be part of an energy supply system. The illustrated UAV may have a plurality of rotor blades 203. The plurality of rotor blades 203 may be connected to the body of the UAV 204, which may include at least one of a control unit, an inertial measurement unit (IMU), a processor, a battery, a power source, and other sensors. The plurality of rotor blades may be connected to the main body via one or more arms or extension members that may be branched from a central portion of the main body. For example, the one or more arms may extend radially from the central body of the UAV and may have a plurality of rotor blades at or near the ends of the arms.

  The UAV may be located on the surface of the energy supply station by the landing platform 205. The landing stage may be configured to support the weight of the UAV when the UAV is not in flight. The landing table may include one or more extension members that may extend from the UAV. The plurality of extension members of the landing stage may extend from one or more arms of the UAV or from the central body of the UAV. The plurality of extension members of the landing table may extend from under one or more rotor blades or from the vicinity of one or more rotor blades. The plurality of extending members may extend in a substantially vertical direction.

  The energy supply station 202 may be a battery station. The energy supply station may be a ground station. The energy supply station may be a battery change station or a battery exchange station. The energy supply station may be a battery recharging station. The energy supply station may be portable. The energy supply station may be transportable by a human. The energy supply station may be liftable by a person with one or both hands. The energy supply station may be reconfigurable or foldable to make it more portable.

  The energy supply station 202 may have a UAV 206 landing zone. Any aspect of the energy supply station may be adapted to include a landing zone. For example, the upper surface of the energy supply station may form a landing zone. Optionally, one or more platforms may be provided as landing zones for UAVs. The multiple platforms may or may not include any multiple sides, ceiling, or cover.

  The energy supply station 202 may further comprise a battery storage system. The battery storage system may be configured to store one or more batteries. A battery storage system may charge the one or more stored batteries. In the example shown in FIG. 2, the battery storage system 207 is shown below the landing zone 206. Another component of the energy supply station may be a mechanism configured to remove the battery from the UAV and replace the removed battery with a fully or partially charged battery from the battery storage system.

  The energy supply station 202 may have an onboard power source 208. The onboard power source may be a battery, a capacitor, a generator, a wind turbine, a hydro turbine, or a solar generator. Power the UAV while the battery is removed from the UAV so that continuous power is supplied to the UAV while the battery is replaced with a fully or partially charged battery from the battery storage unit The on-board power supply may be used. Optionally, a non-mounted power supply may be used to supply power to the on-board power supply or to supply power directly to the UAV. Examples of non-on-board power sources may include power systems, off-site renewable energy generation sources, or off-site energy storage facilities.

  The vertical position and / or speed of the UAV may be controlled by maintaining and / or adjusting the output to one or more propulsion units of the UAV. For example, increasing the rotational speed of one or more rotor blades of a UAV may help cause the UAV to increase altitude or to increase altitude at a higher speed. The thrust of the plurality of rotor blades may be increased by increasing the rotation speed of the one or more rotor blades. Lowering the rotational speed of one or more rotor blades of the UAV may help the UAV cause the altitude to decrease, or cause the altitude to decrease at a higher speed. The thrust of the one or more rotor blades may be reduced by reducing the rotation speed of the one or more rotor blades. When the UAV takes off from an energy supply station or the like, the power supplied to the plurality of propulsion units may be increased from the previous landing state. When the UAV lands at an energy supply station or the like, the power supplied to the plurality of propulsion units may be reduced from the previous flight state. The UAV may be configured to take off and / or land there from the energy supply station in a substantially vertical direction.

  The lateral position and / or speed of the UAV may be controlled by maintaining and / or adjusting the output to one or more propulsion units of the UAV. The altitude of the UAV and the rotational speed of one or more rotor blades of the UAV can affect the lateral movement of the UAV. For example, the UAV may be tilted in that direction so that it moves in a particular direction, and the speed of multiple UAV rotors may affect the speed and / or trajectory of the lateral movement. The lateral position and / or speed of the UAV may be controlled by changing or maintaining the rotational speed of one or more rotor blades of the UAV.

  The UAV 101 may be a plurality of small dimensions. The UAV may be liftable and / or transportable by a human. The UAV may be transportable with one hand by a human. The energy supply station may have a landing zone configured to provide space for the UAV to land. Optionally, the dimensions of the plurality of UAVs may not exceed the width of the energy supply station landing zone. Optionally, the dimensions of the plurality of UAVs may not exceed the length of the energy supply station landing zone.

  UAV 101 may have a maximum dimension (length, width, height, diagonal, diameter, etc.) of up to 100 cm. In some examples, the maximum dimension is 1 mm, 5 mm, 1 cm, 3 cm, 5 cm, 10 cm, 12 cm, 15 cm, 20 cm, 25 cm, 30 cm, 35 cm, 40 cm, 45 cm, 50 cm, 55 cm, 60 cm, 65 cm, 70 cm, 75 cm, It may be 80 cm, 85 cm, 90 cm, 95 cm, 100 cm, 110 cm, 120 cm, 130 cm, 140 cm, 150 cm, 160 cm, 170 cm, 180 cm, 190 cm, 200 cm, 220 cm, 250 cm, or 300 cm or less. Optionally, the maximum dimension of the UAV can be greater than or equal to any value described herein. A UAV may have a maximum dimension that is within the range of any two values described herein.

  The UAV 101 may be lightweight. For example, UAV is 1 mg, 5 mg, 10 mg, 50 mg, 100 mg, 500 mg, 1 g, 2 g, 3 g, 5 g, 7 g, 10 g, 12 g, 15 g, 20 g, 25 g, 30 g, 35 g, 40 g, 45 g, 50 g, 60 g, 70 g. 80g, 90g, 100g, 120g, 150g, 200g, 250g, 300g, 350g, 400g, 450g, 500g, 600g, 700g, 800g, 900g, 1kg, 1.1kg, 1.2kg, 1.3kg, 1.4kg 1.5 kg, 1.7 kg, 2 kg, 2.2 kg, 2.5 kg, 3 kg, 3.5 kg, 4 kg, 4.5 kg, 5 kg, 5.5 kg, 6 kg, 6.5 kg, 7 kg, 7.5 kg, 8 kg 8.5 kg, 9 kg, 9.5 kg, 10 kg, 11 kg, 12 kg, 13 kg, 14 kg, 15 g, may have 17kg or less weight 20 kg,. The UAV may have a weight greater than or equal to any value described herein. The UAV may have a weight that is within the range of any two values described herein.

  One or more components of the UAV may be powered by a battery. For example, the entire UAV may be powered by a battery, or only a propulsion unit, controller, communication unit, inertial measurement unit (IMU), and / or multiple sensors may be powered by a battery. A battery may refer to a single battery or a pack consisting of two or more batteries. Examples of batteries may include lithium ion batteries, alkaline batteries, nickel cadmium batteries, lead batteries, or nickel metal hydride batteries. The battery may be a disposable or rechargeable battery. The lifetime of the battery (the time that the battery supplies power to the UAV before it needs to be recharged) may be different. The lifetime may be at least 1 minute, 5 minutes, 10 minutes, 15 minutes, 30 minutes, 45 minutes, 1 hour, 2 hours, 3 hours, 4 hours, 5 hours, or 10 hours. The battery life may have a duration that is greater than or equal to any of a plurality of values described herein. The battery life may have a duration that is within the range of any two values described herein.

  The UAV may have first and second batteries. The first battery may supply power to the propulsion unit and the power consuming unit. The power consuming unit may be a non-propulsion unit. A power consuming unit may be one or more components that can collect and / or store information. It may be desirable to provide continuous power to the power consuming unit for sustained information processing, acquisition, or storage. The power consuming unit may be one or more controllers (ie, multiple control units) such as a communication unit, a navigation unit, an emitter (light or audio emitter), and / or multiple sensors. Examples of multiple sensors include, but are not limited to, multiple position sensors (such as multiple global positioning system (GPS) sensors, multiple mobile device transmitters that allow position triangulation), multiple visual sensors ( Multiple imaging devices capable of detecting visible light, infrared, or ultraviolet light, etc.), multiple proximity sensors (multiple ultrasonic sensors, lidars, multiple flight cameras, etc.), multiple inertial sensors (multiple) Accelerometers, multiple gyroscopes, multiple inertial measurement units (IMU), etc.), multiple altitude sensors, multiple pressure sensors (multiple barometers, etc.), multiple acoustic sensors (multiple microphones, etc.) or multiple Magnetic field sensors (multiple magnetometers, multiple electromagnetic sensors, etc.) may be included. Any suitable number and combination of sensors may be used, such as 1, 2, 3, 4, 5 or more sensors. Optionally, the data may be received from a plurality of different types of sensors (such as 2, 3, 4, 5 or more types). Multiple different types of sensors may measure multiple different types of signals or information (position, orientation, velocity, acceleration, proximity, pressure, etc.) and / or multiple different types of data to obtain data Measurement techniques may be used. For example, multiple sensors include multiple active sensors (such as multiple sensors that generate and measure energy from their own source) and multiple passive sensors (such as multiple sensors that detect available energy). May be included in any suitable combination.

  The second battery may be configured to supply power only to the power consuming unit. Any description herein of controller or IMU may apply to any type of power consuming unit, and vice versa. Any description herein of a controller and / or IMU, or a battery that provides or does not supply power to the controller and / or IMU, may apply to a plurality of power consuming units of general or any particular type. . In the first mode, the UAV may operate in two modes, such as the first battery supplying power to the propulsion unit and the energy consuming unit. In the second mode, the first battery may not supply power to the propulsion unit, and only the second battery may supply power to the energy consuming unit. The second mode may require the UAV to land. The second mode may be implemented when the propulsion unit is not in use. The first mode may be implemented while the first battery has sufficient charge to power the propulsion unit and the first battery is connected to the UAV.

  A battery may be connected to the UAV to provide power to the UAV through an electrical connection. Any description herein of a battery may apply to one or more batteries. Where a battery pack may include one or more batteries, any description of battery may apply to the battery pack and vice versa. The plurality of batteries may be connected in series, in parallel, or any combination thereof. An electrical connection may be provided between the UAV and the battery or between the UAV component and the battery. The battery electrical contact may contact the UAV electrical contact. The UAV may have a recessed area in its body that houses the first and / or second battery. FIG. 3 shows an example of a UAV 301 having a recessed area 302 configured to house the first battery 303 in the body of the UAV 304 and a recessed area 305 holding the second battery 306. The first battery 303 may be configured to supply power to a propulsion unit and a power consuming unit, such as a controller and / or inertial measurement unit (IMU). The second battery 306 may be configured to power at least one power consuming unit, such as a controller and an IMU. Optionally, the second battery may be configured not to supply power to the propulsion unit. The second battery may supply power to the power consuming unit.

  The plurality of recessed regions may have equal or unequal length, width and depth. Possible values for the length, width and depth of the plurality of recessed areas are at least 1 mm, 5 mm, 1 cm, 3 cm, 5 cm, 10 cm, 12 cm, 15 cm, 20 cm, 25 cm, 30 cm, 35 cm, 40 cm, It may be 45 cm, 50 cm, 55 cm, 60 cm, 65 cm, 70 cm, 75 cm, 80 cm, 85 cm, 90 cm, 95 cm, or 100 cm. The recessed areas of the first and second batteries may be of equal or unequal size. The plurality of recessed areas may be configured to hold one or more batteries. The first battery may be configured to be inserted into and removed from the recessed area. The second battery may be configured to be inserted into and removed from the recessed area. Optionally, the second battery may be configured to fit within the recessed area and not be easily removed from the recessed area. The first battery may be configured to be replaced at the energy supply station. While the UAV is landing at the energy supply station, the second battery may be configured to remain in the recessed area.

