UNMANNED AERIAL VEHICLE WITH ISOLATED COMPONENTS

An aerial vehicle system includes a signal generator, a plurality of computing components, a plurality of communication antennas, a first structural component configured to at least in part block a noise signal generated by the signal generator from the plurality of computing components, and a second structural component configured to at least in part block the noise signal generated by the signal generator from the plurality of communication antennas, wherein the first structural component and the second structural component form a portion of a structural frame of the aerial vehicle system.

BACKGROUND OF THE INVENTION

Unmanned Aerial Platforms, including Unmanned Aerial Vehicles (UAV) and Aerial Drones, may be used for a variety of applications. However, some applications may pose a risk to people or property. UAVs have been used to carry contraband, including drugs, weapons, and counterfeit goods across international borders. It is further possible that UAVs may be used for voyeuristic or industrial surveillance, to commit terrorist acts such as spreading toxins, or transporting an explosive device. In view of this risk posed by malicious UAVs, it may be necessary to have a system to intercept, capture, and transport away a UAV that has entered a restricted area.

DETAILED DESCRIPTION

An unmanned aerial vehicle (UAV) (e.g., drone) is an aircraft without a human pilot aboard the vehicle. A UAV may be remotely controlled by a human operator or autonomously controlled by on-board computers. UAVs are typically used to perform various tasks, such as surveillance, aerial photography, product deliveries, racing, etc. UAVs have become ubiquitous. Unintended uses for UAVs have emerged. For example, UAVs have been used to carry contraband, including drugs, weapons, and counterfeit goods across international borders. It is further possible that UAVs may be used for voyeuristic or industrial surveillance, to commit terrorist acts such as spreading toxins, or to transport an explosive device. Conventional techniques to disable a UAV include shooting down the UAV from the ground. However, such a technique risks bodily harm and/or property damage when the UAV crashes.

A UAV may be disabled and/or captured by another UAV. A defending UAV may include a detector to determine that a flying object is a UAV, a jamming system to disable a target UAV, and an interdiction system to automatically capture the target UAV when the target UAV is disabled. A UAV is comprised of a plurality of mechanical components (e.g., motors, rotors, etc.), a plurality of computing components (e.g., CPU, flight controller, interdiction control system, etc.), and a plurality of radiating components (e.g., antennas, RADAR, LIDAR, SONAR, etc.). Each component of the UAV is necessary for the UAV to function properly.

The plurality of mechanical components may cause the components of the UAV to vibrate. As a result, one or more components of the UAV may fail. For example, two or more components of the UAV may stop communicating because a connection between two or more components of the UAV has become loose. The UAV may be battery powered and the battery may lose contact with the other components of the UAV because of the vibrations. As a result, the rotors of the UAV may stop rotating and cause the UAV to crash. The plurality of UAV components may be attached to the UAV using one or more fasteners. The vibrations caused by the mechanical components may cause the one or more fasteners to become loose. When the UAV is flying, the vibrations caused by the mechanical components may cause one or more UAV components to lose a connection, or even worse, become displaced from the UAV.

The plurality of computing components may produce noise. For example, the different computing components may produce crosstalk, which is a phenomenon in which a signal transmitted in one circuit or channel of a first system creates undesired interference onto a signal in another channel. The noise may prevent a computing component from functioning properly because the signal is too noisy for the computing component to recognize the signal.

The plurality of radiating components may produce electromagnetic interference (EMI). The EMI may cause an electrical circuit to degrade or even stop functioning. For example, a radio system and/or a communication signal generator of the UAV may produce EMI that prevents other computing components from properly functioning.

The mechanical vibrations, electrical noise, and/or EMI may prevent a UAV from functioning properly. For example, a signal captured by a visual detection system may be too noisy for the visual detection system to detect an object and/or classify the detected object as a UAV. The vibrations caused by a motor and/or rotor may cause a battery connection to become loose causing the computing components of the UAV to lose power. The UAV may include an interdiction system that is configured to deploy one or more nets to capture a target UAV based on one or more signals received from one or more sensors. The signals received from the one or more sensors may be too noisy may prevent the interdiction system from precisely deploying the one or more nets.

A UAV may be designed to include an isolation module comprising a plurality of isolation plates configured to isolate the computing components from the radiating devices. At least one of the isolation plates may also be coupled to one or more dampers to reduce an amount of vibration to which the plurality of computing components and the plurality of radiating devices are subjected. The isolation plates may isolate one or more high noise generating components of the UAV from the other components of the UAV. For example, a radio communications system and a communication disruption signal generator may be isolated from a plurality of computing components and a plurality of antennas. An isolation plate may also be configured to act as a ground plane for the antennas of the UAV. As a result, the influence that vibrations, noise, and EMI have on the overall performance of the UAV is reduced.

