ABSTRACT
Abstract
Systems and methods in accordance with various embodiments of the invention can be utilized to implement unmanned aerial vehicles (âUAVsâ) designed for autonomous operation in cluttered environments, indoor environments and/or as photography drones. One embodiment includes: launching an unmanned aerial vehicle (UAV); performing in flight path planning to scan an area for people using the UAV; detecting the presence of at least one subject by processing image data captured by at least one camera on the UAV; determining at least one pose from which to capture images of detected at least one subject using the UAV; performing path planning to navigate the UAV to the determined at least one pose; and capturing images of the detected at least one subject using at least one camera on the UAV when the UAV is posed in one of the determined at least one pose.
Description
CROSS-REFERENCE TO RELATED APPLICATIONS
The current application claims priority under 35 U.S.C. § 119(e) to U.S. Provisional Patent Application Ser. No. 62/208,408 entitled âDucted Rotor Unmanned Aerial Vehiclesâ to Tseng et al., filed Aug. 21, 2015. The disclosure of U.S. Provisional Patent Application Ser. No. 62/208,408 is hereby incorporated by reference in its entirety.
FIELD OF THE INVENTION
The present invention relates to unmanned aerial vehicles and more specifically to unmanned aerial vehicles configured to operate in cluttered environments.
BACKGROUND
Unmanned or uninhabited aerial vehicles (âUAVsâ), commonly referred to as drones, are aircraft without a human pilot aboard. UAVs may be remotely piloted and/or can navigate autonomously. A variety of propulsion technologies are currently utilized. UAVs that are in use today vary in size from Micro Air Vehicles (âMAVsâ) having no dimension larger than 15 cm to UAVs with wingspans of several tens of feet. Depending upon the application, UAVs can carry cameras, sensors, communications equipment, and/or other payloads.
For operation in highly-congested, highly cluttered environments like urbanized areas, whether indoors or outdoors, UAVs are typically required to be able to have high maneuverability at low speeds, and the capability of hovering. UAVs that have these capabilities are typically regarded to fall within three classes: rotating-wing configurations, like helicopters and tilt-rotors, flapping-wing configurations (emulating birds or insects), and fixed wing configurations with powered-lift capability. For any aircraft, low-speed flight and hovering flight are inherently power-hungry and rotary-wing aircraft tend to exhibit the highest efficiency in hover and low-speed flight relative to other propulsion systems.
The design of a propulsion system for a smaller UAV can be significantly different from the design of a propulsion system for a larger piloted aircraft. Large aircraft, such as commercial airliners and helicopters, operate at Reynolds numbers in the tens of millions, whereas smaller UAVs such as MAVs can operate in a Reynolds number regime of approximately 10,000 to 50,000. The primary implication of operation at comparatively lower Reynolds numbers is a reduction in the maximum lift capacity of an airfoil and increases in pressure drag and skin friction drag when the flow remains attached to the airfoil. Together, these effects can result in extremely low lift-to-drag ratios for airfoils in low Reynolds number flows. The degraded performance of airfoils is an obstacle faced by both fixed and rotary wing MAVs, but is especially critical for the latter, as they spend a large portion of flight in power-intensive hovering and low-speed conditions.
A variety of propulsion systems are currently being utilized in commercial UAVs designed for hovering including coaxial multirotor propulsion systems, radial multirotor propulsion systems, and ducted fans. Coaxial multirotor systems utilize a pair of rotors that are aligned coaxially and configured to rotate in opposite directions. In order to control pitch, yaw, and roll, a coaxial multirotor system typically includes a mechanism that adjusts the pitch of the propeller blades. Usually the pitch change is achieved by mounting servos with mechanical linkages to the propeller blades so that the angle of the propellers can be adjusted. Radial multirotor systems can overcome some of the complexity of coaxial multirotor systems by eliminating the need to tilt the propeller blades to control pitch, yaw, and roll.
Radial multirotor systems are utilized by a class of UAVs that includes quadcopters, hexcopters, and octocopters. Radial multirotor systems typically utilize at least two pairs of fixed pitch propellers. Typically, the pairs of rotors do not all share the same direction of rotation and variations in the angular velocity of the rotors can be utilized to control lift and torque. The principles utilized in the construction of radial multirotor systems can also be utilized to construct UAVs that include coaxial pairs of radial rotors.
UAVs including coaxial and/or radial multirotor propulsion systems often include frames that enclose the rotors to protect the rotors and/or environment during flight. A distinction can be drawn between the use of a frame to protect a propeller and a ducted fan propulsion system. A ducted fan is a propulsion arrangement whereby a mechanical fan, which is a type of propeller, is mounted within a shroud or duct. The duct reduces losses in thrust from the tips of the props, and varying the cross-section of the duct can advantageously affect velocity and pressure of airflow.
SUMMARY OF THE INVENTION
Systems and methods in accordance with various embodiments of the invention can be utilized to implement unmanned aerial vehicles (âUAVsâ) designed for autonomous operation in cluttered environments, indoor environments and/or as photography drones. An embodiment of the method of the invention includes: launching an unmanned aerial vehicle (UAV) by executing an automatic takeoff process; utilizing a map maintained by the UAV to perform in flight path planning to scan an area for people using the UAV; detecting the presence of at least one subject by processing image data captured by at least one camera on the UAV; determining at least one pose from which to capture images of detected at least one subject using the UAV; performing path planning to navigate the UAV to the determined at least one pose; and capturing images of the detected at least one subject using at least one camera on the UAV when the UAV is posed in one of the determined at least one pose.
A further embodiment also includes capturing audio data using a microphone on the UAV.
Another embodiment includes: at least one rotor incorporating uneven blade spacing mounted within a ducted propulsion system; a flight management unit (FMU) configured to handle all of the computation associated with controlling rotors within the ducted propulsion system; a robotics processing unit (RPU) configured to perform autonomous navigation; and an application processing unit (APU) configured to perform processing associated with high level behavior.
In a still further embodiment, the APU is configured to execute processes including: identification of subjects of interest; pose selection; and image acquisition.
In still another embodiment, each of the FMU, RPU, and APU includes a microprocessor.