  The plurality of recessed areas may include a plurality of electrical contacts for connecting the battery to the UAV power system. Further, the plurality of recessed areas may comprise a plurality of electrical connections for communicating with a sensor that can dynamically read and record the remaining charge of the battery. The plurality of recessed areas may include one or more electrical contacts that may be in electrical contact with the UAV onboard battery. A plurality of electrical contacts may be connected to the battery while the battery is inside the recessed area, and if the battery is removed, the contact may be disconnected from the battery.

  The UAV may include an on-board battery system that may consist of a first battery and a second battery. The first battery may be a primary power source and the second battery may be a backup power source. For example, the second battery (backup power supply) may supply power to the UAV while the first battery is not connected to the UAV, such as while the first battery is removed for charging. The first battery may provide power to the propulsion unit and controller and / or inertial measurement unit (IMU). The second battery may be configured to provide power to the controller and / or the IMU. The UAV may operate in two modes so that in the first mode, the first battery provides power to the propulsion unit and the controller and / or the IMU. Further, in the first mode, the first battery may be electrically connected to the second battery so that the first battery can charge the second battery. The first battery may charge the second battery while the UAV is in flight or the UAV is landing. In the second mode, the first battery may not supply power to the propulsion unit, and the second battery may supply power to the controller and / or IMU and not to the propulsion unit. The second mode may require the UAV to land. During operation in the second mode, the first battery does not supply power to any system on the UAV, while the second battery supplies continuous power to the controller and / or IMU. The battery may be removed from the UAV.

  The UAV-equipped battery system may be switched between the first and second modes. The system may switch from the first mode to the second mode before or during removal of the first battery. When the first battery is connected to the UAV and is ready to supply power to the UAV, the system may switch from the second mode back to the first mode. Alternatively, the system may be switched from the first mode to the second mode even if the first battery is not removed from the UAV. For example, if the UAV has landed and the propulsion system is off, the system may be switched to the second mode.

  FIG. 4 shows a schematic diagram of a preferred battery or power system mounted on a UAV. The system has a first battery 401 and a second battery 402, and any additional number of batteries may be provided. The first battery 401 may be a battery having a higher voltage than the second battery 402. The first battery 401 may supply power directly to the propulsion system 403. Further, the first battery 401 may supply power to the power consuming unit 404 through an electric path including the first diode 408. The first diode may allow current flow in only one direction, for example, from the first battery 401 to the power consuming unit 404. A voltage regulation module (VRM) 406 may be disposed between the first battery 401 and the power consuming unit 404 in the circuit. The second battery 402 may be electrically connected to the power consuming unit 404. The second battery 402 may have a second diode 409 between the second battery 402 and the power consuming unit 404 in the electrical line. The electrical line extending from the first diode 408 and the electrical line extending from the second diode 409 may intersect at the intersection 410 and a single electrical line may continue from the intersection 410 to the power consuming unit 404. A switch 405 may be disposed between the second battery 402 and the second diode 409. During multiple operating situations, the switch 405 may remain closed.

  The first diode 408 and the second diode 409 may operate as a control system that switches between the first battery 401 and the second battery 402. For example, the first battery 401 may have a higher voltage than the second battery 402. In this case, the voltage at the first diode 408 and at a location in the circuit before the power consuming unit 404 may be higher than the voltage of the second battery. Since the second diode 409 does not allow current flow in the direction from the intersection 410 to the second battery 402, current does not need to flow to the second battery 402. As long as the voltage of the first battery 401 remains higher than that of the second battery 402, only the first battery 401 supplies power to the power consuming unit 404. When the charge or voltage of the first battery is depleted, the voltage of the first battery 401 may decrease, resulting in a higher voltage than the first battery depleted of the second battery 402. It becomes possible to supply. In this case, the second battery 402 supplies power to the power consuming unit 404. In some embodiments, the first diode may have a positive electrode, which may be on the diode side that communicates with the first battery. The first diode may have a negative electrode, which may be present at the diode end facing the power consuming unit. Optionally, the second diode may have a positive electrode, which may be present at the diode end that communicates with the second battery. The second diode may have a negative electrode, which may be on the diode side facing the power consuming unit. This may result in a unidirectional current flow through the diode.

  The circuit shown in FIG. 4 is such that the second battery is powered while the first battery is not supplying power to the first battery power consuming unit from the first mode in which power is supplied to the propulsion system and the power consuming unit. It may be configured to automatically switch to the second mode in which power is supplied only to the consuming unit. In one example, the first battery may have a higher voltage than the second battery so that the first battery can provide a consistent voltage of 5.1 volts (V) to the power consuming unit. The second battery may have a voltage of 5V. While the first battery can supply a voltage of 5.1V, the second battery may not be allowed to supply power to the power consuming unit. When the charge of the first battery is exhausted and the first battery can no longer supply the voltage of 5.1V, for example, the first battery can supply 4.7V with a specific charge amount. The second battery may supply more charge than the exhausted first battery. In this case, the second battery may supply power to the power consuming unit. When the first battery is recharged, the above procedure is reversed. For example, when the first battery is recharged, the first battery may be able to supply a consistent power of 5.1V, the system may supply power to the propulsion system and the power consuming unit, Meanwhile, the second battery may return to the situation where it does not have to supply power to components on the UAV until the first battery is depleted.

  If the UAV is not in operation, both the first battery 401 and the second battery 402 may be electrically disconnected from the UAV system components, so that if the UAV is not in operation, these batteries are Avoid supplying power to multiple system components. Second battery 402 may be electrically disconnected from the system by opening switch 405. Similarly, the first battery 401 may be electrically disconnected from the system by another switch not shown.

  In another embodiment, the system shown in FIG. 4 may function without multiple diodes. For example, in this case, the first battery may supply power to the propulsion unit 403 and the power consumption unit 404. In the first mode, the switch 405 may be opened so that the second battery 402 is electrically isolated from the power consuming unit 404. In the first mode, the first battery 401 may supply power to both the propulsion unit 403 and the power consumption unit 404. The first battery may be at a higher voltage than the second battery, and a voltage regulation module 406 is included in the system to reduce the voltage from the first battery before powering the controller and / or IMU. May be included. In the second mode of operation, the switch 405 may be closed so that the second battery is electrically connected to the power consuming unit.

  The system may include a charge control unit 407 between the first and second batteries. The charging control unit 407 may control charging of the second battery by the first battery. In addition to the first and second batteries, a plurality of additional batteries may be included in the system. The plurality of additional batteries may be configured as a plurality of additional backup batteries. A plurality of additional backup batteries may be used when both the first and second batteries are depleted. The plurality of additional backup batteries may be configured to provide charging to the first and second batteries and / or a plurality of components on the UAV. The battery system described herein may provide continuous power to the UAV while the UAV is in operation (such as in flight or landing).

  In some examples, a communication link 411 may be provided between the first battery 401 and the power consuming unit 404. The power consuming unit communicating with the first battery may optionally be a controller. The first battery may optionally be an intelligent battery. Circuit control may occur. In some embodiments, the controller may query the first battery about its state of charge or the amount of power remaining in the battery. The first battery may respond to the controller and provide information that may be used to determine the state of charge of the first battery, or the amount of remaining power in the battery.

  The method for replacing the battery on the UAV by the energy supply station may include the following steps: A step of landing a UAV on an energy supply station; a step of supplying power to the UAV using a power unit so that the UAV remains powered during battery replacement; and a component of the energy supply station. Removing the onboard battery from the UAV, replacing the onboard battery with another battery supplied to the energy supply station, connecting the other battery to the UAV, and from the energy supply station Allowing the UAV to take off. All or any one of these steps may be fully or partially automated.

  An example of a battery replacement method with continuous power to the UAV is shown in the flowchart of FIG. The steps shown in FIG. 5 may occur in the order shown, or these steps may occur in a different order. The battery replacement method with continuous power to the UAV may include all or some of the displayed steps. First, the UAV may land on the landing zone of the energy supply station 501. After the UAV has landed, the depleted battery may be removed by a mechanism on the energy supply station 503. Before or when the exhausted battery 502 is removed, power from either a UAV-equipped backup power system (such as a UAV-equipped second battery) or an on-board energy supply system may supply power to the UAV. When the depleted battery is removed, it may be stored in the battery storage unit. The battery storage unit may comprise a container for the battery, and the container may include a plurality of electrical connections configured to provide charge to the battery. As an example of the battery storage area, a rotary transfer machine equipped with an energy supply station may be used. The rotary transporter may be configured to rotate to carry the depleted battery and place the charged battery in alignment with a mechanism configured to place the charged battery on the UAV. In some examples, such a mechanism may be a robotic arm. The robot arm that transports the charged battery to the UAV may be the same as the robot arm that removes the depleted battery from the UAV. After rotation of the rotary transporter, the robot arm may install a battery charged in the UAV 504. The backup power supply may be disconnected from the UAV 505 when the charged battery is fully installed and can power the UAV. The final stage may be to take off from the landing zone with a battery 506 with the UAV fully charged.

  The UAV may be able to communicate with the energy supply station. For example, the UAV may provide information about the status of the UAV-equipped battery, multiple current flight conditions, remaining time or distance of the current mission, multiple battery specifications, battery temperature, multiple UAV specifications, or flight plan to the energy supply station. May be sent. For low battery charge, the UAV may be instructed to land at the energy supply station. If the battery charge is too low to allow the UAV to accommodate the UAV's current mission or the remaining UAV time or distance of the UAV flight plan, the UAV directs it to land at the energy supply station May be. A plurality of UAV operating parameters may be considered, such as a predicted ratio of energy consumption or a current ratio of energy consumption. For example, a UAV may fly in a relatively “low power” mode where one or more sensors are not operating, but the UAV is expected to use more sensors later during the flight. Good. The expected rate of increase in energy consumption can affect the expected rate of battery charge consumption, which should be taken into account when determining whether the UAV needs to land at an energy supply station. May be. Optionally, the UAV may be instructed to land at the energy supply station if the state of charge of the battery is below a predetermined threshold.

  The UAV may identify the energy supply station landing zone by sensing the mark, for example, the mark may be a convex pattern, concave pattern, image, symbol, decal, one-dimensional, two-dimensional on the energy supply station landing zone Or a three-dimensional bar code, a QR code (registered trademark), or a plurality of visible lights. The mark may indicate that the energy supply station has multiple available charged batteries. For example, the mark may be light or a plurality of light bands, and the plurality of lights may be turned on only when the energy supply station has a plurality of available charged batteries.

  The UAV may take off and land vertically in the energy supply station landing zone. The landing zone may include a plurality of recessed fitting mechanisms for guiding the UAV during landing. Multiple mating mechanisms may reduce the need for accuracy when landing the UAV into the landing zone. Multiple indentation mechanisms may be configured to mate with a variety of UAVs, or multiple engagement mechanisms are specific to a single UAV manufacturer, a single UAV machine, or one specific UAV. It may be.

  Communication between the UAV and the energy supply station may be used to place the UAV at the approximate location of the energy supply station. Communication between the UAV and the energy supply station may be performed wirelessly. The UAV may use GPS or other location software to locate the energy supply station. GPS or other location techniques can be used to place the UAV near the energy supply station. Multiple wireless communications may cause the UAV to be in range for sensing one or more portions of multiple energy supply stations. For example, the UAV may be brought to the LOS (line-of-sight) of the energy supply station. The landing zone marker or markers may help to more accurately indicate the location of the energy supply station. The marker may function as a confirmation of an energy supply station where the UAV can land. The plurality of markers may also distinguish the energy supply station or the landing zone of the energy supply station from other objects or areas.

  The marker may be useful to indicate the landing position of the UAV on the energy supply station. The marker may be used as a reference marker, which may assist the UAV in navigating to the proper landing position of the energy supply station. In some examples, multiple markers may be provided that may assist the UAV in landing at a desired location. In some examples, it is desirable for the UAV to have a specific orientation when docking with an energy supply station. In one example, the marker may include an asymmetric image or code that can be recognized by the UAV. The reference marker may indicate the orientation of the energy supply station relative to the UAV. Thus, a UAV may be able to properly orient itself when landing at an energy supply station. The marker may also indicate the distance of the energy supply station relative to the UAV. This may be used separately from or in combination with one or more other sensors of the UAV to determine the UAV altitude. For example, when the size of the reference marker is known, the distance from the UAV to the marker may be measured according to the size of the marker displayed on a plurality of UAV sensors.

