# US 10,479,500 B2 · Unmanned aerial vehicle with detachable computing device

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- Number: US 10,479,500 B2
- Document ID: US10479500B2
- Status: Granted
- Kind: B2
- Application number: 15/681,835
- Filed: 2017-08-21
- Published: 2018-06-21
- Granted: 2019-11-19
- Earliest claimed: 2015-03-16
- Assignees: XCraft Enterprises, LLC
- Applicants: xCraft Enterprises, Inc.
- Inventors: Jerry Daniel Claridge; Charles Fischer Manning
- Web page: https://patentgrep.com/patent/US10479500B2

## CPC

- B64C 19/00: Aircraft control not otherwise provided for
- A63H 27/12: {Helicopters (A63H27/04 takes precedence); Flying tops}
- B64U 20/80: Arrangement of on-board electronics, e.g. avionics systems or wiring
- B64U 30/293: Foldable or collapsible rotors or rotor supports
- G05D 1/00: Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots (drive control systems specially adapted for autonomous road vehicles B60W60/00)
- G05D 1/106: {Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones}
- G08G 5/80: Anti-collision systems
- H04B 1/3833: {Hand-held transceivers}
- B64U 10/14: with four distinct rotor axes, e.g. quadcopters
- B64U 50/19: using electrically powered motors
- B64U 50/30: Supply or distribution of electrical power
- B64U 50/31: generated by photovoltaics
- B64U 50/37: Charging when not in flight
- B64U 60/50: with landing legs
- B64U 80/25: for recharging batteries; for refuelling
- B64U 2101/70: for use inside enclosed spaces, e.g. in buildings or in vehicles
- B64U 2201/10: autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
- B64U 2201/104: using satellite radio beacon positioning systems, e.g. GPS
- B64U 2201/20: Remote controls
- B64C: AEROPLANES; HELICOPTERS
- A63H: TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- B64U: UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93})
- H04B: TRANSMISSION

## Abstract

This disclosure is generally directed to an Unmanned Aerial Device (UAV) that uses a removable computing device for command and control. The UAV may include an airframe with rotors and an adjustable cradle to attach a computing device. The computing device, such as a smart phone, tablet, MP3 player, or the like, may provide the necessary avionics and computing equipment to control the UAV autonomously. For example, the adjustable cradle may be extended to fit a tablet or other large computing device, or retracted to fit a smart phone or other small computing device. Thus, the adjustable cradle may provide for the attachment and use of a plurality of different computing devices in conjunction with a single airframe. Additionally the UAV may comprise adjustable arms to assist in balancing the load of the different computing devices and/or additional equipment attached to the airframe.

## Claims

### Claim 1

An unmanned aerial vehicle (UAV) comprising:
an airframe comprising:
a plurality of arms movable between a stowed configuration and a flight-ready configuration;
a plurality of rotors, each coupled to a respective one of the plurality of arms;
at least one motor coupled to the plurality of rotors; and
a control management system;
a cradle coupled to the airframe for receiving a computing device, the cradle being adjustable to accommodate a plurality of different computing devices; and
a connector configured to connect the control management system to the computing device.

### Claim 2 (depends on 1)

The UAV of claim 1, wherein the control management system is configured to:
adjust a position of the cradle with respect to the airframe, adjust a position of the plurality of arms, or a combination thereof, and wherein the adjustment is based at least in part on a balance input from the control management system, the balance input responsive to a relative position of the computing device with respect to the airframe.

### Claim 3 (depends on 1)

The UAV of claim 1, wherein the computing device comprises at least one of:
a smart phone;
a tablet; or
an MP3 player.

### Claim 4 (depends on 1)

The UAV of claim 1, further comprising at least one actuator configured to adjust the plurality of arms.

### Claim 5 (depends on 1)

The UAV of claim 1, wherein the plurality of arms are adjustable in a range from 0 degrees to 210 degrees.

### Claim 6 (depends on 1)

The UAV of claim 1, the airframe further comprising one or more attachment modules, wherein the one or more attachment modules are configured to house one or more detachable components.

