Autonomous aerial vehicle hardware configuration
An introduced autonomous aerial vehicle can include multiple cameras for capturing images of a surrounding physical environment that are utilized for motion planning by an autonomous navigation system. In some embodiments, the cameras can be integrated into one or more rotor assemblies that house powered rotors to free up space within the body of the aerial vehicle. In an example embodiment, an aerial vehicle includes multiple upward-facing cameras and multiple downward-facing cameras with overlapping fields of view to enable stereoscopic computer vision in a plurality of directions around the aerial vehicle. Similar camera arrangements can also be implemented in fixed-wing aerial vehicles.
1 . An unmanned aerial vehicle (UAV), the UAV comprising:
an integrated fixed flight surface comprising an aircraft fuselage integrated with multiple flight surfaces, the aircraft fuselage extending along a longitudinal axis from a forward end to an aft end with a port side and a starboard side on opposite sides of the longitudinal axis,
wherein the integrated fixed flight surface includes at least one slot passing therethrough arranged between a leading edge and a trailing edge;
at least one powered rotor arranged so as to rotate freely within the at least one slot;
at least one image capture device integrated into the leading edge of the integrated fixed flight surface at a first location laterally offset from the at least one slot; and
at least one image capture device integrated into the trailing edge of the integrated fixed flight surface at a second location laterally offset from the at least one slot,
wherein each of the image capture devices is positioned outside a projected rotor wake region associated with the at least one powered rotor during operation.
2 . The UAV of claim 1 , wherein the multiple flight surfaces comprise two fixed wings arranged perpendicular to each other.
3 . The UAV of claim 1 , wherein the multiple flight surfaces comprise four fixed wings arranged at right angles to each other.
4 . The UAV of claim 1 , further comprising:
at least one upward facing image capture device arranged on a top surface of the integrated fixed flight surface.
5 . The UAV of claim 1 , further comprising:
at least one downward facing image capture device arranged on a bottom surface of the integrated fixed flight surface.
6 . The UAV of claim 1 , further comprising:
at least one gimbaled image capture devices arranged on a bottom surface of the integrated fixed flight surface.
7 . The UAV of claim 1 , wherein the multiple flight surfaces comprise multiple wings, a tail, and a stabilizer.
8 . The UAV of claim 1 , wherein the UAV is configured for vertical takeoff and landing (VTOL).
9 . The UAV of claim 8 , wherein during launch, lift is provided primarily by the at least one powered rotor and as the UAV builds speed, the UAV gradually transitions to horizontal flight, where lift is provided primarily by the integrated fixed flight surface.
10 . The UAV of claim 9 , wherein during landing, the UAV again transitions to a vertical orientation, where lift is provided primarily the at least one powered rotor.
11 . The UAV of claim 9 , wherein the at least one powered rotor comprises a variable pitch rotor and/or rotor blades that adjust during periods of transition between vertical takeoff/landing and normal flight.
12 . A fixed wing unmanned aerial vehicle (UAV), the UAV comprising:
a flight surface including a body integrated with multiple flight surfaces, wherein the body extends along a longitudinal axis from a forward end to an aft end with a port side and a starboard side on opposite sides of the longitudinal axis, and wherein the flight surface includes multiple slots passing therethrough that are arranged between a leading edge and a trailing edge;
multiple powered rotors arranged so as to rotate freely within the multiple slots;
multiple image capture devices integrated into the leading edge of the flight surface, each positioned laterally offset from a corresponding on of the multiple slots; and
multiple image capture devices integrated into the trailing edge of the flight surface, each positioned laterally offset from a corresponding one of the multiple slots,
wherein the image capture devices are positioned outside projected rotor wake regions associated with the multiple powered rotors.
13 . The UAV of claim 12 , further comprising:
multiple image capture devices arranged along the leading edge of the flight surface.
14 . The UAV of claim 12 , further comprising:
multiple image capture devices arranged along the trailing edge of the integrated flight surface.
15 . The UAV of claim 12 , wherein the multiple flight surfaces comprise two fixed wings arranged perpendicular to each other.
16 . The UAV of claim 12 , wherein the multiple flight surfaces comprise four fixed wings arranged at right angles to each other.
17 . The UAV of claim 12 , further comprising:
at least one upward facing image capture device arranged on a top surface of the integrated fixed flight surface.
18 . The UAV of claim 12 , further comprising:
at least one downward facing image capture device arranged on a bottom surface of the integrated fixed flight surface.
19 . The UAV of claim 12 , wherein the multiple flight surfaces comprise multiple wings, a tail, and a stabilizer.
20 . An aerial vehicle apparatus comprising:
a fixed flight surface including an aircraft fuselage integrated with multiple flight surfaces, wherein the fixed flight surface includes multiple slots passing therethrough arranged between a leading edge and a trailing edge;
multiple powered rotors arranged so as to rotate freely within the multiple slots;
multiple image capture devices integrated into the leading edge of the flight surface, each image capture device being positioned laterally offset from at least one of the multiple slots; and
multiple image capture devices integrated into the trailing edge of the flight surface, each image capture device being positioned laterally offset from at least one of the multiple slots,
wherein the image capture devices are arranged outside projected airflow regions generated by rotation of the powered rotors within the slots.
21 . The UAV of claim 1 , wherein each image capture device is embedded within an aerodynamic contour of the leading or trailing edge such that an exterior surface of the device is substantially flush with the flight surface.
22 . The UAV of claim 1 , wherein each image capture device has an optical axis oriented substantially parallel to a local chord line of the integrated fixed flight surface.
23 . The UAV of claim 1 , wherein each image capture device is spaced from a boundary of the at least one slot by a distance sufficient to avoid direct exposure to airflow induced by the powered rotor.