  In one example, the marker may be provided at a specific location with respect to the desired landing spot of the UAV on the energy supply station. This may be a specific location for the desired landing spot on the landing zone of the energy supply station. The UAV may be able to land very accurately in the landing zone. The marker may help guide the UAV to the exact spot desired. For example, the marker may be located 10 cm before the center of the desired landing point of the UAV. The UAV may use a marker to guide the UAV to the correct landing spot. In some examples, multiple markers may be provided. The desired landing spot may be between a plurality of markers. The UAV may use multiple markers to help direct the UAV and / or position its landing between the multiple markers. The distance between the markers may help the UAV measure the distance to the UAV landing zone.

  The marker may be provided at any location on the energy supply station or landing zone. The marker may be arranged at a location where it can be easily recognized from above. In some examples, the marker may be provided on the outer surface of the energy supply station. The marker may include a radio signal emitted by the energy supply station. The source of the signal may be from outside the energy supply station or from inside the energy supply station. Alternatively, the energy supply station may emit infrared and / or ultraviolet light signals, radio signals, or audio signals.

  The marker may be located near where the UAV docks with the energy supply station. In one example, from where the UAV landed at the energy supply station, approximately 100 cm, 90 cm, 80 cm, 75 cm, 70 cm, 65 cm, 60 cm, 55 cm, 50 cm, 45 cm, 40 cm, 35 cm, 30 cm, 25 cm, 20 cm, 15 cm, 12 cm, 10 cm , 8 cm, 7 cm, 6 cm, 5 cm, 4 cm, 3 cm, 2 cm, or less than 1 cm, the marker may be positioned.

  Data regarding the detected marker may be provided to one or more processors. A plurality of processors may be mounted on the UAV. Based on the detected information regarding the detected markers, the plurality of processors may generate command signals individually or collectively. The command signal may drive a plurality of propulsion units of the UAV. For example, if it is determined that the detected marker belongs to the energy supply station, a plurality of propulsion units may be driven to land the UAV on the energy supply station having the detected marker. The detected marker may indicate the state of charge of a plurality of stored batteries at the energy supply station. For example, if the energy supply station has a fully charged battery available, the detected marker may result in a command from the processor to land the UAV. In another example, if the energy supply station does not have a charged available battery, the detected marker may result in a command from the processor to continue movement to the next energy supply station. Thus, in response to the detected marker, the UAV may be able to land autonomously or semi-autonomously. The UAV may be able to land without receiving any commands or manual input from the user.

  In some embodiments, multiple sensors mounted on the UAV may be used to detect the marker and processing may occur on the UAV. Once the UAV confirms that the marker belongs to the energy supply station, the UAV may be able to land at the energy supply station without requiring further guidance or information from the energy supply station.

  The energy supply station may include a marker and one or more connecting components. The energy supply station may send information about its location to the UAV. The energy supply station may have a location unit from which position information can be determined. The energy supply station may receive information from the UAV regarding the location of the UAV and the status of the UAV-equipped battery. For example, coordinate information such as a plurality of GPS coordinates of the UAV may be provided to the energy supply station. In another example, the UAV may communicate the remaining charge rate of the battery currently in use by the UAV. The energy supply station may have a communication unit capable of communicating with the UAV. The energy supply station may have a processor capable of identifying and / or calculating the location of the UAV. Further, the energy supply station may have a processor capable of identifying and / or calculating the location of the next closest battery exchange station. For example, the UAV may communicate to the energy supply station that the current UAV-equipped battery has a remaining charge rate of 18%, and the energy supply station processor may recharge the UAV. Thus, to determine whether to stop or continue to the next energy supply station, the distance to the next battery exchange station in the UAV flight path may be determined.

  FIG. 6 shows a possible embodiment of the energy supply station. The energy supply station may have four basic components: a battery replacement member 601, a UAV landing zone 602, a battery storage unit 603, and a power source 604. The battery replacement member may be a mechanical arm 601 that may be configured to remove the battery from the UAV and / or place a battery charged to the UAV. In some examples, the mechanical arm may both remove the battery from the UAV and place a charged battery in the UAV. Alternatively, different mechanical components may be used to remove the battery from the UAV and place a battery charged to the UAV. The mechanical arm may have at least 1, 2, 3, 4, 5 or 6 degrees of freedom. The mechanical arm may move autonomously or semi-autonomously.

  The UAV landing 602 band may include a plurality of markers that can be uniquely recognized by an approaching UAV. The landing zone may include a passive landing guide 605. The plurality of passive landing guides may be configured to interact with the components of the UAV when the UAV lands to guide the UAV to a final stationary position. The UAV may include a landing table that may be fitted to a passive landing guide, and the UAV may be guided to a final stationary position. The UAV may include a surface on which the UAV can land. The UAV may be stationary on the surface, or all or most of the weight of the UAV may be supported by a plurality of passive landing guides.

  The battery storage unit 603 may store a plurality of batteries. The battery storage unit may store a plurality of batteries and charge a plurality of stored batteries at the same time. The battery storage unit may move the plurality of batteries relative to each other. The battery storage unit may move a plurality of batteries relative to the UAV landing zone and / or the UAV on the landing zone. Multiple batteries may be moved simultaneously using a battery storage unit. When the UAV lands on the energy supply station, a fully charged battery may be present where the mechanical arm 601 can install the battery in the UAV. For example, the mechanical arm may carry a depleted battery from the UAV to a specific location relative to the battery storage unit. The battery storage unit may receive a depleted battery. The battery storage unit may cause movement of multiple batteries so that different batteries (such as fully charged batteries) are moved to the location where the depleted battery is received. The mechanical arm may receive a different battery. In some examples, the movement may include rotation of the battery storage unit about the axis.

  The power source 604 may be a battery, a connection to distributed power, or an onboard renewable energy source. Examples of multiple onboard renewable energy sources may include at least one wind turbine, hydro turbine, or solar generator. The power supply may supply power to the UAV while the UAV-equipped battery is being replaced with an alternative battery that has more remaining charge. The power source may supply power to the propulsion system and the controller and / or IMU, or the power source may supply power only to the controller / IMU or other power consuming unit. The power source may supply continuous power to the UAV. Alternatively, continuous power may be supplied to the UAV from a backup power source or a UAV-equipped battery. The UAV-equipped backup power supply may operate in a manner similar to the method shown in FIG. 4, so that the system may operate in the first and second modes. In the first mode, the first battery may provide power to the propulsion unit and controller and / or the IMU. In the second mode, the UAV may land at the energy supply station and the second battery may be controller while the first battery is removed for charging and replaced with a fully or partially charged battery. And / or may provide power to the IMU or other power consuming unit. The power system described herein may provide continuous power to one or more power consuming units equipped with a UAV. If these components lose power, it would be advantageous to provide continuous power to these components as they may have multiple settings and / or data storage that could be lost .

  The UAV landing zone of the energy supply station may be configured with a passive landing guide. The UAV may have at least one protruding mechanism matable with a corresponding cavity on the landing zone of the energy supply station. For example, the UAV may have four round conical stop members that can be fitted inside four round conical indentations on the landing zone. The protruding mechanism may be a launch pad configured to support the weight of the UAV. FIG. 7 shows an example of the UAV 701 landing at the energy supply station 702 such that the plurality of conical stop members 703 fit into the plurality of conical depressions 704 on the landing zone. In alternative embodiments, the stop member and indentation may comprise a variety of other mating shapes. The stop member may be made of rubber, plastic, metal, wood, or composite material. Stop members are 1 mm, 5 mm, 1 cm, 3 cm, 5 cm, 10 cm, 12 cm, 15 cm, 20 cm, 25 cm, 30 cm, 35 cm, 40 cm, 45 cm, 50 cm, 55 cm, 60 cm, 65 cm, 70 cm, 75 cm, 80 cm, 85 cm, 90 cm, It may have a height and width of 95 cm, or 100 cm or less. The plurality of indentations may have a corresponding plurality of dimensions to be adapted to fit into the stop member.

  In another example, the UAV may include a protrusion that does not fit exactly into the indentation on the landing zone. In this example, the UAV may have a mechanism that projects from the bottom of the UAV, designed to be smaller than the indentation on the landing zone. The protruding mechanism at the bottom of the UAV may fit into the recess. In a particular example of this configuration, the UAV may have a protruding rod and the landing zone may have a conical depression. When landing, the protruding rod may be retracted into the bottom of the conical recess. For example, when the protruding rod hits the side of the recess, the protruding rod may slide to the bottom of the recess by gravity. FIG. 8 shows a detailed side view (left) and top view (right) according to a possible embodiment of a landing zone 801 having a docked UAV 802. The protruding rod fits inside a conical recess 803 is shown. Optionally, the protruding rod may be a UAV landing base. While the UAV is stationary on the landing zone, the plurality of protruding rods may support the weight of the UAV. While the UAV is stationary on the landing zone, the plurality of indentations may support the weight of the plurality of protruding rods and / or the UAV.

  Passive landing guides can reduce the need for precise control of UAV landing procedures. The passive landing guide may be configured so that the UAV can be corrected when approaching the station in such a way that the UAV is installed away from the desired landing position. A passive landing guide may take the UAV to the desired location with the assistance of gravity. FIG. 9 shows an example of how a passive landing guide can correct a UAV when the UAV approaches the landing position. In the example shown in FIG. 9, the UAV approaches the landing guide by turning to the right (1). The UAV partially mates with the passive landing guide, and after contact with the landing guide, the UAV may slide down to the correct location (2). This process of correcting the UAV to the correct landing position may depend on gravity and may not create a need for moving parts or additional mechanisms.

  The energy supply station may comprise a battery storage system. The battery storage system may be a rotary transporter. The plurality of batteries in the battery storage system may be fully charged, partially charged, or depleted. Multiple batteries may be connected to the power source to restore a fully charged state from a depleted or partially charged state. The plurality of batteries may be the same in size, shape, and battery type (lithium ion, nickel cadmium, etc.). Alternatively, multiple different battery sizes, shapes or types may be accommodated. The battery storage system may be configured to store at least 2, 3, 4, 5, 6, 7, 8, 9, 10, 15, 20, 25, 30, 35, 40, 45 or 50 batteries. . In some embodiments, the battery system may store fewer than any of the listed battery numbers. The battery system may store the number of batteries that are within the range of any two values among the listed values.

  The battery storage system may comprise a plurality of individual ports for each battery. The plurality of ports may be movable with respect to each other. Multiple ports may move simultaneously. The plurality of ports may rotate clockwise, counterclockwise, or both directions of rotation about the axis. The axis of rotation may be oriented horizontally (parallel to the support surface or ground, perpendicular to the direction of gravity, etc.) or may be oriented vertically (perpendicular to the support surface or ground, Parallel to the direction of gravity, etc.). The plurality of ports may translate in any direction. Optionally, they may be translated and rotated simultaneously. The multiple ports may have multiple electrical connections that can be connected to a processor that measures the available charge of the battery, or the multiple ports may connect to a power source for charging the battery. . The power source may be on or off the energy supply station. For example, the power source may be a generator, a rechargeable battery, a battery, a disposable battery, or a connection to a distributed power line. The energy supply station may be installed resident or may be temporary. In the case of a temporary energy supply station, the station may be configured to be portable and may be carried away by the user.