While several embodiments are described above, this summary of the invention does not provide a complete summary of all of the novel aspects of the various embodiments of the invention that are described herein. Accordingly, the scope of the invention should be determined based upon the claims appended hereto, and/or any claims that may be added by way of amendment at any point during the prosecution of this application and/or any continuation or continuation-in-part application claiming priority to this application.
BRIEF DESCRIPTION OF THE DRAWINGS
A ducted rotor UAV in accordance with an embodiment of the invention is illustrated in FIGS. 1 and 2A-2G .
FIGS. 3A and 3B , which are reproduced from the Paulos and Yim paper referenced below, conceptually illustrate the manner in which an underactuated rotor can be utilized for attitude control in a UAV.
FIG. 4A illustrates a five airfoil blade.
FIG. 4B conceptually illustrates the power spectrum of sound generated by the evenly spaced rotor illustrated in FIG. 4A .
FIG. 4C illustrates a balanced rotor including five unevenly spaced airfoil blades.
FIG. 4D conceptually illustrates the power spectrum of sound generated by the rotor shown in FIG. 4C .
FIG. 4E illustrates a rotor including five unevenly spaced airfoil blades in accordance with an embodiment of the invention.
FIG. 4F illustrates a rotor including four unevenly spaced airfoil blades in accordance with an embodiment of the invention.
FIG. 5A illustrates an UAV including noise absorptive baffles located within inlet and outlet openings of the UAV's duct in accordance with an embodiment of the invention.
FIG. 5B illustrates an UAV including noise absorptive meshes located across inlet and outlet openings of the UAV's duct in accordance with an embodiment the invention.
FIG. 6A illustrates an UAV including a pair of rotors mounted to the same support structure within a duct in accordance with an embodiment of the invention.
FIG. 6B illustrates an UAV including a pair of rotors mounted to different support structures within a duct in accordance with an embodiment of the invention.
FIG. 7A illustrates a support structure which aligns with the span of the rotor blade.
FIG. 7B illustrates an UAV including a support structure having spiral arms in accordance with an embodiment of the invention.
FIG. 7C illustrates an UAV including support structures having straight arms that do not extend radially across the duct in accordance with an embodiment of the invention.
A variety of blade shapes that can be shown to be beneficial for reducing noise at low Reynolds numbers are illustrated in FIGS. 8A-8F .
FIG. 9A illustrates electrical components of an UAV in accordance with an embodiment of the invention.
FIG. 9B illustrates a power system of a UAV and its docking station in accordance with an embodiment of the invention.
FIG. 10 illustrates a software architecture that can be utilized by an UAV in accordance with an embodiment of the invention.
FIG. 11A is a flow chart that conceptually illustrates execution of a virtual photographer application by processors on a UAV in accordance with an embodiment of the invention.
FIG. 11B . illustrates a process for selecting photos captured by a UAV to present via a user interface that can execute on a remote server in accordance with an embodiment of the invention.
FIG. 12 illustrates a UAV incorporating multiple radial ducted rotor propulsion systems in accordance with an embodiment of the invention.
DETAILED DESCRIPTION
Turning now to the drawings, unmanned aerial vehicles (âUAVsâ) designed for autonomous operation in cluttered environments in accordance with various embodiments of the invention are illustrated. In several embodiments, the UAV is capable of autonomous navigation and is configured to carry a payload including (but not limited to) a camera for taking photographs of the operating environment of the UAV. In certain embodiments, the UAV is capable of utilizing a machine vision system to identify people within its operating environment. Having located individual people, the UAV can autonomously navigate to a position from which a photograph of the person can be taken using the UAV's camera. In this way, a UAV can autonomously move through a cluttered indoor and/or outdoor environment capturing images of people and/or other objects of interest within the environment. As can readily be appreciated, noise generated by a UAV while capturing images can be distracting to those proximate the drone and/or can introduce additional background noise into audio recordings captured by the UAV. Accordingly, UAVs in accordance with many embodiments of the invention incorporate one or more design elements aimed at reducing the amount of noise generated by the UAV and/or modifying the spectral content of the noise to reduce the extent to which the noise is distracting to people within the vicinity of the UAV. During operation, the UAV can communicate with remote servers and/or local computing devices via a network connection with a wireless gateway device. When not in operation, the UAV can autonomously navigate to a docking station to perform data transfer and obtain power. In several embodiments, the UAV can perch on the docking station and analyze a scene to detect the presence of subjects of interest. When one or more subjects of interest are located, the UAV may take flight to investigate and/or capture images, audio and/or video of the subjects. In many embodiments, the docking station incorporates a computing system and the drone can communicate with the docking station to utilize it as a computing resource.
In several embodiments, the UAVs employ a ducted rotor propulsion system in which one or more rotors are coaxially mounted within a duct. In many embodiments, the ducted rotor propulsion system incorporates at least one underactuated rotor for attitude control. Attitude control is the control of the orientation of the UAV with respect to an internal frame of reference. An underactuated rotor can be utilized to control roll and pitch. Yaw can be controlled by varying the relative speed of the rotors. In certain embodiments, the underactuated rotor includes a rigid hub linked to multiple semi-rigid airfoil blades that are attached to the hub through the use of hinge mechanisms. The use of underactuated rotors to achieve attitude control is described in detail in Patent Cooperation Treaty Application No. PCT/US2014/027841 (published as WO2014160526), the disclosure from which including the disclosure related to the use of underactuated rotors to achieve attitude control is hereby incorporated by reference in its entirety. In several embodiments, the underactuated rotor propulsion system also includes at least one rotor having fixed airfoil blades (i.e. rotors that are not underactuated).
As is discussed in further detail below, many embodiments of the invention utilize underactuated and other hinged rotors to dynamically achieve uneven airfoil blade spacing to more evenly distribute the power spectrum of acoustic pressure waves generated by the rotor. A rotor driven with a constant blade passage frequency typically generates a characteristic âbuzzingâ sound often likened to the sound of a swarm of bees. The power spectrum of such a rotor is characterized by peaks at harmonic frequencies related to the blade passage frequency of the rotor. By dynamically modifying airfoil blade spacing of an underactuated rotor using an impulsive torque applied to the rotor, the rotor can be driven in a manner that results in a sound that is more similar to white noise/wind blowing (i.e. a more evenly distributed power spectrum). Rotors with fixed airfoil blades can also be constructed to include uneven airfoil blade spacing to achieve a similar power spectrum for the acoustic pressure waves generated by the rotor.