The UAV may be designed to include a structural frame comprising a plurality of isolation plates that may not only isolate different components from noise, but also serve as a structural component for the UAV. For example, the structural isolation plates may be coupled to each other via a plurality of brackets attached to corresponding rotor arms of the UAV and a plurality of side wall components. The structural isolation plates in combination with the plurality of brackets and the plurality of side wall components are configured to hold the UAV together. The structural frame may include a plurality of openings. A top isolation plate of the structural frame may include a plurality of dampers. The top isolation pate of the structural frame may be coupled to one of isolation plates of the isolation module via the plurality of dampers. A second isolation plate of the isolation module may be positioned in between the top structural isolation plate and a bottom structural isolation plate via one of the plurality of openings of the structural frame.

The computing components and radiating devices may be fastened into one of the isolation plates. The radiating components of the UAV may be placed between a top structural isolation plate and a bottom structural isolation plate, causing the two structural isolation plates to act like a Faraday cage for the radiating components. The top structural isolation plate may be coupled to a top isolation plate of the vibration isolation module. A plurality of dampers may be located in between the top structural isolation plate and the top isolation plate of the vibration isolation module. The plurality of computing components may be placed on a top side of the top isolation plate of the vibration isolation module. The top structural isolation plate in combination with the top isolation plate of the vibration isolation module and the plurality of dampers shield the plurality of computing components from vibrations, noise, and EMI. The plurality of antennas may be placed on a bottom side of the bottom structural isolation plate. The bottom structural isolation plate shields the plurality of antenna elements from vibrations, noise, and EMI. The bottom structural isolation plate also serves as a ground plane for the plurality of antenna elements.

FIG. 1is a diagram illustrating a front view of an unmanned aerial vehicle in accordance with some embodiments. In the example shown, front view100includes unmanned aerial vehicle101comprising computing chassis102, first rotor103a, second rotor103b, first motor104a, second motor104b, first antenna105a, second antenna105b, first landing strut106a, second landing strut106b, first net launcher107a, second net launcher107b, first guide collar109a, second guide collar109b, interdiction sensor module108, first structural isolation plate110, visual detection system111, disruption signal antenna112, antenna clip113, one or more cooling fans114, first rotor arm bracket115a, second rotor arm bracket115b, first rotor arm116a, second rotor arm116b, second structural isolation plate120, vibration isolation plate130, vibration isolation plate140, vibration isolation plate150, and dampers151.

Computing chassis102is configured to protect the CPU of UAV101. The CPU is configured to control the overall operation of UAV101. The CPU may be coupled to a plurality of computing modules. For example, the plurality of computing modules may include an interdiction control module, an image processing module, a safety module, a flight recorder module, etc. The CPU may provide one or more control signals to each of the plurality of computing modules. For example, the CPU may provide a control signal to the interdiction control module to activate one of the net launchers107a,107bto deploy a net. The CPU may provide a control signal to the image processing module to process an image captured by the visual detection system111. The CPU may be configured to perform one or more flight decisions for the UAV. For example, the CPU may provide one or more flights commands to a flight controller module. For example, a flight command may include a specified speed for the UAV, a specified flight height for the UAV, a particular flight path for the UAV, etc. In response to the one or more flight commands, the flight controller module is configured to control the motors associated with the UAV (e.g., motors104a,104b) so that UAV101flies in a manner that is consistent with the flight commands. In some embodiments, the CPU is configured to receive flight instructions from a remote command center. In other embodiments, the CPU is configured to autonomously fly UAV101.

The image processing module is configured to process images acquired by visual detection system111. The image processing module may be configured to determine whether a visually detected object is a UAV based on the visual data associated with the detected object. The image processing module may include a plurality of machine learning models that are trained to label a detected object based on the visual data. For example, the image processing module may include a first machine learning model that is configured to label objects as a UAV, a second machine learning model that is configured to label objects as a bird, a third machine learning model that is configured to label objects as a plane, etc.

First structural isolation plate110is configured to isolate computing chassis102and its associated computing components from one or more noisy components. First structural isolation plate110is also configured to isolate the one or more noisy components from the electromagnetic interference noise associated with the computing components of computing chassis102. The one or more noisy components isolated from computing chassis102and its associated computing components by first structural isolation plate110may include may include a communications radio (not shown in the front view) and a communications disruption signal generator (not shown in the front view).

First structural isolation plate110may include a foil made from a particular metallic material (e.g., copper) and the foil may have a particular thickness (e.g., 0.1 mm). First structural isolation plate110and second structural isolation plate120may act as a structural frame for UAV101. First structural isolation plate110may be coupled to second structural isolation plate120via a plurality of rotor arm brackets (e.g., rotor arm brackets115a,115b) and a plurality of side wall components (not shown in the front view). The rotor arm brackets are coupled to a corresponding rotor arm. The first structural isolation plate110may be attached to one or more rotor arm clips (not shown in the front view). The one or more rotor arm clips are configured to lock and unlock corresponding rotor arms of UAV101. The one or more rotor arm clips are configured to lock the rotor arms in a flight position when UAV101is flying. The one or more rotor arm clips are configured to unlock the rotor arms from a flight position when UAV101is not flying. For example, the rotor arms may be unlocked from the rotor arm clips when UAV101is being stored or transported to different locations.