### Claim 7 (depends on 6)

The UAV of claim 6, wherein the one or more detachable components include one or more of:
a camera;
a strobe light;
an LED light;
an accelerometer;
a gyroscope;
a pressure sensor;
a position tracker;
a gesture sensor; or
an ultrasonic sensor.

### Claim 8 (depends on 1)

The UAV of claim 1, wherein the control management system processes input from the computing device and adjusts the plurality of rotors to keep the UAV level.

### Claim 9 (depends on 1)

The UAV of claim 1, wherein the control management system processes input from the computing device and adjusts the plurality of rotors to maintain a programmed flight path.

### Claim 10 (depends on 1)

The UAV of claim 1, wherein the plurality of arms are fully retracted when in the stowed configuration.

### Claim 11 (depends on 10)

The UAV of claim 10, wherein at least some of said plurality of arms are configured differently.

### Claim 12 (depends on 11)

The UAV of claim 11, wherein said plurality of arms includes first and second pairs that are configured congruently with one another, and wherein arms within said first pair are sized or shaped differently than arms in said second pair.

### Claim 13

An unmanned aerial vehicle (UAV) comprising:
an airframe, comprising:
at least one arm movable between a stowed orientation and a flight-ready orientation;
at least one rotor coupled to the at least one arm;
at least one motor coupled to the at least one rotor; and
a flight control management system;
a cradle coupled to the airframe for accommodating a computing device; and
a connector configured to connect the flight control management system to the computing device.

### Claim 14 (depends on 13)

The UAV of claim 13, wherein the cradle is an adjustable cradle for accommodating a plurality of differently sized computing devices.

### Claim 15 (depends on 13)

The UAV of claim 13, further comprising a computing device removably coupled to the cradle.

### Claim 16 (depends on 13)

The UAV of claim 13, further comprising a plurality of arms each movable between a respective stowed orientation to a flight ready orientation.

### Claim 17 (depends on 16)

The UAV of claim 16, wherein the plurality of arms are nested together when in the stowed orientation.

### Claim 18 (depends on 13)

The UAV of claim 13, wherein at least some of said plurality of arms are configured differently.

### Claim 19 (depends on 18)

The UAV of claim 18, wherein first and second pairs of said plurality of arms are configured congruently with one another, and wherein arms within said first pair are larger than arms in said second pair.

### Claim 20 (depends on 13)

The UAV of claim 13, further comprising a battery, wherein the UAV is configured to:
monitor a life of the battery;
calculate a return-to-base distance based at least in part on a distance to a base and the life of the battery; and
provide a return-to-base route at the return-to-base distance.

### Claim 21 (depends on 13)

The UAV of claim 13, wherein the computing device comprises a flight plan, the flight plan being one or more waypoints.

### Claim 22 (depends on 13)

The UAV of claim 13, wherein the flight control management system is configured to:
adjust a position of the cradle with respect to the airframe, or adjust a position of the at least one arm, and wherein the adjustment is based upon a balance input from the flight control management system.

### Claim 23 (depends on 13)

The UAV of claim 13, wherein the computing device comprises at least one of:
a smart phone;
a tablet; or
an MP3 player.

### Claim 24 (depends on 13)

The UAV of claim 13, wherein the computing device provides one or more waypoints and is configured to send signals associated with the one or more waypoints to the flight control management system, and responsive to receiving the signals associated with the one or more waypoints, the flight control management system directs the UAV to the one or more waypoints.

### Claim 25 (depends on 13)

The UAV of claim 13, wherein the flight control management system is configured to:
receive an input from an ultrasonic sensor, the input comprising at least a distance to an obstacle;
calculate a closest point of approach to the obstacle based at least in part on a speed of the UAV and a route of flight;
determine a deviation in the route of flight necessary to avoid the obstacle;
responsive to the determination, deviate from the route of flight to avoid the obstacle; and
responsive to the obstacle avoidance, resume the route of flight.

### Claim 26 (depends on 13)

The UAV of claim 13, wherein the flight control management system is configured to:
receive a plurality of inputs from an ultrasonic sensor, the plurality of inputs indicating a plurality of obstacles; and
calculate a route of flight based at least in part on the plurality of inputs, wherein the route of flight avoids the plurality of obstacles.