In certain embodiments, various aspects of the duct utilized in the ducted rotor propulsion system are designed to limit the amount of noise generated by the UAV. The use of a duct can serve to reduce direct line of site propagation of acoustic pressure waves from the rotors. In a number of embodiments, the interior surface of the duct is furth
CROSS-REFERENCE TO RELATED APPLICATIONS
The current application claims priority under 35 U.S.C. § 119(e) to U.S. Provisional Patent Application Ser. No. 62/208,408 entitled âDucted Rotor Unmanned Aerial Vehiclesâ to Tseng et al., filed Aug. 21, 2015. The disclosure of U.S. Provisional Patent Application Ser. No. 62/208,408 is hereby incorporated by reference in its entirety.
FIELD OF THE INVENTION
The present invention relates to unmanned aerial vehicles and more specifically to unmanned aerial vehicles configured to operate in cluttered environments.
BACKGROUND
Unmanned or uninhabited aerial vehicles (âUAVsâ), commonly referred to as drones, are aircraft without a human pilot aboard. UAVs may be remotely piloted and/or can navigate autonomously. A variety of propulsion technologies are currently utilized. UAVs that are in use today vary in size from Micro Air Vehicles (âMAVsâ) having no dimension larger than 15 cm to UAVs with wingspans of several tens of feet. Depending upon the application, UAVs can carry cameras, sensors, communications equipment, and/or other payloads.
For operation in highly-congested, highly cluttered environments like urbanized areas, whether indoors or outdoors, UAVs are typically required to be able to have high maneuverability at low speeds, and the capability of hovering. UAVs that have these capabilities are typically regarded to fall within three classes: rotating-wing configurations, like helicopters and tilt-rotors, flapping-wing configurations (emulating birds or insects), and fixed wing configurations with powered-lift capability. For any aircraft, low-speed flight and hovering flight are inherently power-hungry and rotary-wing aircraft tend to exhibit the highest efficiency in hover and low-speed flight relative to other propulsion systems.
The design of a propulsion system for a smaller UAV can be significantly different from the design of a propulsion system for a larger piloted aircraft. Large aircraft, such as commercial airliners and helicopters, operate at Reynolds numbers in the tens of millions, whereas smaller UAVs such as MAVs can operate in a Reynolds number regime of approximately 10,000 to 50,000. The primary implication of operation at comparatively lower Reynolds numbers is a reduction in the maximum lift capacity of an airfoil and increases in pressure drag and skin friction drag when the flow remains attached to the airfoil. Together, these effects can result in extremely low lift-to-drag ratios for airfoils in low Reynolds number flows. The degraded performance of airfoils is an obstacle faced by both fixed and rotary wing MAVs, but is especially critical for the latter, as they spend a large portion of flight in power-intensive hovering and low-speed conditions.
A variety of propulsion systems are currently being utilized in commercial UAVs designed for hovering including coaxial multirotor propulsion systems, radial multirotor propulsion systems, and ducted fans. Coaxial multirotor systems utilize a pair of rotors that are aligned coaxially and configured to rotate in opposite directions. In order to control pitch, yaw, and roll, a coaxial multirotor system typically includes a mechanism that adjusts the pitch of the propeller blades. Usually the pitch change is achieved by mounting servos with mechanical linkages to the propeller blades so that the angle of the propellers can be adjusted. Radial multirotor systems can overcome some of the complexity of coaxial multirotor systems by eliminating the need to tilt the propeller blades to control pitch, yaw, and roll.
Radial multirotor systems are utilized by a class of UAVs that includes quadcopters, hexcopters, and octocopters. Radial multirotor systems typically utilize at least two pairs of fixed pitch propellers. Typically, the pairs of rotors do not all share the same direction of rotation and variations in the angular velocity of the rotors can be utilized to control lift and torque. The principles utilized in the construction of radial multirotor systems can also be utilized to construct UAVs that include coaxial pairs of radial rotors.
UAVs including coaxial and/or radial multirotor propulsion systems often include frames that enclose the rotors to protect the rotors and/or environment during flight. A distinction can be drawn between the use of a frame to protect a propeller and a ducted fan propulsion system. A ducted fan is a propulsion arrangement whereby a mechanical fan, which is a type of propeller, is mounted within a shroud or duct. The duct reduces losses in thrust from the tips of the props, and varying the cross-section of the duct can advantageously affect velocity and pressure of airflow.
SUMMARY OF THE INVENTION
Systems and methods in accordance with various embodiments of the invention can be utilized to implement unmanned aerial vehicles (âUAVsâ) designed for autonomous operation in cluttered environments, indoor environments and/or as photography drones. An embodiment of the method of the invention includes: launching an unmanned aerial vehicle (UAV) by executing an automatic takeoff process; utilizing a map maintained by the UAV to perform in flight path planning to scan an area for people using the UAV; detecting the presence of at least one subject by processing image data captured by at least one camera on the UAV; determining at least one pose from which to capture images of detected at least one subject using the UAV; performing path planning to navigate the UAV to the determined at least one pose; and capturing images of the detected at least one subject using at least one camera on the UAV when the UAV is posed in one of the determined at least one pose.
A further embodiment also includes capturing audio data using a microphone on the UAV.
Another embodiment includes: at least one rotor incorporating uneven blade spacing mounted within a ducted propulsion system; a flight management unit (FMU) configured to handle all of the computation associated with controlling rotors within the ducted propulsion system; a robotics processing unit (RPU) configured to perform autonomous navigation; and an application processing unit (APU) configured to perform processing associated with high level behavior.
In a still further embodiment, the APU is configured to execute processes including: identification of subjects of interest; pose selection; and image acquisition.
In still another embodiment, each of the FMU, RPU, and APU includes a microprocessor.