First structural isolation plate110is coupled to vibration isolation plate130via a plurality of vibration dampers. First structural isolation plate110may be coupled to one or more dampers configured to reduce the amount of vibration to which a plurality of vibration sensitive components are subjected. The plurality of vibration sensitive components may include the computing modules included in computing chassis102, connectors, and heat sinks. The performance of the vibration sensitive components may degrade when subjected to vibrations. The one or more dampers may be omnidirectional dampers. The one or more dampers may be tuned to the specific frequency associated with a vibration source. The vibrations may be mechanical vibrations caused by the motors of the UAV (e.g., motors104a,104b) and the rotors of the UAV (e.g., rotors103a,103b). First structural isolation plate110in combination with vibration isolation plate130and the plurality of dampers are configured to shield the plurality of computing components from vibrations, noise, and EMI.

Vibration isolation plate130is coupled to antenna112associated with a communications disruption signal generator. Antenna112may be a highly directional antenna (e.g., log periodic, parabolic, helical, yagi, phased array, horn, etc.) that is configured to transmit a communications disruption signal. The communications disruption signal may have a frequency associated with one or more wireless communications devices that the communications disruption signal is attempting to disrupt. For example, the communications disruption signal may have a frequency between 2.1 GHz and 5.8 GHz.

UAV101includes second structural isolation plate120. A UAV may also be designed to include an isolation plate to isolate the noisy components from the radiating components and vice versa. Second structural isolation plate120is configured to isolate the one or more noisy components from one or more antennas and one or more sensors and vice versa. Second structural isolation plate120is also configured to act as a ground plane for the one or more antennas associated with a radio communications system of UAV101.

Structural isolation plate120may also be coupled to one or more dampers to reduce an amount of vibration to which the noisy components are subjected. The combination of structural isolation plate110and structural isolation plate120act as a Faraday cage for the noisy components. The combination of structural isolation plate110and structural isolation plate120are configured to isolate one or more high noise generating components of the UAV from the other components of the UAV. For example, a radio communications system and a communication disruption signal generator may be isolated from a plurality of computing components and a plurality of antennas. As a result, the influence that vibrations, noise, and EMI have on the overall performance of the UAV is reduced. One or more cooling fans114are coupled to and may be positioned in between vibration isolation plate130and vibration isolation plate140. The high noise generating components of the UAV may generate a lot of heat during operation. One or more cooling fans114are configured to direct air towards the high noise generating components such that a temperature of the high noise generating components of the UAV is reduced during operation. A portion of the one or more cooling fans114may be placed adjacent to one of the openings of the structural frame comprising first structural isolation plate110and second structural isolation plate120.

First rotor arm bracket115ais coupled to first rotor arm116aand second rotor arm bracket116ais coupled to second rotor arm116b. First rotor arm116ais coupled to motor104aand rotor103a. Second rotor arm116bis coupled to motor104band rotor103b. Rotor arm brackets115a,115bare configured to engage rotor arms116a,116b, respectively. UAV101may lift off from a launch location and fly when rotor arms116a,116bare engaged with their corresponding rotor arm brackets115a,115b. When rotor arms116a,116bare engaged with their corresponding rotor arm brackets115a,115b, motors104a,104bmay provide a control signal to rotors103a,103bto rotate.

A radio communications system of UAV101may be associated with a plurality of antennas (e.g., antenna105a, antenna105b). Each antenna may operate at a different frequency. This enables the radio communications system to switch between frequency channels to communicate. The radio communications system may communicate with a remote server via antenna105a. For example, the radio communications system may transmit the data associated with the one or more sensors associated with UAV101(e.g., radar data, lidar data, sonar data, image data, etc.). The frequency channel associated with antenna105amay become noisy. In response to the frequency channel associated with antenna105abecoming noisy, the radio communications system may switch to a frequency channel associated with antenna105b. The antennas associated with the radio communications system may be daisy chained together. The persistent systems radio may communicate with one or more other UAVs and transmit via antennas105a,105b, a signal back to a source through the one or more other UAVs. For example, another UAV may act as an intermediary between UAV101and a remote server. UAV101may be out of range from the remote server to communicate using antennas105a,105b, but another UAV may in range to communicate with UAV101and in range to communicate with the remote sever. UAV101may transmit the data associated with one or more sensors to the other UAV, which may forward the data associated with one or more sensors to the remote server.