  The plurality of stored batteries may move relative to each other. In one example, the plurality of batteries may move relative to each other within the rotary transporter. FIG. 10 shows an example of a potential battery rotary transporter 1001 used in a battery storage system. The rotary transfer machine shown in FIG. 10 can hold eight batteries 1002. Alternatively, the rotary transporter may be selected to hold at least 4, 5, 6, 7, 8, 9, 10, 15, 20, 25, 30, 35, 40, 45 or 50 batteries. The rotary transporter may be configured to hold a battery that is less than a plurality of values described herein, or the rotary transporter may be any two of the plurality of values described herein. It may be configured to hold a number of batteries in a range of one value. The multiple batteries of the rotary transporter may be identical in size, shape, voltage, and composition. Each battery may be stored in compartment 1003. During installation and removal from the UAV, the battery may be slid into and out of the compartment. For example, the battery may be slid in and out laterally through a side opening in the compartment. The battery may be retractable in the compartment during storage. The battery may be charged with the UAV installed, or the battery may be charged within the storage compartment of the battery storage system. The battery storage compartment may be configured to provide charge to the battery via a plurality of electrical contacts. FIG. 11 shows an example of a potential battery storage compartment 1101 having a plurality of electrical contacts 1102 configured to supply charge to the battery. The plurality of electrical contacts may be connected to a non-battery power supply 1103. The battery may be simultaneously connected to a meter that determines when the battery is fully charged. The container may provide enough power to charge or partially charge the stored battery. The battery storage compartment may be part of a rotary transporter or other battery storage unit. The battery storage compartment may be movable relative to other parts of the energy supply station.

  The battery rotary type transporter 1001 may rotate around the shaft 1004. The rotary transporter may rotate counterclockwise or clockwise. The rotary transporter may be able to rotate in both directions or only in one direction. The rotation may be driven by an actuator such as a motor. The actuator may receive a command signal that controls the movement of the battery storage system from an on-board or off-board controller of the energy supply station. The rotary transporter may be configured to be perpendicular to the base of the energy supply station 1005. For example, the length of the shaft may be parallel to the base of the energy supply station. Alternatively, the rotary transporter may be oriented parallel to the base of the energy supply station or at any other angle relative to the base of the energy supply station. FIG. 12 shows one possible embodiment of a complete energy supply station. FIG. 12 shows that the landing zone 1201 can be placed on top of the rotary transporter 1202. The battery rotary transporter may be partially or fully closed by the housing.

  The battery storage system may be driven to rotate by an actuator. The battery storage system may include a steering lock so that the battery storage can be locked when it is necessary to prevent the battery storage from rotating and be locked in place. The steering lock may be positioned along the bottom, top, or multiple sides of the rotary transporter.

  The energy supply station may comprise a mechanism configured to move a plurality of batteries. The mechanism may be an automatic battery replacement member. The mechanism may be a robot arm, an actuator, or a pulley. The mechanism may be a mechanical elevator. In one embodiment, the mechanism configured to move the plurality of batteries may be a robot arm. The robot arm may have at least 2 degrees of freedom. For example, a robot arm having 2 degrees of freedom may be movable in (1) horizontal direction and (2) vertical direction. The up and down movement may be realized by a linear actuator or any other type of actuator. Horizontal movement may be achieved by a rack and pinion mechanism driven by an actuator. The horizontal movement may be a linear movement. The horizontal actuator may be installed on the vertical motion actuator so that the robot arm can move in the horizontal direction next to the vertical direction. Optionally, the robot arm may allow the battery to move vertically and / or horizontally without causing the battery to rotate. The battery may be translated without being rotated by the robot arm. In alternative embodiments, the robotic arm may allow rotation or change of battery orientation.

  The mechanism configured to move the plurality of batteries may comprise an end member adapted to adhere to the battery being removed from the UAV. For example, the end member may be a magnet, a hook, or a suction device. In a preferred embodiment, the end member may be a clamp. Clamps may be placed in front of and behind the module so that the battery can be fastened or released after the robot arm has advanced or moved backwards. The fastening movement may be driven by a steering gear and a coupling system. The clamp may be attached to the battery by pressing the battery between the two sides of the clamp with sufficient pressure to hold the battery. Alternatively, the battery and clamp may include complementary mating mechanisms. Examples of complementary mating mechanisms may be pegs and holes. A similar fitting mechanism may be used to hold a plurality of batteries in the battery storage unit.

  FIG. 13 shows a schematic diagram of a possible robot arm. The robot arm may be lifted from the base of the energy supply station by a post 1301. The robot arm may be configured to move up and down along the post. The robot arm may move up and down autonomously or semi-autonomously. The robot arm may be attached to the post via a secondary rail 1302, and the post may be configured to advance and reverse on the secondary rail. The robot arm may advance and reverse autonomously or semi-autonomously. A third feature of the robot arm may be a terminal clamp 1303. The termination clamp may have a C-shaped opening that can open toward the docked UAV embedded battery. The end clamp can be opened and closed and attached to the battery.

  FIG. 14 shows a detailed display according to one embodiment of the robot arm. The example shown in FIG. 14 shows a clamp 1401 mounted on a rack and pinion mechanism 1402. The clamp may be oriented horizontally such that the ends of the clamp surround the sides of the battery. The clamp may include a rotatable portion at the back 1403, thereby moving the ends of the clamp 1404 closer or further away. The rear control portion may rotate with the aid of an operable actuator in response to a command signal from a mounted or unmounted controller of the energy supply station.

  FIG. 15 provides a complete view of the robot arm including a clamp 1501 mounted on a rack and pinion mechanism 1502. An assembly comprising a clamp and a rack and pinion supported on an actuator 1503 is configured to move the assembly in a vertical up and down path. In addition to vertical movement, the entire assembly may be rotated clockwise or counterclockwise about pivot point 1504. The pivot point may be oriented so that the entire assembly is rotatable about a rotating vertical axis. This may allow the assembly to change orientation. In some examples, the assembly may rotate about a limited range. In some examples, the robot arm may not rotate about an axis and may be fixed rotatably.

  During the battery replacement procedure, the UAV may be connected to a backup power source before or during removal of the battery from the UAV by a mechanism configured to move multiple batteries so that continuous power is supplied to the UAV. . The backup power source may be a battery or a UAV onboard renewable energy generating power source. Alternatively, the backup power source may be a renewable energy source that is connected to distributed power via a power line (such as a power supply network), a battery, or an energy supply station. The backup power supply may supply power to the UAV via an electrical connection. The backup power source may supply power to the UAV before, during and after the first battery is disconnected from the UAV. The backup power supply may have a higher level of charge or available voltage than a battery that is removed or disconnected from the UAV during the battery replacement procedure.

  The system may comprise two possible backup power sources so that the first backup power source may be a battery and the second backup power source may be a renewable energy generator. The backup power source may be configured to supply power to the UAV before, during, and after the first battery is disconnected from the UAV. The processor equipped with the energy supply station or the UAV may instruct the system to use either the first backup power source or the second backup power source based on the reliability evaluation. The first backup power supply may be a UAV-equipped battery. The reliability of the first energy source may be proportional to the remaining charge of the battery. For example, if the remaining charge of the battery is lower than a predetermined threshold, the battery may be considered to have low reliability. The second backup power source may be a power source mounted on the energy supply station. The second backup power source may be a battery. The reliability of the second energy source may be proportional to the remaining charge of the battery. Alternatively, the second backup power source may be a renewable energy generator. If the second backup power source is a renewable energy generator, the reliability of the second backup power source may be proportional to the consistency of the power source. The consistency of the power supply may correspond to the power generation provided by the source at fixed time intervals. For example, if the backup power source is a solar energy generator, the processor may determine that the power source is highly reliable on sunny days and has low reliability during multiple cloudy conditions or at night. In another example, if the backup power source is a wind turbine, the processor may determine that the power source has high reliability during constant strong wind conditions and low reliability on days without wind. .

  The processor may instruct the energy supply system and / or the UAV to supply power to the UAV using a more reliable power source. Alternatively, the processor may be programmed to supply power to the UAV using a predetermined default backup power source. Using a default backup power source may be conditioned on the reliability of the default power source exceeding a predetermined threshold. For example, as a result of the first backup power source having a higher reliability than a predetermined threshold, the first backup power source may be the default backup power source, and this power source may be selected to provide backup power to the UAV. If the default backup power source has a reliability lower than a predetermined threshold, a second backup power source may be used. During the battery replacement procedure, the first or second backup power supply may supply power to the UAV so that the UAV is continuously powered, including when the battery is not connected to the UAV. Using the battery replacement member, the first battery may be disconnected from the UAV. The first battery may be configured not to supply power to the UAV while disconnected from the UAV. While the first battery is disconnected from the UAV, a backup power (or energy) source selected by the processor may supply power to the UAV.

  FIG. 16 shows a complete energy supply station assembly including a landing zone 1601, a battery storage system 1602, and a robot arm 1603. In the embodiment shown in FIG. 16, the battery storage system is below the landing zone and the robot arm is adjacent to the battery storage system and the landing zone so that the robot arm is in both areas of the energy supply station. Adapted to access. During the battery replacement procedure, the robot arm may move vertically between the UAV landing zone and the battery storage system. Optionally, a notch or opening 1604 may be provided in the UAV landing zone, thereby allowing the robot arm and / or battery to traverse the area between the UAV landing zone and the battery storage system.

  The UAV may locate the energy supply station from the air. Once the location of the energy supply station is located, the UAV may communicate with the energy supply station to determine whether the UAV should approach and land on the energy supply station to initiate the battery replacement procedure. If the UAV docks in the landing zone of the energy supply station, a battery life reload procedure may be initiated. Reloading the UAV battery life may include raising the overall battery charge for the UAV. This includes (1) recharging the existing battery while the battery is installed in the UAV; (2) removing the existing battery from the UAV and recharging the existing battery not installed in the UAV; It may include connecting the existing battery back to the UAV, or (3) removing the existing battery from the UAV, taking a new battery with a higher charge state, and connecting a new battery to the UAV. A UAV docked in the landing zone may communicate with a processor onboard the energy supply station. Alternatively, the UAV may communicate remotely with a processor that is not equipped with an energy supply station. The processor may determine the remaining charge of the battery currently in use on the UAV by communicating with a sensor in contact with the battery. The remaining charge of the battery may be sensed by a voltmeter. Based on the percentage of remaining charge in the battery, the processor may initiate a response, which can be to replace the battery with a fully charged battery from the storage system, or to charge the current battery. May be included. The decision to charge or replace the UAV-equipped battery may be based on a remaining charge threshold percentage. The threshold may be 50%, 40%, 30%, 20%, 10%, or 5% of the remaining charge. The threshold may be fixed or may be a variable as a function such as battery age, battery type, multiple flight conditions, ambient temperature, or distance to the next energy supply station. After determining the optimal response, battery replacement or charging may occur at the energy supply station. When the battery replacement or charging is complete, the processor may indicate that the UAV can take off from the landing zone.

  FIG. 17 shows a flowchart outlining the decision process performed individually or collectively by one or more processors when the UAV approaches the landing zone. If the UAV detects an energy supply station near it, the UAV may communicate with the energy supply station. The UAV may communicate 1701 a plurality of variables to the energy supply station, such as flight time, flight distance, time since last charge, or remaining distance of the mission. Based on this information, the plurality of processors, which may be either on or off of the energy supply station, may instruct 1702 to land on the energy supply station for further evaluation. Once the UAV is docked in the landing zone, the energy supply station may measure 1703 the remaining charge of the battery. If the amount of charge exceeds a predetermined threshold, the energy supply station may supply 1704 charge to a battery currently installed in the UAV. If the battery falls below the threshold charge rate, the energy supply station may initiate 1705 a battery replacement procedure to replace the UAV-equipped battery with a fully or partially charged battery from the battery storage system.

