Systems and methods for operating unmanned aerial vehicles

Abstract

An unmanned aerial vehicle (UAV) includes a central body, an arm, and a propulsion unit. The arm extends outwardly from the central body. The propulsion unit is coupled to the arm. At least one of the arm or the propulsion unit is adjustable in response to a change in a center of gravity of the UAV.

What is claimed is: 
     
         1 . An unmanned aerial vehicle (UAV) comprising:
 a central body;   an arm extending outwardly from the central body; and   a propulsion unit coupled to the arm, at least one of the arm or the propulsion unit being adjustable in response to a change in a center of gravity of the UAV.   
     
     
         2 . The UAV of  claim 1 , wherein:
 a distance of the propulsion unit from a reference point on the central body is adjustable by manipulating a configuration of the arm in response to the change in the center of gravity of the UAV; and   the configuration of the arm includes a length of the arm.   
     
     
         3 . The UAV of  claim 2 , wherein the arm is extendable. 
     
     
         4 . The UAV of  claim 2 , wherein the propulsion unit includes a rotor, and the distance of the propulsion unit from the reference point includes a distance from a rotational axis of the rotor to the reference point. 
     
     
         5 . The UAV of  claim 2 , further comprising:
 a payload;   wherein the change in the center of gravity of the UAV includes a change in a configuration of the payload.   
     
     
         6 . The UAV of  claim 5 , wherein the payload includes a telescoping feature. 
     
     
         7 . The UAV of  claim 1 , wherein:
 the propulsion unit includes a rotor and a set of rotor blades coupled to the rotor; and   an angular velocity of the set of rotor blades is adjustable in response to the change in the center of gravity of the UAV.   
     
     
         8 . An unmanned aerial vehicle (UAV) attitude control method comprising:
 determining that a change in a center of gravity of the UAV occurs; and   changing a configuration of at least one of an arm or a propulsion unit arranged at the arm to counter the change in the center of gravity of the UAV.   
     
     
         9 . The method of  claim 8 , wherein determining that the change in the center of gravity of the UAV occurs includes:
 receiving a signal indicating the change in the center of gravity of the UAV.   
     
     
         10 . The method of  claim 9 , wherein the signal indicates a change in a configuration of a payload of the UAV. 
     
     
         11 . The method of  claim 10 , wherein the signal indicates at least one of a change in a mass of the payload or a redistribution of the mass of the payload. 
     
     
         12 . The method of  claim 10 , wherein the signal indicates an extension or retraction of a telescoping feature of the payload. 
     
     
         13 . The method of  claim 12 , wherein the telescoping feature including at least one of a telescoping arm, a telescoping lens unit, or a telescoping nozzle of the payload. 
     
     
         14 . The method of  claim 8 , wherein changing the configuration of the at least one of the arm or the propulsion unit includes changing the configuration of the arm to change a distance of the propulsion unit from a reference point on the central body to counter the change in the center of gravity. 
     
     
         15 . The method of  claim 14 , wherein:
 the distance is a first distance; and   changing the configuration of the arm includes positioning the propulsion unit at a second distance further away from the reference point on the central body to counter the change in the center of gravity.   
     
     
         16 . The method of  claim 14 , wherein the reference point is at a center of the central body. 
     
     
         17 . The method of  claim 14 , wherein changing the configuration of the arm includes changing a length of the arm. 
     
     
         18 . The method of  claim 8 , further comprising:
 determining a change in an angular velocity of a rotor of the propulsion unit.   
     
     
         19 . The method of  claim 8 , further comprising:
 receiving information from a sensor on the UAV to determine the change in the configuration of the arm.   
     
     
         20 . A controller for controlling an attitude of an unmanned aerial vehicle (UAV) comprising:
 a center of gravity controller configured to determine a change in a configuration of an arm or a propulsion unit in response to a change in a center of gravity of the UAV.