The radio communications system of UAV101may be associated with three antennas (e.g., antenna105a, antenna105b, antenna205c). The antennas may be approximately 90 degrees apart from each other (e.g., 90°±5°). The antennas may be coupled to the landing struts of UAV101(e.g., landing strut106a, landing strut106b, landing strut206c) via an antenna clip, such as antenna clip113. This allows the antennas to have a tripod configuration, which allows the antennas to have enough fidelity to transmit the needed bandwidth of data. For example, the tripod configuration allows the antennas to have sufficient bandwidth to transmit video data or any other data obtained from the one or more sensors of UAV101.

UAV101may include a fourth antenna (not shown) that is also coupled to one of the landing struts of UAV101. UAV101may be remotely controlled and the fourth antenna may be used for remote control communications. In some embodiments, the antennas coupled to the landing struts of UAV101may be integrated into the landing strut, such that an antenna is embedded within a landing strut.

UAV101may include guide collars109a,109b. Guide collars109a,109bmay be coupled to a plurality of launch rails. UAV101may be stored in a hangar that includes the plurality of launch rails. Guide collars109a,109bare hollow and may be configured to slide along the launch rails to constrain lateral movement of UAV101until it has exited the housing or hangar.

UAV101may include a vibration plate150that is coupled to a battery cage via a plurality of dampers151. The vibration plate150may be coupled to net launchers107a,107band interdiction sensor system108. Interdiction sensor system108may include at least one of a global positioning system, a radio detection and ranging (RADAR) system, a light detection and ranging (LIDAR) system, a sounded navigation and ranging (SONAR) system, an image detection system (e.g., photo capture, video capture, UV capture, IR capture, etc.), sound detectors, one or more rangefinders, etc. For example, eight LIDAR or RADAR beams may be used in the rangefinder to detect proximity to the target UAV. Interdiction sensor system108may include one or more LEDs that indicate to bystanders whether UAV101is armed and/or has detected a target. The one or more LEDs may be facing away from the back of UAV101and below UAV101. This enables one or more bystanders under UAV101to become aware of a status associated with UAV101.

Interdiction sensor system108may include image capture sensors which may be controlled by the interdiction control module to capture images of the object when detected by the range finding sensors. Based on the captured image and the range readings from the ranging sensors, the interdiction control module may identify whether or not the object is a UAV and whether the UAV is a UAV detected by one of the sensor systems.

When the interdiction control module determines that the object is a target UAV, it may also determine if the target UAV is an optimal capture position relative to the defending UAV. The position between UAV101and the target UAV may be determined based on one or more measurements performed by interdiction sensor system108. If the relative position between the target UAV and the defending UAV is not optimal, interdiction control module may provide a recommendation or indication to the remote controller of the UAV. An interdiction control module may provide or suggest course corrections directly to the flight controller module to maneuver UAV101into an ideal interception position autonomously or semi-autonomously. Once the ideal relative position between the target UAV and the defending UAV is achieved, the interdiction control module may automatically trigger one of the net launchers107a,107b. Once triggered, one of the net launchers107a,107bmay fire a net designed to ensnare the target UAV and disable its further flight.

The net fired by the capture net launcher may include a tether connected to UAV101to allow UAV101to move the target UAV to a safe area for further investigation and/or neutralization. The tether may be connected to the defending UAV by a retractable servo controlled by the interdiction control module such that the tether may be released based on a control signal from the interdiction control module. The CPU of the UAV may be configured to sense the weight, mass, or inertia effect of a target UAV being tethered in the capture net and recommend action to prevent the tethered target UAV from causing UAV101to crash or lose maneuverability. For example, the CPU may recommend UAV101to land, release the tether, or increase thrust. The CPU may provide a control signal to allow the UAV to autonomously or semi-autonomously take corrective actions, such as initiating an autonomous or semi-autonomous landing, increasing thrust to maintain altitude, or releasing the tether to jettison the target UAV in order to prevent the defending UAV from crashing.

UAV101may include visual detection system111. Visual detection system111may include one or more cameras. Visual detection system111may be used by a remote operator to control a flight path associated with UAV101. Visual detection system111may provide visual data to an image processing module configured to visually detect an object and provide visual data (e.g., pixel data) to one or more machine learning models. The one or more machine learning models may be trained to label an object as a UAV based on the visual data. The image processing module may provide an output indicating that an object is labeled as a UAV to the interdiction control module. The interdiction control module may be configured to activate net launchers107a,107bbased on the label. For example, in the event the visually detected object is labeled a UAV and the visually detected object is within a threshold range from UAV101, the interdiction control module may output a control signal that causes one of the net launchers107a,107bto deploy a net.

FIG. 2is a diagram illustrating a side view of an unmanned aerial vehicle in accordance with some embodiments. In the example shown, side view200includes unmanned aerial vehicle101comprising computing chassis102, UI panel201, flight controller module202, second rotor103b, third rotor203c, second motor104b, third motor204c, second antenna105b, third antenna205c, second landing strut106b, third landing strut206c, battery207, battery cage208, second net launcher107b, interdiction sensor module108, second guide collar109b, first structural isolation plate110, visual detection system111, disruption signal antenna112, antenna clip113, second structural isolation plate120, gimbal220, tether mechanism225, and vibration dampers232a,232b, isolation plate150, vibration isolation plate140, and vibration isolation plate150.