  The instruction to replace or charge the UAV-equipped battery may be based entirely on the remaining charge of the battery relative to a predetermined threshold, or the instructions may be based on one or more other factors. For example, the current charge amount of multiple batteries in the battery storage system can affect multiple commands. For example, the number of available batteries in the battery store can affect the instructions. If no battery is available, the onboard battery may be charged regardless of the state of charge. If only a single battery is available, the state of charge of the onboard battery may be compared to a single battery supplied by the battery storage system. The amount of battery charge in the battery storage may affect the command to replace or charge the battery, so that if the energy supply station has only multiple batteries partially charged in the storage system, the processor Instead of replacing the battery with a partially charged battery, instructions may be given to charge the UAV-equipped battery. In another example, the time required to replace the battery may be considered relative to the time required to charge the battery. The decision to replace the battery or charge the battery may be selected to optimize the time required. Other factors that may affect the outcome of the instructions from the processor are the number of other UAVs detected nearby by the energy supply station, the mission of the UAV landed on the energy supply station, and / or multiple current Flight conditions (headwind, tailwind, temperature, etc.).

  The battery replacement procedure may use a robot arm mechanism. The first stage of the procedure may be to move the robot arm vertically so that the robot arm can be aligned with the embedded battery hangar. The embedded battery repository may be the location of the battery that is removed from the UAV. The robot arm may then move horizontally to approach the battery being removed from the UAV. When the robot arm is close enough to the battery to be removed from the UAV, the clamp may be opened and closed to adhere to the battery. Once the robot arm is attached to the battery, the arm may be retracted horizontally from the UAV and moved vertically to align with an empty containment in the battery storage system. The robotic arm may place the depleted battery removed from the UAV in an empty hangar of the battery storage system. The battery storage system may then rotate so that the charged or partially charged battery is aligned with the robot arm. In order to remove a charged or partially charged battery from the battery storage system, the robotic arm may repeat the steps used to remove the battery from the UAV. After the robot arm has engaged a charged or partially charged battery, the robot arm may move vertically to align with the UAV's embedded battery enclosure. The robot arm may then move horizontally to press the charged or partially charged battery against the UAV-embedded battery. Once the battery fits into the embedded battery bay, the robot arm may then release the clamp on the battery and retract from the UAV. After the robot arm has retracted, the UAV may take off vertically from the landing zone and continue its mission.

  The multiple systems, devices, and methods described herein can be applied to a variety of movable objects. As described above, any description of an air vehicle such as a UAV applies to any movable object and can be used for any movable object. Any description relating to an air carrier may in particular apply to multiple UAVs. The movable object according to the present invention can be aerial (a fixed wing aircraft, a rotary wing aircraft, or an aircraft that does not have any of a plurality of fixed wings or a plurality of rotary wings), underwater (a ship or a submarine, etc.), ground (a car, a truck) , Buses, small trucks, motorcycles, bicycles and other motor transport vehicles; movable structures or frames such as control rods and fishing rods; ), Or any combination of these environments, may be configured to move in any suitable environment. The movable object may be a transporter, such as a transporter described elsewhere herein. In some embodiments, the movable object can be carried by a living body, such as a human being or an animal, or can be taken off from the living body. Suitable animals may include birds, canines, felines, equines, bovines, sheep, pigs, dolphins, rodents, or insects.

  The movable object may be freely movable in the environment with respect to six degrees of freedom (for example, three translational degrees of freedom and three degrees of freedom of rotation). Alternatively, the movement of the movable object can be suppressed with respect to one or more degrees of freedom such as a predetermined path, track, or orientation. The movement may 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, gravity 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. Optionally, the propulsion system can optimally operate with an energy source such as electrical energy, magnetic energy, solar energy, wind energy, gravity energy, chemical energy, nuclear energy, or any suitable combination thereof. . Alternatively, the movable object may be carried by a living thing.

  In some examples, the movable object may be an air vehicle. For example, a plurality of air vehicles may be fixed wing aircraft (airplanes, multiple gliders, etc.), rotary wing aircraft (multiple helicopters, rotary wing aircraft, etc.), aircraft having both fixed wings and rotary wings, or May be an aircraft (a plurality of small airships, a plurality of hot air balloons, etc.). An air vehicle can be self-propelled, just like it is self-propelled via air. A self-propelled air vehicle can utilize a propulsion system such as a propulsion system that includes one or more engines, motors, wheels, axles, magnets, rotors, propellers, blades, nozzles, or any suitable combination thereof. . In some examples, the propulsion system is used to take off from a plane, land on a plane, maintain its current position and / or orientation (such as hovering), change orientation, and / or position a movable object. It can be changed.

  The movable object can be controlled remotely by a user or locally by an occupant in or on the movable object. The movable object may be remotely controlled by a passenger in a separate transport. In some embodiments, the movable object is an unattended movable object such as a UAV. An unmanned movable object such as a UAV may not have an occupant mounted on the movable object. The movable object may be controlled by a human or autonomous control system (such as 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 artificial intelligence.

  The movable object may have a number of any suitable size and / or dimensions. In some embodiments, the movable object may be sized and / or multiple dimensions for having a crew member in or on the transporter. Alternatively, the movable object may be smaller in size and / or more than one that may have a crew member in or on the transporter. The movable object may be of a size and / or multiple dimensions suitable for being lifted or carried by a human. Alternatively, the movable object may be larger than a suitable size and / or dimensions to be lifted or carried by a human. In some examples, the movable object may have a maximum dimension (length, width, height, diameter, diagonal, etc.) of about 2 cm, 5 cm, 10 cm, 50 cm, 1 m, 2 m, 5 m, or 10 m or less. . The maximum dimension may be about 2 cm, 5 cm, 10 cm, 50 cm, 1 m, 2 m, 5 m, or 10 m or more. For example, the distance between the shafts of the opposed rotor blades of the movable object may be about 2 cm, 5 cm, 10 cm, 50 cm, 1 m, 2 m, 5 m, or 10 m or less. Alternatively, the distance between the plurality of shafts of the plurality of opposed rotor blades may be about 2 cm, 5 cm, 10 cm, 50 cm, 1 m, 2 m, 5 m, or 10 m or more.

In some embodiments, the movable object may have a volume less than 100 cm × 100 cm × 100 cm, a volume less than 50 cm × 50 cm × 30 cm, or a volume less than 5 cm × 5 cm × 3 cm. The total volume of the movable object is about 1 cm ³ , 2 cm ³ , 5 cm ³ , 10 cm ³ , 20 cm ³ , 30 cm ³ , 40 cm ³ , 50 cm ³ , 60 cm ³ , 70 cm ³ , 80 cm ³ , 90 cm ³ , 100 cm ³ , 150 cm ³ , ^{200cm 3, 300cm 3, 500cm 3} , 750cm 3, 1000cm 3, 5000cm 3, 10,000cm 3, 100,000cm 3, 1m 3 or may be at 10 m ³ or less. Conversely, the total volume of the movable object is about 1 cm ³ , 2 cm ³ , 5 cm ³ , 10 cm ³ , 20 cm ³ , 30 cm ³ , 40 cm ³ , 50 cm ³ , 60 cm ³ , 70 cm ³ , 80 cm ³ , 90 cm ³ , 100 cm ³ , ^{150cm 3, 200cm 3, 300cm 3} , 500cm 3, 750cm 3, 1000cm 3, 5000cm 3, 10,000cm 3, may be at 100,000 ^3, 1 m ³ or 10 m ³ or more.

In some embodiments, the movable object is about ^{32,000cm 2, 20,000cm 2, 10,000cm 2} , 1,000cm 2, 500cm 2, 100cm 2, 50cm 2, 10cm 2 , or 5 cm ² or less of Foot, It may have a print (which may refer to the cross-sectional area surrounded by the movable object). Conversely, ^{footprint, 32,000cm 2, 20,000cm 2, 10,000cm} 2, 1,000cm 2, 500cm 2, 100cm 2, 50cm 2, 10cm 2, or may be at 5 cm ² or more.

  In some examples, the movable object may have a weight of up to 1000 kg. The weight of the movable object is 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, It may be 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 or less. On the contrary, the weight is 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 or more.

  In some embodiments, the movable object may be small compared to the load carried by the movable object. The load may include a load and / or carrier, as will be described in more detail elsewhere herein. In some embodiments, the ratio of the weight of the movable object to the weight of the load may be greater than, less than, or equal to about 1: 1. In some examples, the ratio of the weight of the movable object to the weight of the load may be greater than, less than, or equal to about 1: 1. Optionally, the ratio of the weight of the carrier to the weight of the load can be greater than, less than or equal to about 1: 1. If desired, the ratio of the weight of the movable object to the weight of the load may be less than 1: 2, 1: 3, 1: 4, 1: 5, 1:10, or much less. . Conversely, the ratio of the weight of the movable object to the weight of the load may be 2: 1, 3: 1, 4: 1, 5: 1, 10: 1 or more, or much greater.

  In some embodiments, the movable object may have a low energy consumption. For example, movable objects may use amounts of about 5 w / h, 4 w / h, 3 w / h, 2 w / h, less than 1 w / h, or less. In some examples, the movable object carrier may have a low energy consumption. For example, the carrier may use an amount of about 5 w / h, 4 w / h, 3 w / h, 2 w / h, less than 1 w / h or less. Optionally, the load of movable objects may have a low energy consumption, for example about 5 w / h, 4 w / h, 3 w / h, 2 w / h, less than 1 w / h, or less. Amount.

  FIG. 18 shows an unmanned aerial vehicle (UAV) 1800 according to embodiments of the present invention. A UAV may be an example of a movable object described herein. The UAV 1800 may include a propulsion system having four rotor blades 1802, 1804, 1806, and 1808. Any number of rotor blades may be provided (such as 1, 2, 3, 4, 5, 6, or more). The drone's multiple rotor blades, multiple rotor blade assemblies, or other multiple propulsion systems allow the drone to maintain hovering or position, change orientation, and / or change location Good. The distance between the shafts of the opposing rotor blades can be any suitable length 410. For example, the length 1810 can be 2 m or less, or 5 m or less. In some embodiments, the length 1810 may be in the range of 40 cm to 1 m, 10 cm to 2 m, or 5 cm to 5 m. The UAV description herein may be applied to movable objects, such as different types of movable objects, and vice versa. The UAV may use the auxiliary takeoff system or method described herein.

  In some embodiments, the movable object may be configured to carry a load. A load may include one or more passengers, cargo, equipment, equipment, and the like. The load may be provided in a housing. The casing may be separate from the casing of the movable object or may be part of the casing for the movable object. Alternatively, if the movable object does not have a housing, the load can be provided with the housing. Alternatively, multiple portions of the load or the entire load may be provided without a housing. The load can be tightly fixed to the movable object. Optionally, the load can be movable relative to the movable object (such as being translatable or rotatable with respect to the movable object). As described elsewhere herein, a load may include a load and / or a carrier.

  In some embodiments, movement of movable objects, carriers, and loads relative to each other in a fixed reference frame (ambient environment) and / or may be controlled by the terminal. The terminal may be a remote control device that is remote from the movable object, carrier, and / or load. The terminal may be located on or attached to a support platform. Alternatively, the terminal can be a handheld or wearable device. For example, the terminal may include a smartphone, tablet, laptop, computer, glasses, gloves, helmet, microphone, or any suitable combination thereof. The terminal may include a user interface such as a keyboard, mouse, joystick, touch screen, or display. Any suitable user input such as manually entered commands, voice control, gesture control, or position control (such as terminal movement, location, or tilt) can be used to interact with the terminal.

  The terminal can be used to control any suitable state of the movable object, carrier, and / or load. For example, the terminal can be used to control the position and / or orientation of movable objects, carriers, and / or loads relative to a fixed reference frame and / or each other. In some embodiments, the terminal can be used to control individual elements of a movable object, carrier, and / or load. Such may be a carrier actuation assembly, a load sensor, or a load emitter. A terminal may include a wireless communication device adapted to communicate with one or more movable objects, carriers, or loads.

