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. A rotor assembly for an aerial vehicle, the rotor assembly comprising:
a rotor housing including walls substantially enclosing an interior space from a space exterior to the rotor housing;
a motor arranged substantially within the interior space of the rotor housing, the motor coupled to one or more rotor blades arranged within the space exterior to the rotor housing via an axle; and
an image capture device arranged substantially within the interior space of the rotor housing and oriented so as to capture images of a physical environment surrounding the rotor assembly, while in use.
2. The rotor assembly of claim 1 , wherein the motor is arranged substantially within the interior space proximate to a first end of the rotor housing and wherein the image capture device is arranged substantially in the interior space proximate to a second end of the rotor housing, the second end of the rotor housing opposite the first end of the rotor housing.
3. The rotor assembly of claim 2 , wherein the motor and image capture device are substantially aligned along an axis through the interior space of the rotor housing, wherein the axis extends from the first end to the second end of the rotor housing.
4. The rotor assembly of claim 1 , wherein the image capture device includes a lens for receiving light from the surrounding physical environment, and wherein the lens extends through an opening in a wall of the rotor housing.
5. The rotor assembly of claim 1 , wherein the rotor assembly further comprises:
a support arm coupled to the rotor housing, the support arm configured to couple the rotor housing to a body of the aerial vehicle.
6. The rotor assembly of claim 1 , wherein the walls of the rotor housing extend to form a support arm that couples the rotor assembly to a body of the aerial vehicle.
7. The rotor assembly of claim 6 , wherein the image capture device is arranged within the interior space of the rotor housing at a position along the support arm that is substantially between the motor and the body of the aerial vehicle.
8. The rotor assembly of claim 1 , wherein the rotor housing includes:
a first rotor housing portion including walls substantially surrounding a first interior space; and
a second rotor housing portion including walls substantially surrounding a second interior space;
wherein the rotor blades extend from a shaft coupled to the motor at a location substantially between the first housing portion and the second housing portion.
9. The rotor assembly of claim 8 , wherein the image capture device includes:
a first image capture device and a second image capture device;
wherein the motor and first image capture device are arranged substantially within the first interior space of the first rotor housing portion; and
wherein the second image capture device is arranged substantially within the second interior space of the second rotor housing portion.
10. The rotor assembly of claim 9 , wherein the first image capture device and second image capture device are oriented in substantially opposite directions relative to each other.
11. The rotor assembly of claim 1 , wherein the motor is a brushless electric motor.
12. The rotor assembly of claim 1 , further comprising:
a motion damper arranged substantially within the interior space of the housing, the motion damper configured to isolate the image capture device from vibrations caused by the motor, while in use.
13. The rotor assembly of claim 1 , further comprising:
an electromagnetic shield arranged substantially within the interior space of the housing between the motor and the image capture device, the electromagnetic shield configured to isolate the image capture device from electromagnetic interference caused by the motor, while in use.
14. The rotor assembly of claim 1 , wherein the image capture device has a field of view of at least 180 degrees.
15. A rotor assembly for an unmanned aerial vehicle, the rotor assembly comprising:
a rotor housing including walls substantially enclosing an interior space;
a motor arranged substantially within the interior space of the rotor housing, wherein the motor is coupled to a plurality of rotor blades that are external to the rotor housing; and
a first image capture device arranged substantially within the interior space of the rotor housing and oriented so as to capture images of a physical environment surrounding the rotor assembly, while in use.
16. The rotor assembly of claim 15 , further comprising:
a second image capture device arranged substantially within the interior space of the rotor housing and oriented so as to capture images of the physical environment surrounding the rotor assembly, while in use.
17. The rotor assembly of claim 16 , wherein the first image capture device is arranged substantially within the interior space proximate to a first end of the rotor housing, wherein the second image capture device is arranged substantially in the interior space proximate to a second end of the rotor housing, and wherein the motor is arranged substantially within the interior space between the first image capture device and the second image capture device.
18. An aerial vehicle comprising:
a central body; and
a plurality of rotor assemblies coupled to the central body, wherein at least one of the plurality of rotor assemblies include:
a rotor housing including walls substantially enclosing an interior space;
a motor arranged substantially within the interior space of the rotor housing, the motor coupled to one or more rotor blades that are external to the rotor housing; and
an image capture device arranged substantially within the interior space of the rotor housing and oriented so as to capture images of a physical environment surrounding the rotor assembly, while in use.
19. The aerial vehicle of claim 18 , wherein the motor is arranged substantially within the interior space proximate to a first end of the rotor housing and wherein the image capture device is arranged substantially in the interior space proximate to a second end of the rotor housing, the second end of the rotor housing opposite the first end of the rotor housing.
20. The aerial vehicle of claim 19 , wherein the motor and image capture device are substantially aligned along an axis through the interior space of the rotor housing, wherein the axis extends from the first end to the second end of the rotor housing.