UI panel201is coupled a safety module that is included in computing chassis102. UI panel201comprises one or more switches, knobs, buttons that enables an operator to arm and disarm UAV101. An operator may interact with UI panel201and based on the operator interactions, the safety module is configured to arm/disarm UAV101. For example, first net launcher107aand second net launcher107bmay be disarmed based on one or more interactions of an operator with UI panel201. This may allow the operator to inspect and/or perform maintenance on UAV101.

Flight controller module202is configured to control a flight of UAV101. The flight controller module may provide one or more control signals to the one or more motors (e.g.,104a,104b) associated with UAV101. The one or more control signals may cause a motor to increase or decrease its associated revolutions per minute (RPM). UAV101may be remotely controlled from a remote location. UAV101may include an antenna that receives flight control signals from the remote location. In response to receiving the flight control signals, the CPU of UAV101may determine how UAV101should fly and provide control signals to flight controller module202. In response to the control signals, flight control202is configured to provide control signals to the one or more motors associated with UAV101, causing UAV101to maneuver as desired by an operator at the remote location.

Antenna205cis coupled to landing strut206c. Antenna205cis one of the antennas associated with a communications radio system of UAV101. Antenna205cis configured to operate at a frequency that is different than antennas105a,105b. A communications radio system may be configured to switch between frequency channels to communicate. The communications radio system may communicate with a remote server via antenna105a. The frequency channel associated with antenna105amay become noisy. For example, the radio communications system may transmit the data associated with the one or more sensors associated with UAV101(e.g., radar data, lidar data, sonar data, image data, etc.). In response to the frequency channel associated with antenna105abecoming noisy, the radio communications system may switch to a frequency channel associated with antenna105b. The frequency channel associated with antenna105bmay become noisy. In response to the frequency channel associated with antenna105bbecoming noisy, the radio communications system may switch to a frequency channel associated with antenna205c.

Battery207is configured to provide power to UAV101. UAV101is comprised of a plurality of components that require electricity to operate. Battery207is configured to provide power to the plurality of components. In some embodiments, battery207is a rechargeable battery. Battery207is housed within battery cage208. Battery cage208may be coupled to vibration isolation plate150via a plurality of dampers. Vibration isolation plate150may be coupled to interdiction sensor module108, net launchers107a,107b, tether mechanism225, and a persistent availability plug.

Gimbal220is coupled to visual detection system111and second structural isolation plate120. A gimbal is a pivoted support that allows the rotation of visual detection system111about a single axis. Gimbal220is configured to stabilize an image captured by visual detection system111.

Tether mechanism225is coupled to net capture launchers107a,107b. When a net is deployed by one of the net capture launchers107a,107b, the net remains tethered to UAV101via tether mechanism225. Tether mechanism225may be configured to sense the weight, mass, or inertia effect of a target UAV being tethered in the capture net. In response to the sensed signals, a CPU of UAV101may be configured to recommend action to prevent the tethered target UAV from causing UAV101to crash or lose maneuverability. For example, the CPU of UAV101may recommend UAV101to land, release the tether, or increase thrust. The CPU of UAV101may provide a control signal to allow the UAV to autonomously or semi-autonomously take corrective actions, such as initiating an autonomous or semi-autonomous landing, increasing thrust to maintain altitude, or releasing the tether to jettison the target UAV in order to prevent the defending UAV from crashing.

Vibration dampers232a,232bare coupled to structural isolation plate110and vibration isolation plate130. Vibration dampers232a,232bmay be omnidirectional dampers. Vibration dampers232a,232bmay be configured to reduce the amount of vibration to which a plurality of vibration sensitive components are subjected. The plurality of vibration sensitive components may include different electronics modules (e.g., components included in computing chassis102, connectors, and heat sinks. The performance of the vibration sensitive components may degrade when subjected to vibrations. Vibration dampers232a,232bmay be tuned to the specific frequency associated with a vibration source. The vibrations may be mechanical vibrations caused by the motors of the UAV (e.g., motors104a,104b) and the rotors of the UAV (e.g., rotors103a,103b). Vibration damper232a,232bmay be tuned to the mechanical vibrations caused by the motors of the UAV and the rotors of the UAV. Vibration dampers232a,232bmay be comprised of a vibration damping material, such as carbon fiber. In some embodiments, one or more vibration dampers may be included in between a motor and a motor mount.

FIG. 3is a diagram illustrating a view of a top portion of an unmanned aerial vehicle in accordance with some embodiments. In the example shown, view300includes computing chassis102, UI panel201, disruption signal antenna112, cooling fans114, vibration isolation plate130, vibration isolation plate140, electronics retention folding mechanism304, disruption signal generator306, and power supply310.