While several embodiments are described above, this summary of the invention does not provide a complete summary of all of the novel aspects of the various embodiments of the invention that are described herein. Accordingly, the scope of the invention should be determined based upon the claims appended hereto, and/or any claims that may be added by way of amendment at any point during the prosecution of this application and/or any continuation or continuation-in-part application claiming priority to this application.
BRIEF DESCRIPTION OF THE DRAWINGS
A ducted rotor UAV in accordance with an embodiment of the invention is illustrated in FIGS. 1 and 2A-2G .
FIGS. 3A and 3B , which are reproduced from the Paulos and Yim paper referenced below, conceptually illustrate the manner in which an underactuated rotor can be utilized for attitude control in a UAV.
FIG. 4A illustrates a five airfoil blade.
FIG. 4B conceptually illustrates the power spectrum of sound generated by the evenly spaced rotor illustrated in FIG. 4A .
FIG. 4C illustrates a balanced rotor including five unevenly spaced airfoil blades.
FIG. 4D conceptually illustrates the power spectrum of sound generated by the rotor shown in FIG. 4C .
FIG. 4E illustrates a rotor including five unevenly spaced airfoil blades in accordance with an embodiment of the invention.
FIG. 4F illustrates a rotor including four unevenly spaced airfoil blades in accordance with an embodiment of the invention.
FIG. 5A illustrates an UAV including noise absorptive baffles located within inlet and outlet openings of the UAV's duct in accordance with an embodiment of the invention.
FIG. 5B illustrates an UAV including noise absorptive meshes located across inlet and outlet openings of the UAV's duct in accordance with an embodiment the invention.
FIG. 6A illustrates an UAV including a pair of rotors mounted to the same support structure within a duct in accordance with an embodiment of the invention.
FIG. 6B illustrates an UAV including a pair of rotors mounted to different support structures within a duct in accordance with an embodiment of the invention.
FIG. 7A illustrates a support structure which aligns with the span of the rotor blade.
FIG. 7B illustrates an UAV including a support structure having spiral arms in accordance with an embodiment of the invention.
FIG. 7C illustrates an UAV including support structures having straight arms that do not extend radially across the duct in accordance with an embodiment of the invention.
A variety of blade shapes that can be shown to be beneficial for reducing noise at low Reynolds numbers are illustrated in FIGS. 8A-8F .
FIG. 9A illustrates electrical components of an UAV in accordance with an embodiment of the invention.
FIG. 9B illustrates a power system of a UAV and its docking station in accordance with an embodiment of the invention.
FIG. 10 illustrates a software architecture that can be utilized by an UAV in accordance with an embodiment of the invention.
FIG. 11A is a flow chart that conceptually illustrates execution of a virtual photographer application by processors on a UAV in accordance with an embodiment of the invention.
FIG. 11B . illustrates a process for selecting photos captured by a UAV to present via a user interface that can execute on a remote server in accordance with an embodiment of the invention.
FIG. 12 illustrates a UAV incorporating multiple radial ducted rotor propulsion systems in accordance with an embodiment of the invention.
DETAILED DESCRIPTION
Turning now to the drawings, unmanned aerial vehicles (âUAVsâ) designed for autonomous operation in cluttered environments in accordance with various embodiments of the invention are illustrated. In several embodiments, the UAV is capable of autonomous navigation and is configured to carry a payload including (but not limited to) a camera for taking photographs of the operating environment of the UAV. In certain embodiments, the UAV is capable of utilizing a machine vision system to identify people within its operating environment. Having located individual people, the UAV can autonomously navigate to a position from which a photograph of the person can be taken using the UAV's camera. In this way, a UAV can autonomously move through a cluttered indoor and/or outdoor environment capturing images of people and/or other objects of interest within the environment. As can readily be appreciated, noise generated by a UAV while capturing images can be distracting to those proximate the drone and/or can introduce additional background noise into audio recordings captured by the UAV. Accordingly, UAVs in accordance with many embodiments of the invention incorporate one or more design elements aimed at reducing the amount of noise generated by the UAV and/or modifying the spectral content of the noise to reduce the extent to which the noise is distracting to people within the vicinity of the UAV. During operation, the UAV can communicate with remote servers and/or local computing devices via a network connection with a wireless gateway device. When not in operation, the UAV can autonomously navigate to a docking station to perform data transfer and obtain power. In several embodiments, the UAV can perch on the docking station and analyze a scene to detect the presence of subjects of interest. When one or more subjects of interest are located, the UAV may take flight to investigate and/or capture images, audio and/or video of the subjects. In many embodiments, the docking station incorporates a computing system and the drone can communicate with the docking station to utilize it as a computing resource.
In several embodiments, the UAVs employ a ducted rotor propulsion system in which one or more rotors are coaxially mounted within a duct. In many embodiments, the ducted rotor propulsion system incorporates at least one underactuated rotor for attitude control. Attitude control is the control of the orientation of the UAV with respect to an internal frame of reference. An underactuated rotor can be utilized to control roll and pitch. Yaw can be controlled by varying the relative speed of the rotors. In certain embodiments, the underactuated rotor includes a rigid hub linked to multiple semi-rigid airfoil blades that are attached to the hub through the use of hinge mechanisms. The use of underactuated rotors to achieve attitude control is described in detail in Patent Cooperation Treaty Application No. PCT/US2014/027841 (published as WO2014160526), the disclosure from which including the disclosure related to the use of underactuated rotors to achieve attitude control is hereby incorporated by reference in its entirety. In several embodiments, the underactuated rotor propulsion system also includes at least one rotor having fixed airfoil blades (i.e. rotors that are not underactuated).
As is discussed in further detail below, many embodiments of the invention utilize underactuated and other hinged rotors to dynamically achieve uneven airfoil blade spacing to more evenly distribute the power spectrum of acoustic pressure waves generated by the rotor. A rotor driven with a constant blade passage frequency typically generates a characteristic âbuzzingâ sound often likened to the sound of a swarm of bees. The power spectrum of such a rotor is characterized by peaks at harmonic frequencies related to the blade passage frequency of the rotor. By dynamically modifying airfoil blade spacing of an underactuated rotor using an impulsive torque applied to the rotor, the rotor can be driven in a manner that results in a sound that is more similar to white noise/wind blowing (i.e. a more evenly distributed power spectrum). Rotors with fixed airfoil blades can also be constructed to include uneven airfoil blade spacing to achieve a similar power spectrum for the acoustic pressure waves generated by the rotor.