  The terminal may include a suitable display unit for displaying information on movable objects, carriers, and / or loads. For example, the terminal may be configured to display information about the position, translation speed, translation acceleration, orientation, angular velocity, angular acceleration, or any suitable combination thereof of movable objects, carriers, and / or loads. In some embodiments, the terminal displays information provided by the load, such as data provided by the functional load (such as multiple images recorded by a camera or other image capturing device). obtain.

  Optionally, the same terminal may control both the movable object, carrier and / or load, or the state of the movable object, carrier and / or load, and the movable object, carrier and / or load. Information from objects may be received and / or displayed. For example, the terminal may control the position of the load relative to the environment while displaying image data captured by the load or information regarding the position of the load. Alternatively, different terminals may be used for different functions. For example, the first terminal controls the movement or state of movable objects, carriers, and / or loads, while the second terminal receives and / or receives information from movable objects, carriers, and / or loads. Or you may display. For example, a first terminal may be used to control the position of the load relative to the environment, while the second terminal displays image data captured by the load. Various communication modes may be used between the movable object and the integrated terminal or between the movable object and the plurality of terminals. The integrated terminal both controls the movable object and receives data. The plurality of terminals both control the movable object and receive data. For example, at least two different communication modes may be formed between the movable object and the terminal, the terminal both controlling the movable object and receiving data from the movable object.

  FIG. 19 illustrates a movable object 1900 that includes a carrier 1902 and a load 1904 in accordance with embodiments. Although the movable object 1900 is depicted as an aircraft, this depiction is not intended to be limiting and any suitable type of movable object may be used as described previously herein. Those skilled in the art will appreciate that any of the embodiments described in the context of multiple aircraft systems is applicable to any suitable movable object (such as a UAV). In some examples, a carrier 1902 may not be required and a load 1904 may be provided to the movable object 1900. The movable object 1900 may include a propulsion mechanism 1906, a sensing system 1908, and a communication system 1910.

  The plurality of propulsion mechanisms 1906 may include one or more rotor blades, propellers, blades, engines, motors, wheels, axles, magnets, or nozzles as described above. The movable object may have one or more, 2 or more, 2 or more, 3 or more, or 4 or more than 4 propulsion mechanisms. The plurality of propulsion mechanisms may all be the same type. Alternatively, the one or more propulsion mechanisms may be a plurality of different types of propulsion mechanisms. The plurality of propulsion mechanisms 1906 may be mounted on the movable object 1900 using any suitable means such as a support element (such as a drive shaft) as described elsewhere herein. The plurality of propulsion mechanisms 1906 may be mounted on any suitable portion of the movable object 1900, such as top, bottom, front, back, multiple sides, or any suitable combination thereof.

  In some embodiments, the multiple propulsion mechanisms 1906 do not require horizontal movement of the movable object 1800 (without moving the runway), and the movable object 1900 takes off vertically from the plane or is vertical to the plane. May be able to land in the direction. Optionally, the plurality of propulsion mechanisms 1906 are movably movable to allow the movable object 1900 to hover in the air at a particular position and / or orientation. One or more propulsion mechanisms 1900 may be controlled independently of other propulsion mechanisms. Alternatively, multiple propulsion mechanisms 1900 can be configured to be controlled simultaneously. For example, the movable object 1900 can have a plurality of horizontally oriented rotors that can provide lift and / or thrust to the movable object. A plurality of horizontally oriented rotors may be actuated to provide the movable object 1900 with vertical takeoff, vertical landing, and hovering functions. In some embodiments, one or more horizontally oriented rotors may rotate in a clockwise direction, while one or more horizontal rotors rotate in a counterclockwise direction. It's okay. For example, the number of clockwise blades may be equal to the number of counterclockwise blades. In order to control the lift and / or thrust generated by each rotor, the rotational speed of each of the plurality of horizontally oriented rotors may be independently different, thereby allowing the spatial movement of the movable object 1800 to vary. Adjust placement, speed, and / or acceleration (such as up to 3 translational degrees of freedom and up to 3 rotational degrees of freedom)

  Sensing system 1908 may include one or more sensors that can sense the spatial arrangement, velocity, and / or acceleration of movable object 1900 (such as up to 3 translational degrees of freedom and up to 3 rotational degrees of freedom). The one or more sensors may include multiple global positioning system (GPS) sensors, multiple motion sensors, multiple inertial sensors, multiple proximity sensors, or multiple image sensors. Sensing data provided by the sensing system 1908 can be used to control the spatial arrangement, speed, and / or orientation of the movable object 1900 (such as using a suitable processing unit and / or control module described below). Alternatively, using sensing system 1908, data about the environment surrounding movable objects such as multiple weather conditions, proximity to multiple potential obstacles, multiple geographical feature locations, multiple artificial building locations, etc. Can provide.

  The communication system 1910 enables communication with the terminal 1912 having the communication system 1914 via the wireless signal 1916. The communications system 1910, 1914 may include any number of transmitters, receivers, and / or transceivers suitable for wireless communications. The communication may be one-way communication in which data can be transmitted in only one direction. For example, one-way communication may involve only the movable object 1900 that transmits data to the terminal 1912 or vice versa. Data may be transmitted from one or more transmitters of communication system 1910 to one or more receivers of communication system 1912 or vice versa. Alternatively, the communication may be two-way communication such that data can be transmitted in both directions between the movable object 1900 and the terminal 1912. Two-way communication may involve transmitting data from one or more transmitters of communication system 1910 to one or more receivers of communication system 1914 or vice versa.

  In some embodiments, terminal 1912 can provide control data for one or more movable objects 1900, carrier 1902, and load 1904, and one or more movable objects 1900, carrier 1902, and load. Information can be received from 1904 (movable object, carrier or load position and / or movement information, data sensed by the load, such as image data captured by a load camera, etc.). In some examples, the control data from the terminal may include commands for multiple relative positions, multiple movements, multiple actuations, or multiple controls on movable objects, carriers and / or loads. May include. For example, the control data may result in a correction regarding the location and / or orientation of the movable object (via control of multiple propulsion mechanisms 1906) or movement of the load relative to the movable object (via control of the carrier 1902). . Control data from the terminal may provide control of the load. As such, operational control of cameras or other image capturing devices (capturing multiple still or moving images, zooming in or out, switching on or off, switching between multiple imaging modes, changing image resolution, Change of focus, change of depth of field, change of exposure time, change of viewing angle or field of view, etc.). In some examples, multiple communications from movable objects, carriers, and / or loads may include information from one or more sensors (of sensing system 1908 or load 1904). The plurality of communications may include sensing information from one or more different types of sensors (multiple GPS sensors, multiple motion sensors, inertial sensors, multiple proximity sensors, or multiple image sensors). Such information may relate to the position (location, orientation, etc.), movement, or acceleration of movable objects, carriers and / or loads. Such information from the load may include data captured by the load or a sensed state of the load. Control data provided and transmitted by terminal 1912 may be configured to control the state of one or more movable objects 1900, carrier 1902, or load 1904. Alternatively, or in combination, the carrier 1902 and load 1904 can also each include a communication module configured to communicate with the terminal 1912 such that the terminal can move the movable object 1900, the carrier 1902, and the load 1904. You can communicate and control with each of them individually.

  In some embodiments, the movable object 1900 can be configured to communicate with another remote device in addition to or not the terminal 1912. Terminal 1912 may also be configured to communicate with another remote device in addition to movable object 1900. For example, movable object 1900 and / or terminal 1912 may communicate with another movable object or another movable object's carrier or load. If desired, the remote device may be a second terminal or other computing device (such as a computer, laptop, tablet, smartphone, or other mobile device). The remote device may be configured to send data to the movable object 1900, receive data from the movable object 1900, send data to the terminal 1912, and / or receive data from the terminal 1912. Optionally, the remote device can be connected to the Internet or other telecommunications network so that data received from movable object 1900 and / or terminal 1912 can be uploaded to a website or server.

  FIG. 20 is a schematic diagram from a block diagram of a system 2000 for controlling a movable object, according to embodiments. System 2000 may be used in combination with any suitable embodiment of multiple systems, multiple devices, and multiple methods described herein. The system 2000 may include a sensing module 2002, a processing unit 2004, a non-transitory computer readable medium 2006, a control module 2008, and a communication module 2010.

  The sensing module 2002 can use a number of different types of sensors that collect information about the movable object in a number of different ways. The plurality of different types of sensors may sense a plurality of different types of signals or a plurality of signals from a plurality of different sources. For example, the plurality of sensors may include a plurality of inertial sensors, a plurality of GPS sensors, a plurality of proximity sensors (such as a lidar), or a plurality of vision / image sensors (such as a camera). The sensing module 2002 may be operatively connected to a processing unit 2004 having a plurality of processors. In some embodiments, the sensing module may be operatively connected to a transmission module 2012 (such as a Wi-Fi image transmission module) configured to transmit the data to be sensed directly to a suitable external device or system. For example, the transmission module 2012 can be used to transmit multiple images captured by the camera of the sensing module 2002 to a remote terminal.

  The processing unit 2004 may have one or more processors such as a programmable processor (central processing unit (CPU)). Processing unit 2004 may be operatively connected to non-transitory computer readable media 2006. The non-transitory computer readable medium 2006 may store logic, code and / or a plurality of program instructions that can be executed by the processing unit 2004 for performing one or more stages. The non-transitory computer readable medium may include one or more memory units (such as a removable medium such as an SD card or random access memory (RAM) or external storage). In some embodiments, data from the sensing module 2002 can be communicated directly to and stored in a plurality of memory units of the non-transitory computer readable medium 2006. To perform any suitable embodiment of the methods described herein, the plurality of memory units of non-transitory computer readable media 2006 may include logic, code and / or executable by processing unit 2004. Multiple program instructions can be stored. For example, the processing unit 2004 may be configured to execute a plurality of instructions that cause one or more processors of the processing unit 2004 to analyze sensing data generated by the sensing module. The plurality of memory units can store sensing data from the sensing module that will be processed by the processing unit 2004. In some embodiments, multiple memory units of non-transitory computer readable media 2006 may be used to store multiple processing results generated by processing unit 2004.

  In some embodiments, the processing unit 2004 may be operatively connected to a control module 2008 that is configured to control the state of the movable object. For example, the control module 2008 can be configured to control multiple propulsion mechanisms of the movable object to adjust the spatial arrangement, velocity, and / or acceleration of the movable object for six degrees of freedom. Alternatively or in combination, the control module 2008 can control one or more states of the carrier, load, or sensing module.

  The processing unit 2004 may be operatively connected to a communication module 2010 that is configured to send and / or receive data from one or more external devices (terminal, display device, or other remote controller). Any suitable communication means such as wired communication or wireless communication can be used. For example, the communication module 2010 can use one or a plurality of local area networks (LAN), wide area networks (WAN), infrared, wireless, WiFi, point-to-point networks (P2P), telecommunication networks, cloud communications, and the like. Optionally, multiple relay stations such as multiple towers, multiple satellites, or multiple mobile stations may be used. Multiple wireless communications may be proximity dependent or proximity independent. In some embodiments, LOS (line-of-sight) may be necessary or unnecessary for multiple communications. The communication module 2010 transmits and / or receives one or more sensing data from the sensing module 2002, processing results generated by the processing unit 2004, predetermined control data, user commands from a terminal or remote controller, and the like. it can.

  The multiple components of system 2000 may be arranged in any suitable configuration. For example, one or more components of system 2000 may be positioned on a movable object, carrier, load, terminal, sensing system, or additional external device to communicate with one or more of the above. Further, FIG. 20 shows a single processing unit 2004 and a single non-transitory computer readable medium 2006, which is not intended to be limiting by those skilled in the art. It will be appreciated that the system 2000 may include multiple 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 may be located at a plurality of different locations. For example, it may be located on a movable object, carrier, load, terminal, sensing module, additional external device, in communication with the one or more, or any suitable combination thereof. As a result, any suitable aspect of processing functions and / or memory functions performed by system 2000 may occur at one or more of the above locations.