Electronics retention folding mechanism304is hinge mounted to computing chassis102and UI panel201. Electronics retention folding mechanism304is configured to pivot ninety degrees such that computing chassis102is rotated ninety degrees. This enables an operator of the UAV to performance maintenance on one or more components that between first structural isolation plate110and computing chassis102.

Electronics retention folding mechanism304may include one or more fasteners that couples computing chassis102to electronics retention folding mechanism304. The one or more fasteners may include screws, bolts, clips, etc. Computing chassis102may be decoupled from electronics retention folding mechanism304by loosening and removing the one or more fasteners.

In addition to electronics retention folding mechanism, a resting bracket (not shown) may support computing chassis102on a side opposite of electronics retention folding mechanism304. When resting on the resting bracket, computing chassis102is parallel with vibration isolation plate130.

Power supply310may be positioned in between electronics retention folding mechanism304. Power supply310is configured to receive electricity from a battery of the UAV and to configure the received electricity into a DC power that may be used by the computing components included in computing chassis102.

Disruption signal generator306is coupled to vibration isolation plate130and vibration isolation plate140. Disruption signal generator306may be configured to generate a communications disruption signal to temporarily disrupt the communications system of a target UAV. Disruption signal generator504may be configured to generate and transmit via disruption signal antenna112the communications disruption signal when a target UAV is identified. The communication disruption signal may be based on a sawtooth wave. A sawtooth wave is a non-sinusoidal wave with sharp ramps going upwards and then suddenly downwards or a non-sinusoidal wave with sharp ramps going downwards and then suddenly upwards. The power of a communication disruption signal at the peak of the sawtooth wave may be sufficient to jam the communications system of the target UAV, but due to the nature of the sawtooth wave, the communications system of the target UAV may be temporarily disabled because the power of the communication disruption signal will suddenly drop and ramp up again. As a result, the one or more processors of the target UAV may not realize it is under attack and not commence a communications failure procedure that cause the target UAV to return to a home location. The disruption signal generator504may cause a target UAV to fly in a hovering pattern.

FIG. 4is a diagram illustrating a top view of a top portion of an unmanned aerial vehicle in accordance with some embodiments. In the example shown, view400includes computing chassis102, UI panel201, flight controller module202, first structural isolation plate110, disruption signal antenna112, resting bracket401, signal converter402, interdiction control module403, and safety control module404. In the example shown, the electronics retention folding mechanism has been pivoted such that computing chassis102is rotated ninety degrees. This enables an operator of the UAV to performance maintenance on one or more components that between first structural isolation plate110and computing chassis102. Computing chassis102includes a handle. When the one or more fasteners are removed from the electronics retention folding mechanism, an operator may grab computing chassis102to remove computing chassis102from UAV101.

Resting bracket401may support computing chassis102on a side opposite of electronics retention folding mechanism. When resting on the resting bracket, computing chassis102is parallel with vibration isolation plate130.

Signal converter402is configured to data associated with a first format into a second format that is able to transmitted via the radio communications systems radio. For example, a video image obtained by visual detection system111may be converted from a video format (e.g., HDMI) into a second format (e.g., SDI).

Interdiction control module403may be configured to monitor signals received from interdiction sensor module108and determine whether to activate first net launcher107aor second net launcher107abased on the signals. The interdiction control module may be configured to automatically activate a net launcher to deploy a capture net when a set of predefined firing conditions are met. In other embodiments, the interdiction control module may receive a command from the CPU indicating when to deploy a capture net. The set of predefined firing conditions may include an object being identified as a UAV, the identified UAV being within a threshold range from UAV101, and the identified UAV having an associated flight pattern (e.g., hovering flight pattern).

Safety control module404may be configured to interface with a user interface panel201. Safety control module404is configured to arm/disarm UAV101. For example, the user interface panel may receive from an operator an input indicating that first net launcher107aand second net launcher107bshould be disarmed to allow the operator to inspect and/or perform maintenance on UAV101. In response to receiving the input, safety control module404is configured to disarm first net launcher107aand second net launcher107b.

FIG. 5is a diagram illustrating a side view of a vibration isolation module in accordance with some embodiments. In the example shown, side view500includes a vibrations isolation module comprising computing chassis102, UI panel201, flight controller module202, vibration isolation plate130, vibration isolation plate140, flight recorder module501, disruption signal generator306, power supply310, radio communications system503, high power backbone502, disruption signal antenna112, and one or more cooling fans114. Vibration isolation plate130may be referred to as a first isolation module plate and vibration isolation plate140may be referred to as a second isolation module plate.

Flight controller module202, flight recorder module501, disruption signal antenna112, power supply310, computing chassis102, and UI panel201are mounted to vibration isolation plate130. Radio communications system503, high power backbone502, and disruption signal generator306are mounted on vibration isolate plate140.

