# US 11,307,583 B2 · Drone with wide frontal field of view

> Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt

- Number: US 11,307,583 B2
- Document ID: US11307583B2
- Status: Granted
- Kind: B2
- Application number: 16/459,556
- Filed: 2019-07-01
- Published: 2021-01-07
- Granted: 2022-04-19
- Earliest claimed: 2019-07-01
- Assignees: Performance Drone Works LLC
- Applicants: Performance Drone Works LLC
- Inventors: Ryan Gury; Florent Arnoux
- Web page: https://patentgrep.com/patent/US11307583B2

## CPC

- G06T 7/596: {from three or more stereo images}
- B64U 20/87: Mounting of imaging devices, e.g. mounting of gimbals
- G01S 17/933: of aircraft or spacecraft
- G05D 1/0088: {characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours (using knowledge based models G06N5/00)}
- B64U 10/14: with four distinct rotor axes, e.g. quadcopters
- B64U 20/30: for safety, e.g. with frangible components (rotor guards B64U30/299)
- B64U 20/96: using air
- B64U 60/50: with landing legs
- B64U 2101/05: for sports or gaming, e.g. drone racing
- B64U 2101/30: for imaging, photography or videography
- B64U 2201/10: autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
- B64U 2201/20: Remote controls
- G01S 17/88: Lidar systems specially adapted for specific applications
- G06V 10/147: Details of sensors, e.g. sensor lenses (fingerprint or palmprint sensors G06V40/13; vascular sensors G06V40/145; eye sensors G06V40/19)
- G06V 20/13: Satellite images
- G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- B64U: UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING

## Abstract

A drone includes a frame and a plurality of motors attached to the frame. Each motor of the plurality of motors is connected to a respective propeller located below the frame. A tail motor is attached to the frame. The tail motor is connected to a tail propeller located above the frame. Cameras are attached to the frame and located above the frame. The cameras have fields of view extending over the plurality of propellers.

## Claims

### Claim 1

A drone comprising:
a frame;
a plurality of motors attached to the frame, each motor of the plurality of motors connected to a respective propeller of a plurality of propellers located below the motor and below the frame;
a tail motor attached to the frame, the tail motor connected to a tail propeller located above the frame, the tail propeller and the plurality of propellers having fixed orientations with respect to the frame and with respect to each other;
a plurality of cameras attached to the frame and located above the frame, the plurality of cameras includes at least a left-side stereoscopic camera mounted on the left side of the drone and a right-side stereoscopic camera mounted on the right side of the drone, the plurality of cameras having fields of view extending over the plurality of propellers;
an Artificial Intelligence (AI) controller coupled to the plurality of cameras to receive video input from the plurality of cameras, the AI controller configured to generate flight control commands for autonomous flight according to the video input; and
a protective cage attached to an upper side of the frame, the protective cage extending around the AI controller with openings for cooling airflow.

### Claim 2 (depends on 1)

The drone of claim 1 wherein the plurality of motors consists of a nose motor, a left-side motor, and a right-side motor.

### Claim 3 (depends on 2)

The drone of claim 2 wherein the tail motor and the nose motor are located along a centerline of the drone and the left-side motor and the right-side motor are located closer to the nose motor than to the tail motor and are equidistant from the centerline.

### Claim 4 (depends on 1)

The drone of claim 1 wherein the left-side stereoscopic camera has a field of view ahead and to the left of the drone, the right-side stereoscopic camera has a field of view ahead and to the right of the drone, and the fields of view of the left-side stereoscopic camera and the right-side stereoscopic camera overlap ahead of the drone.

### Claim 5 (depends on 1)

The drone of claim 1 further comprising landing gear attached to the frame, the landing gear extending down from the frame to a level below the propellers to maintain a separation between the propellers and a landing/takeoff surface.

### Claim 6 (depends on 1)

The drone of claim 1 further comprising a LiDAR device attached to a lower surface of the frame, the LiDAR device directed downwards from the drone.

### Claim 7 (depends on 1)

The drone of claim 1 wherein the frame extends from a nose along a centerline to a tail, the frame includes a triangular nose portion that forms an obtuse angle at the nose, a first acute angle on the left side of the centerline, and a second acute angle on the right side of the centerline, and wherein the plurality of motors include a nose motor, a left-side motor, and a right-side motor that are attached at respective corners of the triangular nose portion.

### Claim 8 (depends on 7)

The drone of claim 7 wherein the frame includes a central portion, the AI controller attached to the central portion, the protective cage extending above the AI controller and the central portion.

### Claim 9 (depends on 7)

The drone of claim 7 wherein the frame includes a tail portion, the tail motor attached to the tail portion at a distance from the left-side motor and the right-side motor that is greater than the distance from the nose motor to the left-side motor and the right-side motor.

### Claim 10 (depends on 1)

The drone of claim 1 further including a plurality of legs extending down from the frame to a level below the plurality of propellers.

### Claim 11 (depends on 1)

The drone of claim 1 wherein fields of view of the left-side stereoscopic camera and the right-side stereoscopic camera overlap forward of the autonomous quadcopter.

### Claim 12 (depends on 11)

The drone of claim 11 wherein the plurality of cameras have fields of view that extend, unobstructed by propellers, up at least 45 degrees from a plane of the frame.

### Claim 13 (depends on 1)

The drone of claim 1 further comprising:
a Radio Frequency (RF) communication circuit, the RF communication circuit configured to receive external commands from a remote-control.

### Claim 14 (depends on 1)

The drone of claim 1 further comprising a LiDAR rangefinder coupled to the AI controller, the LiDAR rangefinder configured to determine distance between an object and the drone.

### Claim 15 (depends on 1)

The drone of claim 1 further comprising landing gear extending from a lower surface of the frame and extending past the plurality of propellers to maintain clearance between the plurality of propellers and a landing/takeoff surface.