While preferred embodiments of the present invention have been shown and described herein, it will be apparent to those skilled in the art that such embodiments are provided by way of example only. Numerous variations, modifications, and substitutions will now occur to those skilled in the art without departing from the invention. In carrying out the invention, it should be understood that various alternatives to the embodiments of the invention described herein can be employed. The following claims are intended to cover the scope of the present invention, and the methods and structures belonging to the claims and their equivalents are covered by the claims.
[Item 1]
A propulsion unit to enable UAV movement;
A UAV comprising (1) the propulsion unit and (2) a power unit having a first battery for supplying power to the power consumption unit of the UAV,
The power unit is configured to switch between (a) a first mode and (b) a second mode;
(A) In the first mode, the first battery supplies power to (1) the propulsion unit and (2) the power consumption unit,
(B) In the second mode, the UAV in which the second battery supplies power to the power consuming unit and does not supply power to the propulsion unit.
[Item 2]
The UAV of item 1, wherein the propulsion unit includes one or more rotor blades that generate lift for the UAV.
[Item 3]
Item 4. The UAV according to Item 1, wherein the power consuming unit is one or more of a global positioning system (GPS) sensor, a motion sensor, an inertial measurement device sensor, a proximity sensor, and an image sensor.
[Item 4]
Item 4. The UAV of item 1, wherein the first battery does not supply power during the second mode.
[Item 5]
The UAV of item 1, wherein the first battery is disconnected from the UAV during the second mode.
[Item 6]
Item 4. The UAV of item 1, wherein the power unit is switched to the second mode when the UAV is stationary on the surface.
[Item 7]
The power unit is configured to be switched from the first mode to the second mode before or when the first battery is removed from the UAV and is continuously Item 7. The UAV of item 6, wherein power is supplied to the power consuming unit.
[Item 8]
Item 7 is configured to switch the power unit from the second mode to the first mode when the first battery is connected to the UAV and ready to supply power. UAV as described.
[Item 9]
The UAV of item 1, wherein the power unit is switched to the second mode when the UAV is not using the propulsion unit.
[Item 10]
Item 1. The power unit is configured to switch between the first mode and the second mode when the voltage of the first battery is lower than the voltage of the second battery. UAV.
[Item 11]
Item 11. The UAV of item 10, wherein the power unit includes a unidirectional diode having a positive electrode facing the second battery and a negative electrode facing the power consuming unit.
[Item 12]
The power unit comprises a unidirectional diode having a positive electrode facing the second battery and a negative electrode facing the power consuming unit;
11. The UAV of item 10, comprising at least one of another unidirectional diode having a positive electrode facing the first battery and a negative electrode facing the power consuming unit.
[Item 13]
Item 11. The UAV of item 10, wherein the power unit includes an electrical switch in a closed position during the first mode and the second mode.
[Item 14]
Furthermore,
A charge control unit is provided between the first battery and the second battery;
Item 4. The UAV according to Item 1, wherein the charge control unit controls charging of the second battery by the first battery.
[Item 15]
Item 1. The UAV of item 1, wherein during the first mode, the first battery is electrically connected to the second battery.
[Item 16]
Item 16. The UAV of item 15, wherein the second battery supplies power at a lower voltage than the first battery.
[Item 17]
A method for supplying energy to a UAV, the method comprising:
Supplying power to the UAV's (1) propulsion unit and (2) a power consuming unit with a first battery;
Powering the propulsion unit with a second battery and powering the power consuming unit of the UAV with the second battery;
And (1) disabling power supply to the UAV's (1) propulsion unit and (2) the power consuming unit with the first battery.
[Item 18]
18. The method of item 17, wherein the propulsion unit includes one or more rotor blades that generate lift for the UAV.
[Item 19]
When the first battery stops supplying power to (1) the propulsion unit and (2) the power consumption unit of the UAV, the UAV is stationary on the surface. The method described.
[Item 20]
20. The method of item 19, wherein the UAV is in flight when the first battery is supplying power to the (1) propulsion unit and (2) the power consuming unit of the UAV.
[Item 21]
20. The method of item 19, wherein the surface is a landing zone of an energy supply station that performs at least one of recharging the first battery and replacing the first battery with another battery.
[Item 22]
Furthermore,
22. The method of item 21, comprising disconnecting the first battery from the UAV using a battery replacement member.
[Item 23]
18. The item 17, comprising charging the second battery during the stage of powering the UAV with (1) the propulsion unit and (2) the power consuming unit with the first battery. the method of.
[Item 24]
24. The method of item 23, comprising charging the second battery with the first battery while the UAV is in flight.
[Item 25]
18. A method according to item 17, wherein the power unit includes a unidirectional diode having a positive electrode facing the second battery and a negative electrode facing the power consumption.
[Item 26]
A power unit comprising: a unidirectional diode having a positive electrode facing the second battery and a negative electrode facing the power consuming unit;
18. A method according to item 17, comprising at least one of another unidirectional diode having a positive electrode facing the first battery and a negative electrode facing the power consuming unit.
[Item 27]
18. The method of item 17, wherein the second battery supplies a lower voltage than the first battery.
[Item 28]
A method for supplying energy to a UAV, the method comprising:
Supplying power to the UAV's (1) propulsion unit and (2) a power consuming unit with a first battery;
Charging the second battery with the first battery;
Powering the power consuming unit of the UAV with the second battery;
And (1) no power supply to the propulsion unit of the UAV and (2) the power consuming unit of the UAV with the first battery.
[Item 29]
29. A method according to item 28, wherein the propulsion unit includes one or more rotor blades configured to generate lift for the UAV.
[Item 30]
In the item 28, when the first battery stops supplying power to the (1) propulsion unit and (2) the power consuming unit of the UAV, the UAV is stationary on the surface. The method described.
[Item 31]
31. The method of item 30, wherein the UAV is in flight when the first battery powers the (1) propulsion unit and (2) the power consuming unit of the UAV.
[Item 32]
31. A method according to item 30, wherein the surface is a landing zone of an energy supply station that performs at least one of recharging the first battery and replacing the first battery with another battery.
[Item 33]
33. The method of item 32, wherein the energy supply station includes a battery replacement member configured to disconnect the first battery from the UAV.
[Item 34]
35. Item 34, comprising charging the second battery during the steps of powering the UAV with (1) the propulsion unit and (2) the power consuming unit of the UAV. the method of.
[Item 35]
35. The method of item 34, comprising charging the second battery with the first battery while the UAV is in flight.
[Item 36]
29. A method according to item 28, wherein the power unit includes a unidirectional diode having a positive electrode facing the second battery and a negative electrode facing the power consumption.
[Item 37]
A power unit comprising: a unidirectional diode having a positive electrode facing the second battery and a negative electrode facing the power consuming unit;
29. A method according to item 28, comprising at least one of another unidirectional diode having a positive electrode facing the first battery and a negative electrode facing the power consuming unit.
[Item 38]
29. A method according to item 28, wherein the second battery is configured to supply a lower voltage than the first battery.
[Item 39]
A method for providing a continuous power supply to a UAV, the method comprising:
(A) providing the UAV coupled to a battery that supplies power to the UAV;
(B) disconnecting the battery from the UAV so that the battery no longer supplies power to the UAV;
(C) before or during the disconnecting step of set (b), using a power unit to supply power to the UAV, so that before the battery is disconnected from the UAV, Thereafter, leaving the UAV powered.
[Item 40]
Furthermore,
40. A method according to item 39, comprising supporting the UAV on a UAV landing zone of an energy supply station.
[Item 41]
The method is further
40. The method of item 39, comprising disconnecting the battery from the UAV using a battery replacement member.
[Item 42]
42. A method according to item 41, wherein the battery replacement member is part of an energy supply station.
[Item 43]
42. A method according to item 41, wherein the battery exchange member is a robot arm.
[Item 44]
40. The method of item 39, wherein the UAV is a rotary wing aircraft capable of landing vertically on an energy supply station.
[Item 45]
40. The method of item 39, wherein the UAV is a rotary wing aircraft capable of moving vertically from an energy supply station.
[Item 46]
40. The method of item 39, wherein the UAV landing zone includes a plurality of visible markers configured to assist the UAV in landing.
[Item 47]
49. The method of item 46, wherein the plurality of visible markers includes a plurality of images.
[Item 48]
49. The method of item 46, wherein the plurality of visible markers comprises a plurality of LED lights.
[Item 49]
41. A method according to item 40, wherein the UAV energy supply station is portable.
[Item 50]
Furthermore,
Connecting another battery to the UAV,
40. A method according to item 39, wherein the another battery is configured to supply power to the UAV when coupled to the UAV.
[Item 51]
51. The method of item 50, wherein the another battery is coupled to the UAV using a battery replacement member that disconnects the battery from the UAV.
[Item 52]
Furthermore,
52. The method of item 51, comprising charging the battery while the battery is disconnected from the UAV, and then connecting the battery to the UAV using the battery replacement member.
[Item 53]
51. A method according to item 50, wherein when the another battery is connected to the UAV, it has a higher level of charge than the battery when disconnected from the UAV.
[Item 54]
Removing the other battery from the movable battery storage unit;
The movable battery storage unit includes a plurality of holding stations configured to collectively store a plurality of batteries capable of supplying power to the UAV when connected to the UAV.
51. The method of item 50, wherein the mobile battery storage unit is configured to allow simultaneous movement of the plurality of holding stations relative to the UAV landing zone.
[Item 55]
40. The method of item 39, comprising providing power to the UAV using the power unit while a battery is not coupled to the UAV.
[Item 56]
40. A method according to item 39, comprising connecting the power unit to the UAV before disconnecting the battery from the UAV.
[Item 57]
40. A method according to item 39, wherein the power unit is an electrical line from an electrical energy source.
[Item 58]
58. The method of item 57, wherein the electrical energy source is a renewable energy generating power source.
[Item 59]
58. A method according to item 57, wherein the electrical energy source is a power supply network.
[Item 60]
40. The method of item 39, wherein the power unit is another battery.
[Item 61]
61. A method according to item 60, wherein the another battery is mounted on an energy supply station supporting the UAV.
[Item 62]
61. A method according to item 60, wherein the another battery is mounted on the UAV.
[Item 63]
40. The method of item 39, wherein the UAV has a maximum dimension of at most 100 cm.
[Item 64]
40. The method of item 39, wherein the UAV includes a recessed area within which the battery is removed to disconnect from the UAV.
[Item 65]
40. The method of item 39, wherein the UAV includes a recessed area within which the battery is inserted to connect to and supply power to the UAV.
[Item 66]
68. Item 65, wherein the battery or another battery is configured to be inserted into the recessed area to connect to the UAV and to supply power to the UAV after the battery is disconnected from the UAV. Method.
[Item 67]
Storing the battery in a movable battery storage unit;
The movable battery storage unit includes a plurality of holding stations configured to collectively store a plurality of batteries capable of supplying power to the UAV when connected to the UAV.
40. The method of item 39, wherein the mobile battery storage unit is configured to allow simultaneous movement of the plurality of holding stations relative to the UAV landing zone.
[Item 68]
UAV landing zone,
A battery replacement member;
A UAV energy supply station comprising a power unit,
The UAV landing zone is configured to support the UAV when the UAV is stationary on the station, and the UAV is connected to a battery that supplies power to the UAV;
The battery replacement member is configured to disconnect the battery from the UAV so that the battery no longer supplies power to the UAV.
The power unit supplies power to the UAV before or during disconnection, thereby leaving the UAV powered before, during and after the battery is disconnected from the UAV. A UAV energy supply station configured.
[Item 69]
69. A UAV energy supply station according to item 68, further comprising a support for the UAV on the UAV landing zone of the energy supply station.
[Item 70]
The UAV energy supply station according to item 68, wherein the battery replacement member is a robot arm.
[Item 71]
69. The UAV energy supply station of item 68, wherein the UAV is a rotary wing aircraft capable of landing on the station in a vertical direction.
[Item 72]
69. The UAV energy supply station of item 68, wherein the UAV is a rotary wing aircraft capable of moving vertically from the station.
[Item 73]
69. The UAV energy supply station of item 68, wherein the UAV landing zone includes a plurality of visible markers configured to assist the UAV in landing.
[Item 74]
74. The UAV energy supply station of item 73, wherein the plurality of visible markers includes a plurality of images.
[Item 75]
74. The UAV energy supply station according to item 73, wherein the plurality of visible markers includes a plurality of LED lights.
[Item 76]
69. The UAV energy supply station according to item 68, wherein the UAV energy supply station is portable.
[Item 77]
Furthermore,
Another battery connected to the UAV,
69. The UAV energy supply station of item 68, wherein the another battery is configured to supply power to the UAV when coupled to the UAV.
[Item 78]
80. The UAV energy supply station of item 77, wherein the another battery is connected to the UAV using a battery replacement member that disconnects the battery from the UAV.
[Item 79]
79. The UAV energy supply station of item 77, wherein when the another battery is connected to the UAV, the UAV energy supply station has a higher charge level than the battery when disconnected from the UAV.
[Item 80]
Furthermore,
It has a movable battery storage unit,
The movable battery storage unit includes a plurality of holding stations configured to collectively store a plurality of batteries capable of supplying power to the UAV when connected to the UAV.
69. The UAV energy supply station of item 68, wherein the mobile battery storage unit is configured to allow simultaneous movement of the plurality of holding stations relative to the UAV landing zone.
[Item 81]
Furthermore,
69. The UAV energy supply station of item 68, comprising a power unit configured to supply power to the UAV while a battery is not connected to the UAV.
[Item 82]
70. A UAV energy supply station according to item 68, wherein the power unit is an electrical line from an electrical energy source.
[Item 83]
82. The UAV energy supply station of item 81, wherein the electrical energy source is a renewable energy generating power source.
[Item 84]
84. The UAV energy supply station according to item 83, wherein the electrical energy source is a power supply network.
[Item 85]
70. The UAV energy supply station according to item 68, wherein the power unit is another battery.
[Item 86]
86. The UAV energy supply station according to item 85, wherein the another battery is mounted on the energy supply station that supports the UAV.
[Item 87]
86. The UAV energy supply station according to item 85, wherein the another battery is mounted on the UAV.
[Item 88]
69. The UAV energy supply station of item 68, wherein the UAV has a maximum dimension of at most 100 cm.
[Item 89]
69. The UAV energy supply station of item 68, wherein the UAV includes a recessed area within which the battery is removed to disconnect from the UAV.
[Item 90]
69. The UAV energy supply station of item 68, wherein the UAV includes a recessed area, into which the battery is inserted to connect to and supply power to the UAV.
[Item 91]
91. Item 90, wherein the battery or another battery is configured to be inserted into the recessed area to connect to and supply power to the UAV after the battery is disconnected from the UAV. UAV energy supply station.
[Item 92]
The battery is in a movable battery storage unit,
The movable battery storage unit includes a plurality of holding stations configured to collectively store a plurality of batteries capable of supplying power to the UAV when connected to the UAV.
69. The UAV energy supply station of item 68, wherein the mobile battery storage unit is configured to allow simultaneous movement of the plurality of holding stations relative to the UAV landing zone.
[Item 93]
UAV landing zone,
A UAV energy supply station comprising a battery exchange member,
The UAV landing zone is configured to support the UAV when the UAV is stationary on the station. The UAV supplies power to the UAV. (1) A battery and the battery When not connected to the UAV, it is connected to (2) a backup power source that supplies power to the UAV,
The battery replacement member is configured to disconnect the battery from the UAV so that the battery does not supply power to the UAV, and the backup power source supplies power to the UAV before or when it is disconnected. A UAV energy supply station configured to supply and thereby leave the UAV powered before, during and after the battery is disconnected from the UAV.
[Item 94]
94. The UAV energy supply station according to item 93, wherein the backup power source is another battery mounted on the UAV.
[Item 95]
94. The UAV energy supply station according to Item 93, wherein the backup power source is a renewable energy generating power source mounted on the UAV.
[Item 96]
Furthermore,
94. A UAV energy supply station according to item 93, comprising a support for the UAV on the UAV landing zone of the energy supply station.
[Item 97]
94. The UAV energy supply station according to item 93, wherein the battery replacement member is a part of the energy supply station.
[Item 98]
94. The UAV energy supply station according to item 93, wherein the battery replacement member is a robot arm.
[Item 99]
94. The UAV energy supply station of item 93, wherein the UAV is a rotary wing aircraft capable of landing in the vertical direction from the station.
[Item 100]
94. The UAV energy supply station of item 93, wherein the UAV is a rotary wing aircraft capable of moving vertically from the station.
[Item 101]
94. The UAV energy supply station of item 93, wherein the UAV landing zone includes a plurality of visible markers configured to assist the UAV in landing.
[Item 102]
102. The UAV energy supply station of item 101, wherein the plurality of visible markers includes a plurality of images.
[Item 103]
102. The UAV energy supply station according to item 101, wherein the plurality of visible markers includes a plurality of LED lights.
[Item 104]
94. A UAV energy supply station according to item 93, wherein the UAV energy supply station is portable.
[Item 105]
Furthermore,
Another battery connected to the UAV,
94. The UAV energy supply station of item 93, wherein the another battery is configured to supply power to the UAV when coupled to the UAV.
[Item 106]
106. The UAV energy supply station of item 105, wherein the another battery is connected to the UAV using a battery replacement member that disconnects the battery from the UAV.
[Item 107]
106. The UAV energy supply station of item 105, wherein when the another battery is connected to the UAV, the UAV energy supply station has a higher charge level than the battery when disconnected from the UAV.
[Item 108]
Furthermore,
It has a movable battery storage unit,
The movable battery storage unit includes a plurality of holding stations configured to collectively store a plurality of batteries capable of supplying power to the UAV when connected to the UAV;
94. A UAV energy supply station according to item 93, wherein the movable battery storage unit is configured to allow simultaneous movement of the plurality of holding stations relative to the UAV landing zone.
[Item 109]
Furthermore,
94. The UAV energy supply station of item 93, comprising a power unit configured to supply power to the UAV while a battery is not connected to the UAV.
[Item 110]
94. The UAV energy supply station of item 93, wherein the power unit is an electrical line from an electrical energy source.
[Item 111]
111. The UAV energy supply station of item 110, wherein the electrical energy source is a renewable energy generating power source.
[Item 112]
111. A UAV energy supply station according to item 110, wherein the electrical energy source is a power supply network.
[Item 113]
94. The UAV energy supply station of item 93, wherein the power unit is another battery.
[Item 114]
114. The UAV energy supply station according to item 113, wherein the another battery is mounted on the energy supply station that supports the UAV.
[Item 115]
114. The UAV energy supply station according to item 113, wherein the another battery is mounted on the UAV.
[Item 116]
94. The UAV energy supply station of item 93, wherein the UAV has a maximum dimension of up to 100 cm.
[Item 117]
94. The UAV energy supply station of item 93, wherein the UAV includes a recessed area within which the battery is removed to disconnect from the UAV.
[Item 118]
94. The UAV energy supply station of item 93, wherein the UAV includes a recessed area, into which the battery is inserted to connect to and supply power to the UAV.
[Item 119]
94. The UAV of item 93, wherein the battery or another battery is configured to be inserted into a recessed area to connect to and supply power to the UAV after the battery is disconnected from the UAV. Energy supply station.
[Item 120]
A method for supplying energy to a UAV, the method comprising:
Providing the UAV coupled to a battery configured to power the UAV;
With the aid of a processor, (1) evaluating the reliability of the first backup energy source for the UAV and (2) the second backup energy source for the UAV;
Selecting the first backup energy source or the second backup energy source based on the evaluated reliability with the aid of a processor, and
The first backup energy source for the UAV is configured to power the UAV when the battery is disconnected from the UAV;
The method wherein the second backup energy source for the UAV is configured to power the UAV when a battery is disconnected from the UAV.
[Item 121]
More
123. A method according to item 120, comprising supporting the UAV on a UAV landing zone of an energy supply station.
[Item 122]
124. A method according to item 121, comprising disconnecting the battery from the UAV using a battery replacement member of the energy supply station.
[Item 123]
121. A method according to item 120, wherein the first backup energy source is another battery installed in the UAV.
[Item 124]
124. The method of item 123, wherein a lower state of charge corresponds to a lower rated reliability for the first backup energy source.
[Item 125]
121. The method of item 120, wherein the second backup energy source is a power unit mounted on an energy supply station that supports the UAV while the UAV is not in flight.
[Item 126]
126. A method according to item 125, wherein the reliability is evaluated based on consistency of power over time supplied by the power unit.
[Item 127]
127. A method according to item 126, wherein a greater inconsistency corresponds to a lower rated reliability for the second backup energy source.
[Item 128]
If the first backup energy source has a higher rated reliability than the second backup energy source, the first backup energy source is selected;
121. The method of item 120, wherein the second backup energy source is selected if the second backup energy source has a higher rated reliability than the first backup energy source.
[Item 129]
If the first backup energy source is a predetermined source and the evaluated reliability of the first backup energy source does not fall below a predetermined threshold, the first backup energy source is selected;
If the second backup energy source is a predetermined source and the estimated reliability of the second backup energy source does not fall below a predetermined threshold, the second backup energy source is selected; 121. The method according to item 120.
[Item 130]
More
Disconnecting the battery from the UAV using a battery replacement member;
Providing power to the UAV using the selected first backup energy source or second backup energy source while a battery is not coupled to the UAV;
121. A method according to item 120, wherein, in the disconnecting step, the battery is configured not to supply power to the UAV when disconnected from the UAV.