In certain embodiments, various aspects of the duct utilized in the ducted rotor propulsion system are designed to limit the amount of noise generated by the UAV. The use of a duct can serve to reduce direct line of site propagation of acoustic pressure waves from the rotors. In a number of embodiments, the interior surface of the duct is further designed to reduce reflections of acoustic pressure waves within the UAV. In a number of embodiments, the interior wall of the duct is perforated and sound passes through the perforations to a sound absorptive material located on the opposite side of the perforations. In many embodiments, acoustic meshes are positioned across the inlet and/or outlet of the duct to further reduce direct line of site propagation of acoustic pressure waves from the rotors.
In a number of embodiments, the manner in which the rotors are mounted within the ducts is also designed to limit the amount of noise generated by the rotors. The rotors can be mounted on support structures that are designed to avoid edges that align with edges of an airfoil blade at any point during the rotation of the airfoil blade. As discussed below, rotation of an airfoil blade over an edge that aligns with a significant segment of the airfoil blade can compress the airflow over the edge generating a pressure wave. In certain embodiments, the UAV includes support structure having spiral arms to support a rotor within the ducted rotor propulsion system, where the leading convex edge of an airfoil blade passes from the convex edge of the spiral to the concave edge to avoid alignment with the edges of the blade and the spiral arm. In other embodiments, any of a variety of support structures having arms that extend in a non-radial manner can be utilized as appropriate to the requirements of specific applications in accordance with embodiments of the invention.
The airfoil blades utilized within the ducted rotor propulsion systems of the UAVs can themselves also be designed to reduce the volume of sound generated by the rotor. In several embodiments, the airfoil blades of the rotor are designed to exhibit elliptical loading along the span of the blade. In many embodiments, the airfoil blades are designed with a scimitar platform. In certain embodiments, serrations are applied to the leading edge of one or more of the airfoil blades. In a number of embodiments, serrations are applied to the trailing edges of one or more of the airfoil blades. Various airfoil blade designs that can be utilized to reduce noise generated by rotors in a UAV are discussed further below.
In several embodiments, the UAV incorporates a variety of sensors that form a sense and avoid module utilized when performing autonomous navigation. In many embodiments, the UAV utilizes a machine vision system to capture image data concerning the operating environment of the UAV. In a number of embodiments, the UAV can supplement image data with data from additional sensors including (but not limited to) accelerometers and/or gyroscopes and/or magnetometers. The data acquired by the sensor systems of the UAV can be utilized to perform simultaneous location and mapping (SLAM). SLAM processes that utilize image data are often referred to as V-SLAM processes. In several embodiments, the V-SLAM system includes a single camera that can have any of a variety of optical systems including (but not limited to) a fisheye lens, or a catadiopitc lens. In certain embodiments, the UAV includes a stereo pair of cameras. In a number of embodiments, the stereo pair of cameras have the same field of view. In other embodiments, the stereo pair of cameras have a 360 degree fields of view. In this way, disparity searches between images captured by the cameras in the stereo pair can be utilized to determine distances to features visible within the fields of view of both cameras. In addition, the stereo pair of cameras can be utilized in a multiview stereo configuration to generate a depth map of the environment surrounding the UAV. A 360 degree field of view can be obtained through the use of cameras with fisheye or catadioptric lenses or by stitching images from multiple cameras together. In a number of embodiments, the accuracy of distance measurements can be increased through the use of projected texture and/or additional cameras. In several embodiments, UAVs can use any of a variety of additional depth sensing technologies including (but not limited to) Light Detection and Ranging (LIDAR) in addition to or as alternative to a multiview stereo depth sensing technology. In many embodiments, the UAVs also include sonar systems to detect the presence of objects. The sonar systems can be particularly useful for collision avoidance in cluttered environments and can provide ranging information within blind spots of depth sensing technologies such as multiview stereo depth sensing systems. Various sensors that can be utilized within sense and avoid modules of UAVs constructed in accordance with embodiments of the invention are discussed further below.
As noted above, UAVs in accordance with many embodiments of the invention carry a primary camera as a payload and utilize the camera to capture images and/or video of the operating environment of the UAV. In several embodiments, the UAV is capable of detecting people and/or faces that are present within its operating environment. In a number of embodiments, the UAV processes depth and/or color (e.g. RGB or Black and White) channels to detect objects of interest such as people and/or faces. Maps generated by V-SLAM processes can be utilized to determine the relative pose of the primary camera and the detected people and/or faces. Based upon the relative pose, the UAV can autonomously navigate into a position where the primary camera is ideally posed for capturing an image and/or video of the one or more people present within the scene captured by the primary camera. In several embodiments, the relative pose selected by the UAV can be determined based upon factors including (but not limited to) the number of people present within the scene, presence of a beacon indicating a subject of interest, the amount of motion within the scene, light levels, direction of illumination of the scene, and/or other environmental factors. The factors that can be considered by a UAV in determining a pose from which to capture an image of a scene typically depend upon the requirements of a specific application.
While much of the above discussion refers to UAVs configured as photography robots, UAVs in accordance with various embodiments of the invention can be configured with a variety of payloads and adapted for use in many applications including (but not limited to) applications in which efficient and/or unobtrusive hovering and navigation within a cluttered environment in advantageous. UAVs, ducted propulsion systems for UAVs, construction and operation of UAVs to reduce the noise generated by the rotors of the UAV, autonomous UAV navigation systems, and autonomous navigation processes that can be utilized by a UAV during image acquisition in accordance with various embodiments of the invention are discussed further below.