Flight recorder module501is an electronic recording device that is configured to record specific UAV performance parameters. Flight recorder module501may be coupled to the CPU of computing chassis102and visual detection system111. Flight recorder module501may be configured to record the CPU output in parallel with the image data associated with visual detection system111. This allows the decisions made by the CPU based on the image data to be reviewed at a later time.

High power backbone502is a power distribution module and may be configured to distribute power between the one or more batteries of UAV101and the motors of UAV. It is comprised of a series of connections that allows the motors to be connected to the battery.

Radio communications system503is coupled to vibration isolation plate130and vibration plate140. Radio communications system503is configured to transmit data associated with UAV101to a remote server/location. The data associated with UAV101may include network data, sensor data, and/or video data. For example, radio communications system503may transmit RADAR data, LIDAR data, SONAR data, and/or image data to the remote server/location. This enables the remote server to perform data analysis of the transmitted data. The data analysis may be performed while UAV101is in flight or after UAV101has completed a flight. In some embodiments, the remote server may perform data analysis on the transmitted data and provide to communications radio system503one or more control signals based on the data analysis. Radio communications system503is coupled to a heat sink, which allows the heat generated by radio communications system503to be dissipated.

Radio communications system503may be associated with a plurality of antennas (e.g., antenna105a, antenna105b,205c). Each antenna may operate at a different frequency. This enables radio communications system503to switch between frequency channels to communicate. Radio communications system503may communicate with a remote server via antenna105a. For example, radio communications system503may use the plurality of antennas to transmit the data associated with the one or more sensors associated with UAV101. In some embodiments, radio communications system503is configured to transmit data using one of the plurality of antennas. In other embodiments, radio communications system503is configured to transmit data using more than one of the plurality of antennas in parallel.

In some embodiment, a frequency channel used by radio communications system503becomes noisy. In response to a frequency channel becoming noisy, radio communications system503is configured to select a different frequency channel to communicate. In some embodiments, radio communications system503is associated with three antennas (e.g., antenna105a,105b,205c). The antennas may be approximately 90 degrees apart from each other (e.g., 90°±5°). The antennas to have a tripod configuration, which allows the antennas to have enough fidelity to transmit the needed bandwidth of data. For example, the tripod configuration allows the antennas to have sufficient bandwidth to transmit video data or any other data obtained from the one or more sensors of UAV101.

The vibration isolation plate140may also be coupled to a voltmeter (not shown) and/or a current meter (not shown).

FIG. 6is a diagram illustrating a view of a structural frame of an unmanned aerial vehicle in accordance with some embodiments. In the example shown, view600includes first structural isolation plate110, second structural isolation plate120, rotor bracket615, side wall component606, rotors103a,103b,203c,603d, rotor arms116a,116b,616c,616d, rotor arm clips602a,602b,602c,602d, opening610, and vibration dampers604a,604b,604c,604d,604e,604f,604g,604h.

The structural frame comprises a top portion comprising first structural isolation plate110and a bottom portion comprising second structural isolation plate120. Rotor arm clips602a,602b,602c,602dare mounted on first structural isolation plate110. In the example shown, rotor arms116a,116b,616c,616dare mechanically locked into position via rotor arm clips602a,602b,602c,602d, respectively. Rotor arms116a,116b,616c,616dmay be in a locked or unlocked state. The rotor arms may be in an unlocked state when UAV101is being stored or transported.

The structural frame includes side wall component606and one or more other side wall components. The side wall components provide support for the plurality for components supported by first structural isolation plate110. The structural frame also includes rotor bracket615and a plurality of other rotor brackets. The rotor brackets also provide support for the plurality of components supported by first structural isolation plate110and are coupled to rotor arms116a,116b,616c,616d.

The structural frame also includes opening610. The structural frame may include a plurality of other openings. Opening610allows ambient air to cool any component that is positioned between first structural isolation plate110and second structural isolation plate120. Opening610also is configured to allow an isolation plate, such as isolation plate140to be positioned between first structural isolation plate110and second structural isolation plate120.

Vibration dampers604a,604b,604c,604d,604e,604f,604g,604hare mounted on structural isolation plate110. Vibration dampers604a,604b,604c,604d,604e,604f,604g,604hmay be omnidirectional dampers. Vibration dampers604a,604b,604c,604d,604e,604f,604g,604hmay be configured to reduce the amount of vibration to which a plurality of vibration sensitive components are subjected. The plurality of vibration sensitive components may include different electronics modules (e.g., components included in computing chassis102, connectors, and heat sinks. The performance of the vibration sensitive components may degrade when subjected to vibrations. Vibration dampers604a,604b,604c,604d,604e,604f,604g,604hmay be tuned to the specific frequency associated with a vibration source. The vibrations may be mechanical vibrations caused by the motors of the UAV (e.g., motors104a,104b) and the rotors of the UAV (e.g., rotors103a,103b). A vibration damper may be tuned to the mechanical vibrations caused by the motors of the UAV and the rotors103a,103b,203c, and603d. Vibration dampers232a,232bmay be comprised of a vibration damping material, such as carbon fiber. In some embodiments, one or more vibration dampers may be included in between a motor and a motor mount.