Claims (12)

A method of supplying energy to a UAV,
Supplying power to the UAV from a battery connected to the UAV;
With the aid of a processor, (1) evaluating the reliability of the first backup energy source and (2) the second backup energy source;
Selecting the first backup energy source or the second backup energy source based on the evaluated reliability;
The first backup energy source supplies power to the UAV when the battery is disconnected from the UAV;
The method wherein the second backup energy source supplies power to the UAV when the battery is disconnected from the UAV. The method of claim 1, further comprising supporting the UAV on a landing zone of the UAV of an energy supply station.   The method of claim 2, comprising disconnecting the battery from the UAV using a battery replacement member of the energy supply station.   The method according to any one of claims 1 to 3, wherein the first backup energy source is another battery installed in the UAV.   The method of claim 4, wherein a lower state of charge corresponds to a lower reliability for the first backup energy source.   6. The method according to any one of claims 1 to 5, wherein the second backup energy source is a power unit mounted on an energy supply station that supports the UAV when the UAV is not in flight.   The method of claim 6, wherein the reliability is evaluated based on a consistency of power over time provided by the power unit.   The method of claim 7, wherein a greater inconsistency corresponds to a lower reliability for the second backup energy source. If the first backup energy source is more reliable than the second backup energy source, the first backup energy source is selected;
The method according to any one of claims 1 to 8, wherein the second backup energy source is selected if the second backup energy source is more reliable than the first backup energy source. . If the first backup energy source is a predetermined source and the reliability of the first backup energy source does not fall below a predetermined threshold, the first backup energy source is selected;
The second backup energy source is selected if the second backup energy source is a predetermined source and the reliability of the second backup energy source does not fall below a predetermined threshold. The method according to any one of 9 to 9. Further using a battery replacement member to disconnect the battery from the UAV and not supply power to the UAV from the battery;
Supplying power to the UAV using the selected first backup energy source or the second backup energy source when a battery is not coupled to the UAV. The method according to any one of 10 above. One or more processors,
12. The apparatus, wherein the one or more processors perform a method according to any one of claims 1-11.

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