Ducted Rotor UAVs Capable of Operating in Cluttered Environments
A ducted rotor UAV in accordance with an embodiment of the invention is illustrated in FIGS. 1 and 2A-2G . Acquisition of images of people within a scene by a UAV in accordance with an embodiment of the invention is conceptually illustrated in FIG. 1 . The UAV 10 autonomously navigates within an operating environment, which is typically cluttered necessitating high hovering efficiency and low speed maneuverability. During operation the UAV can utilize any of a variety of wireless communication technologies to exchange data with a variety of devices including local computing devices and remote servers. Examples of local computing devices can include (but are not limited to) smart phones, tablets, laptops, and/or a docking station. In the illustrated embodiment, the UAV 10 communicates with a remote server 12 and a mobile computing device 14 via a wireless gateway 16 . In several embodiments, the UAV can communicate directly with the local computing device ( 14 ) via the wireless gateway or indirectly over the Internet 18 via a remote server 12 . As is discussed further below, the UAV can utilize data connections to provide data for processing and/or to receive command and control instructions. In circumstances where multiple UAVs are active within the same operating environment, data connections can be utilized to share information concerning the operating environment including (but not limited to) maps and/or location information. In certain embodiments, multiple UAVs can form an ad hoc mesh network for the purpose of exchanging data including (but not limited to) location data.
In certain embodiments, the UAV returns to a docking station 20 when not in flight. In many embodiments, the docking station includes the capability to provide power to the UAV to recharge its batteries. Power can be delivered via contacts and/or wireless charging capabilities. In several embodiments, the docking station 20 incorporates fiducials and/or a beacon to guide the UAV. In a number of embodiments, the docking station can include a user interface
22 , 24 to enable a user to provide instructions to the UAV such as (but not limited to) a launch command ( 22 ), a return command ( 22 ), and/or specifying the range of the UAV ( 24 ). In certain embodiments, the docking station incorporates the wireless gateway and provides Internet connectivity. In many embodiments, the docking station includes a computer system and the UAV is able to provide data to the docking station for processing. As can readily be appreciated, the capabilities of a docking station are typically dictated by the requirements of a specific application.
In a number of embodiments, a beacon 26 can be utilized to identify important people or subjects. For example, at a wedding or a birthday party beacons can be utilized to identify a person or people that should be prioritized (or excluded) in the framing of photographs. In certain instances, a UAV can follow a person with a beacon. In other embodiments, beacons can be utilized to define a flight path or a perimeter for a UAV. The beacons can utilize any of a variety of communication technologies including (but not limited to) infrared communications, and/or Bluetooth communications. As can readily be appreciated, beacons can be utilized to identify people and/or objects in any manner appropriate to the requirements of specific applications in accordance with embodiments of the invention.
A UAV constructed in accordance with an embodiment of the invention is illustrated in more detail in FIGS. 2A-2G . The exterior of the UAV 100 is shown in FIG. 2A . The UAV 100 includes a housing 102 forming the duct of a ducted rotor propulsion system. In the illustrated embodiment, the openings in the housing are covered with a mesh 103 . In several embodiments, the mesh is provided simply to prevent contact with the rotors. In other embodiments, the mesh is constructed from an acoustically opaque material that prevents line of sight pathways between the interior and exterior of the UAV. In order to better appreciate the construction of the UAV 100 , the UAV 100 with the meshes 103 covering the housing 102 openings removed is shown in FIG. 2B .
Removing the mesh 103 reveals, the coaxial rotors
104 , 106 utilized within the ducted propulsion system of the UAV. A first rotor 104 is mounted within an inlet opening in the duct formed by the housing 102 and a second rotor 106 is mounted within an outlet opening that is also formed within the housing. The rotors
104 , 106 and the electric motors
108 , 110 that apply torque to the rotors are supported on a support structure 112 that is connected to the duct formed by the housing 102 via multiple spiral shaped arms 114 . As is discussed further below, the use of non-radial arms to support the rotors within the duct can significantly reduce noise generated by the UAV.
In several embodiments, electronic components including (but not limited to) printed circuit boards 116 on which devices such as (but not limited to) microprocessors, memory chips, and/or memory controllers can be located within the duct. Locating electronic components within the duct can provide the benefit of enabling airflow generated within the duct by the ducted rotor propulsion system to air cool the electronic components. In the illustrated embodiment, three printed circuit boards 116 that incorporate heat sinks 117 are mounted within the duct. In other embodiments, any of a variety of components and/or heat sinks can be located within the duct for air cooling. In alternative embodiments, the housing of the UAV can contain passageways that enable airflow from the rotors to pass over heat sinks that are not located within the primary duct of the UAV. As can readily be appreciated the packaging and/or cooling of electronic components within a UAV are typically dictated by the requirements of a specific application.
Exterior 118 and interior 120 surfaces of the housing form an inlet opening 122 and an outlet opening 123 of the duct containing the rotors
104 , 106 . The first rotor 104 draws air in through the inlet opening 122 and the rotors
104 , 106 generate thrust by pushing air out the outlet opening. Although a single inlet opening and a single outlet opening are shown in the embodiment illustrated in FIGS. 2D and 2F , various UAV designs including multiple inlet and/or outlet openings are discussed below.
Each rotor
104 , 106 includes multiple airfoil blades 124 . As is discussed further below, the airfoil blades 124 of the first rotor 104 are connected to the rotor hub 125 via hinges 126 . Opposing pairs of airfoil blades are hinged in what can be referred to as an underactuated rotor design. The use of an underactuated rotor to control attitude of a UAV and to dynamically control airfoil blade spacing is discussed further below. The second rotor 106 includes five fixed airfoil blades that are unevenly spaced. Although specific actuated and static rotor designs are illustrated in FIGS. 2A-2G , any of a variety of rotor designs can be utilized in the construction of a UAV in accordance with an embodiment of the invention including multiple radial rotors, rotors with even airfoil blade spacing, and/or rotors that utilize actuators and linkages to adjust attitude in a manner similar to a traditional helicopter rotor as appropriate to the requirements of a specific application in accordance with various embodiments of the invention.
While several mechanical systems are described above with respect to the UAV illustrated in FIGS. 2A-2G , any of a variety of alternative configurations can be utilized that incorporate a combination of features that reduce the extent to which humans perceive sound generated by the UAV. Accordingly, UAVs can be implemented in a variety of manners incorporating different ducted rotor propulsion systems and/or mechanical structures to those illustrated in FIGS. 2A-2G as appropriate to the requirements of specific applications in accordance with various embodiments of the invention.