FIG. 7is a diagram illustrating a side view of an unmanned aerial vehicle. In the example shown, view700depicts the vibration isolation module comprising vibration isolation plate130and vibration isolation plate140coupled to the structural frame comprising structural isolation plate110, structural isolation plate120. The plurality of computing components and noise generating components are coupled to the vibration isolation module. The vibration isolation module is coupled to the UAV structural frame via a plurality of vibration dampers732a,732b,732c,732d.

A width of vibration isolation plate140is small enough to fit in between an opening of the structural frame, such as opening610. This allows the high noise generating components (e.g., the radio communications system503and the communications disruption signal generator306) to be isolated from the computing components (e.g., computing chassis102, interdiction control module403, safety control module404) by the first structural isolation plate110.

A top vibration isolation plate of the isolation module, such as vibration isolation plate130may be positioned on top of the plurality of vibration dampers732a,732b,732c,732d. The plurality of vibration dampers732a,732b,732c,732dare configured to couple vibration isolation plate130to structural isolation plate110. The structural frame of UAV101is coupled to the vibration sources, such as the motors and rotors of UAV101, via the rotor brackets. The vibrations induced by the vibration sources will be absorbed by the vibration dampers732a,732b,732c,732d. The amount of vibration experienced components coupled to the isolation module (e.g., radio communications system503, communications disruption signal generator306, computing chassis102, interdiction control module403, safety control module404) will be reduced because the vibrations will be absorbed by the vibration dampers732a,732b,732c,732d. The bottom vibration isolation plate of the isolation module, such as vibration isolation plate140is not directly coupled to second structural isolation plate120or any of the vibration sources. Thus, vibration isolation plate140does not directly experience vibrations from the vibration sources, but experiences the vibrations after they have been absorbed by vibration dampers732a,732b,732c,732d.

The configuration between the structural frame and the vibration isolation module helps not only to reduce the amount of vibration experienced by the computing components and noise generating components, but also to shield the computing components from the noise generated by the noise generating components. Such a configuration reduces the likelihood that UAV101will suffer a component failure due to vibration, noise, or EMI.

View700also depicts UAV101comprises persistent availability plug701, which is configured to connect to a docking station. UAV101may be stored in a hangar or other storage facility. Persistent availability plug701may be connected to a power outlet associated with the hangar or other storage facility. The power connection may prevent the one or more batteries of UAV101from drawing power while UAV101is being stored. In other embodiments, the one or more batteries of UAV101may be recharged via persistent availability plug701while connected to a power outlet associated with the hanger or other storage facility.

FIG. 8Ais a diagram illustrating rotor arm clips in accordance with some embodiments. In the example shown, rotor arm816is in an unlocked state. A UAV may not fly when it is in an unlocked state. Rotor arm816may be in an unlocked state for storage and or transportation purposes. Rotor arm816is coupled to first structural isolation plate110and the second structural isolation plate120via bracket815. Rotor arm clip802includes an opening804. Opening804is configured to accept a bump806associated with rotor arm816.

FIG. 8Bis a diagram illustrating rotor arm clips in accordance with some embodiments. In the example shown, rotor arm816is in a locked state. A UAV may fly when rotor arm816is in a locked state. Rotor arm clip802is engaged with rotor arm816. In the example shown, bump806associated with rotor arm816fits in the opening804of rotor arm clip802. Rotor arm clip802includes a ramp portion808. When an upward force is applied to ramp portion808and a downward force is applied to rotor arm816, rotor arm816may become disengaged with rotor arm clip802.

FIG. 9is a diagram illustrating a vibration damper in accordance with some embodiments. In the example shown, vibration damper902is coupled to structural isolation plate110and vibration isolation plate130. Vibration damper902may be an omnidirectional damper. Vibration damper902may be configured to reduce the amount of vibration to which a plurality of vibration sensitive components are subjected. The plurality of vibration sensitive components may include different electronics modules, connectors, and heat sinks. The performance of the vibration sensitive components may degrade when subjected to vibrations. Vibration damper902may be tuned to the specific frequency associated with a vibration source. The vibrations may be mechanical vibrations caused by the motors of the UAV (e.g., motors104a,104b) and the rotors of the UAV (e.g., rotors103a,103b). Vibration damper902may be tuned to the mechanical vibrations caused by the motors of the UAV and the rotors of the UAV. Vibration damper902may be comprised of a vibration damping material, such as carbon fiber.

A motor is mounted to a rotor arm via a motor mount. In some embodiments, one or more vibration dampers may be included in between a motor and a motor mount.