In the embodiment illustrated in FIGS. 2A-2G , the UAV incorporates a primary camera 128 that is utilized to capture image data. In several embodiments, the primary camera 128 can also include one or more microphones. As noted above, the UAV can navigate through its operating environment opportunistically taking photographs of subjects of interest. In several embodiments, the UAV utilizes a machine vision system to perform autonomous navigation and identify subjects of interest. Alternatively, the machine vision system can be utilized for navigation and images captured by the primary camera can be utilized to identify subjects of interest. In several embodiments, a machine vision system is utilized to initially identify subjects of interest and navigate the UAV into a desired pose and images captured by the primary camera are utilized to refine the location of the subject of interest and/or update the desired pose of the UAV. As discussed further below, image data in a number of channels including (but not limited to) color, depth, near-infrared, and/or infrared channels can be utilized to identify subjects of interest. In many embodiments, image data is analyzed using face detection processes that can provide information concerning the location and/or pose of a detected face. In other embodiments, any of a variety of object classifiers can be utilized to detect subjects of interest. In certain embodiments, the subject of interest sought by the UAV can depend upon a variety of other inputs including (but not limited to) time, and/or audio information. For example, an audio classifier can be utilized to detect specific songs such as (but not limited to) âHappy Birthday to Youâ or the âBridal Chorusâ composed by Richard Wagner and the UAV can modify its behavior to seek out specific subjects based upon context. As can readily be appreciated, any of a variety of sensors and/or classifiers can be utilized to determine environmental information and modify UAV behavior as appropriate to the requirements of specific applications in accordance with embodiments of the invention.
Once a subject of interest is identified, the UAV can utilize a number of heuristics to select a relative pose from which to capture an image of the subject of interest. The UAV can navigate to the location of the pose and capture an image of the subject of interest using the primary camera. In several embodiments, the primary camera is continuously capturing images and/or audio of a subject of interest as the UAV moves into a desired pose. While the primary camera 128 is shown as fixed to the UAV housing 102 in the illustrated embodiment, the primary camera can be mounted to a pan/tilt unit and/or a gryostabilized gimbal.
Any of a variety of machine vision systems can be utilized to capture video data for the purposes of performing functions including (but not limited to) V-SLAM, object detection and/or avoidance, and/or depth sensing. In the illustrated embodiment, a stereo pair of cameras
130 , 132 with 360 degree field of view optical systems is utilized to acquire image data. In several embodiments, the image data is captured in color, near-infrared and/or infrared color channels. The 360 degree field of view optical systems enables the machine vision system to detect and track features irrespective of the orientation of the UAV within the environment. The presence of a stereo pair of cameras enables depth estimation by performing disparity searches within images captured simultaneously by the stereo pair of cameras. The combination of the image data and the depth information can be utilized to perform V-SLAM, and/or object detection and/or avoidance. As can readily be appreciated, any of a variety of machine vision systems that can be utilized to perform SLAM and/or object detection including (but not limited to) LIDAR systems, multiple stereo pairs of cameras, multi-baseline array cameras, time of flight cameras, and/or structured illumination cameras can be utilized as appropriate to the requirements of specific applications in accordance with various embodiments of the invention. With specific reference to SLAM processes, UAVs in accordance with many embodiments of the invention incorporate one or more cameras having telecentric lenses for the purpose of measuring motion using optical flow. In several embodiments, SLAM processes are enhanced utilizing an inertial measurement unit that can contain accelerometers, magnetometers and/or gyroscopes.
In the illustrated embodiment, the stereo pair of cameras
130 , 132 is augmented by a number of sonar sensors 134 located around the perimeter of the housing 102 of the UAV 100 . The sonar sensors 134 provide the UAV 100 with the ability to detect the proximity of objects as a second object detection modality that can augment object detection processes performed using image data captured by the stereo pair of cameras
130 , 132 . As can readily be appreciated, alternative configurations of sonar sensors and/or alternative sensor systems can be utilized to perform object detection and/or ranging as appropriate to the requirements of specific applications in accordance with embodiments of the invention.
Before discussing the electrical systems and software utilized to control flight and autonomously navigate UAVs in accordance with various embodiments of the invention, the various techniques for modifying and/or reducing noise generated by UAVs described above with reference to FIGS. 2A-2G and other alternative techniques are explored in further detail below.
Underactuated Rotor Design
UAVs in accordance with many embodiments can utilize at least one rotor that incorporates at least one opposing pair of underactuated airfoil blades. The use of underactuated rotor designs to control attitude of a coxial rotor UAV is described in detail in Patent Cooperation Treaty Application No. PCT/US2014/027841 incorporated by reference above and James Paulos and Mark Yim âAn Underactuated Propeller for Attitude Control in Micro Air Vehiclesâ Intelligent Robots and Systems ( IROS ). 2013 IEEE/RSJ International Conference on . IEEE, 2013 the relevant disclosure from which related to the use of underactuated rotors to control attitude of a UAV is hereby incorporated by reference in its entirety. The manner in which an underactuated rotor can be utilized for attitude control in a UAV can be appreciated by reviewing FIGS. 3A and 3B , which are reproduced from the Paulos and Yim paper. An underactuated rotor 200 including a pair of airfoil blades
202 , 203 attached via hinges
204 , 205 to the hub 206 of the rotor is illustrated in FIGS. 3A and 3B . The axes of the hinges
204 , 205 lie in the same plane as the plane of rotation of the rotor 200 . The axes of rotation
208 , 209 of the hinges
204 , 205 are not, however, parallel to the axis of rotation as would be found in typical helicopter rotors. The airfoil blade denoted the âpositiveâ airfoil blade 202 has the top of its hinge axis 208 inclined towards the central shaft 210 . Conceptually, this âpositiveâ airfoil blade responds to an impulsive torque on the hub 206 by flexing backwards and exposing increased blade pitch. Similarly, a retrograde torque causes the âpositiveâ airfoil blade 202 to flex forwards on its hinge 204 and decrease its pitch. The opposing ânegativeâ airfoil blade 203 has the top of its hinge axis 209 inclined away from the central shaft 210 , and the complementary geometry creates an opposite response to torques. By superimposing a sinusoidal torque at the rotor frequency on top of the steady torque needed to balance rotor drag, a cyclic oscillation in blade pitch is induced that is phase locked with the rotor position. Controlling torque can also be utilized to dynamically control airfoil blade spacing in underactuated rotors having more than two airfoil blades. The use of rotors having uneven airfoil blade spacing in UAVs to modify the power spectrum of sound generated by the UAV is discussed further below.
Uneven Blade Spacing for Noise Spectral Shaping
Rotors typically incorporate evenly spaced airfoil blades that are as close to identical as possible. Distributing airfoil blades with the same shape and weight evenly around the rotor evenly balances the rotor, which can reduce rotor vibration to acceptable levels. While use of evenly spaced airfoil blades is a simple way to balance a rotor, the even spacing of the airfoil blades typically results in the generation of acoustic pressure waves at harmonics related to the blade passage frequency of the rotor. The result is a buzzing sound characteristic of many conventional UAVs that employ rotors often likened to the sound of a swarm of bees or a buzz saw. The power spectrum of an evenly spaced rotor such as the five airfoil blade rotor 300 illustrated in FIG. 4A is conceptually illustrated in FIG. 4B .
UAVs in accordance with several embodiments of the invention utilize balanced rotors having uneven blade spacing. The benefits of uneven blade spacing on the power spectrum of sound generated by the rotor 400 shown in FIG. 4C including five unevenly spaced airfoil blades is conceptually illustrated in FIG. 4D .
In several embodiments, uneven spacing is achieved through the use of an underactuated or any other hinged-blade rotor. By driving the rotor using appropriate torques the spacing of the airfoil blades can be controlled to achieve a distribution having uneven spacing. In many embodiments, rotors including fixed airfoil blades that are constructed with uneven spacing are utilized. When fixed airfoils are utilized, the construction of the various airfoil blades utilized in the construction of the rotor can be modified to achieve a balanced rotor. The modifications typically involve the judicious azimuthal placement of blades around the hub, and/or using airfoils having the same shape, but different weights. In other embodiments, however, lightweight unbalanced rotors and/or rotors including different airfoil blade shapes can be utilized as appropriate to the requirements of specific applications. A rotor 450 including five unevenly spaced airfoil blades is illustrated in FIG. 4E and a rotor 475 including four unevenly spaced airfoil blades is illustrated in FIG. 4F .
<div id="p
CLAIMS
Claims ( 16 )
What is claimed is:
1. A method of capturing images, comprising:
launching an unmanned aerial vehicle (UAV) by way of a Flight Management Unit (FMU) wherein the FMU executes an automatic takeoff process;
utilizing a map maintained by the UAV to perform in flight path planning to scan an area for people using the UAV;
detecting the presence of at least one subject by processing image data captured by at least one camera on the UAV;
utilizing an Application Processing Unit (APU) to determine at least one ideal position from which to capture images of detected at least one subject using the UAV;
performing path planning by communication between the APU and a Robotics Processing Unit in order to navigate the UAV to the determined at least one ideal position; and
capturing images of the detected at least one subject using at least one camera on the UAV when the UAV is positioned in one of the determined at least one ideal positions.
2. The method of claim 1 , further comprising capturing audio data using a microphone on the UAV.
3. An unmanned aerial vehicle, comprising:
at least one rotor system having a plurality of rotor blades connected to one central rotation point wherein the plurality of rotor blades are configured to incorporate uneven angular blade spacing about the one central rotation point and wherein the at least one rotor system is configured to be mounted within a ducted propulsion system;
a flight management unit (FMU) configured to handle all of the computation associated with controlling rotors within the ducted propulsion system;
a robotics processing unit (RPU) configured to perform autonomous navigation;
an application processing unit (APU) configured to perform processing associated with high level behavior.
4. The unmanned aerial vehicle of claim 3 , wherein the APU is configured to execute processes including: identification of subjects of interest; position selection; and image acquisition.
5. The unmanned aerial vehicle of claim 3 , wherein each of the FMU, RPU, and APU includes a microprocessor.
6. The unmanned aerial vehicle of claim 3 , wherein the APU is configured to execute the process of autonomously navigating to a docking station to perform data transfer.
7. The UAV of claim 3 wherein the at least one rotor system is an underactuated rotor system comprising rigid central hub hingedly connected to the plurality of rotor blades such that the at least one rotor system may achieve uneven blade spacing of the plurality of rotor blades in a dynamic format.
8. The UAV of claim 3 wherein the FMU, the RPU, and the APU, are configured to communicate with remote servers via a wireless network connection.
9. The method of claim 1 wherein the at least one camera further comprises at least one optical system selected from the group consisting of:
Fisheye lens and catadiopitc lens.
10. The method of claim 1 wherein the UAV is configured to simultaneously utilize a map maintained by the UAV to perform in flight path planning and detect the presence of at least one subject by processing image data captured by at least one camera on the UAV.
11. The UAV of claim 3 wherein the UAV is configured to simultaneously utilize a map maintained by the UAV to perform in flight path planning and detect the presence of at least one subject by processing image data captured by at least one camera on the UAV.
12. The method of claim 1 further comprising;
receiving new information regarding the context of an external environment and utilizing the APU to determine at least one new ideal position from which to capture images of detected at least one subject using the UAV.
13. The UAV of claim 3 further comprising a plurality of rotor systems coaxially mounted within the ducted propulsion system.
14. The UAV of claim 3 wherein the plurality of rotor blades are configured to have a shape selected from a group consisting of:
a serrated trailing edge, a serrated leading edge, a wide chord, a scimitar, and a spanwise reverse sweep.
15. The UAV of claim 3 further comprising a plurality of sensors cooperatively connected to the body of the ducted propulsion system and in communication with the FMU, the RPU, and the APU of the UAV.
16. The UAV of claim 15 wherein the plurality of sensors are sonar sensors.
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