GB2455374A - Unmanned aerial vehicle comprising a triangular array of rotors - Google Patents

Unmanned aerial vehicle comprising a triangular array of rotors Download PDF

Info

Publication number
GB2455374A
GB2455374A GB0810886A GB0810886A GB2455374A GB 2455374 A GB2455374 A GB 2455374A GB 0810886 A GB0810886 A GB 0810886A GB 0810886 A GB0810886 A GB 0810886A GB 2455374 A GB2455374 A GB 2455374A
Authority
GB
United Kingdom
Prior art keywords
uav
rotor
rotors
airframe
undercarriage
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
GB0810886A
Other versions
GB2455374B (en
GB0810886D0 (en
Inventor
Stephen Dominic Prior
Tom Foran
Mehmet Ali Erbil
Siddharth Odedra
Mehmet Karamanoglu
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
MIDDLESEX UNIVERSITY HIGHER ED
Original Assignee
MIDDLESEX UNIVERSITY HIGHER ED
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by MIDDLESEX UNIVERSITY HIGHER ED filed Critical MIDDLESEX UNIVERSITY HIGHER ED
Priority to GB0810886A priority Critical patent/GB2455374B/en
Publication of GB0810886D0 publication Critical patent/GB0810886D0/en
Publication of GB2455374A publication Critical patent/GB2455374A/en
Priority to PCT/GB2009/050661 priority patent/WO2009153588A1/en
Application granted granted Critical
Publication of GB2455374B publication Critical patent/GB2455374B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C27/00Rotorcraft; Rotors peculiar thereto
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C29/00Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft
    • B64C29/0008Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft having its flight directional axis horizontal when grounded
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C39/00Aircraft not otherwise provided for
    • B64C39/02Aircraft not otherwise provided for characterised by special use
    • B64C39/024Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64UUNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00Type of UAV
    • B64U10/10Rotorcrafts
    • B64U10/13Flying platforms
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64UUNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00Constructional aspects of UAVs
    • B64U20/60UAVs characterised by the material
    • B64U20/65Composite materials
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64UUNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20Rotors; Rotor supports
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64UUNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U80/00Transport or storage specially adapted for UAVs
    • B64U80/60Transport or storage specially adapted for UAVs by wearable objects, e.g. garments or helmets
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64UUNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00UAVs specially adapted for particular uses or applications
    • B64U2101/30UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • B64U2101/31UAVs specially adapted for particular uses or applications for imaging, photography or videography for surveillance
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64UUNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U60/00Undercarriages
    • B64U60/40Undercarriages foldable or retractable

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Remote Sensing (AREA)
  • Chemical & Material Sciences (AREA)
  • Composite Materials (AREA)
  • Materials Engineering (AREA)
  • Transportation (AREA)
  • Toys (AREA)

Abstract

A UAV comprises an airframe supporting a triangular array of tri-rotors. Each tri-rotor may comprise a pair of contra-rotating rotors 21,23 on the same axis. Each rotor 21,23 may have a dedicated motor 20,22 arranged such that in the event of a motor failure all motors on that level will be disengaged. The airframe may comprise three arms 10,11 with one pair of rotors 21,23 at the extremity of each, and the arms and rotors may be detachable for stowage. The UAV may also comprise a stowable antenna 26 and an undercarriage comprising three legs. The UAV may operate autonomously and carry a video camera 27 to transmit images to a guidance controller.

Description

COMPACT UNMANNED AERIAL VEHICLE
Field of Invention
The present invention relates to unmanned aerial vehicles, hereinafter called UAVs.
It is particularly concerned with such vehicles employed in surveillance operations when the vehicle is required to be relatively marioeuvrable.
Background to the Invention
UAVs are employed in a growing variety of contexts. Although perhaps their primary use has been in the fields of military security and policing, their use is growing in such fields as animal migration watching, land and crop surveying and resource or lost item searching and search and rescue operations In many of these contexts it can be very valuable to maximise the payload or endurance of a UAV and yet to do so with the most compact UAV possible.
The present invention provides a UAV which combines valuable payload/endurance parameters with compactness.
Statements of Invention
A UAV according to the present invention has an airframe supporting a fri-rotor triangular array.
According to an important feature of the invention each tn-rotor may comprise a pair of rotors in tandem, perhaps on substantially the same axis and arranged to contra-rotate. In this way lift may be maximised and dynamic problems reduced. Preferably each rotor has three blades. The layout of the triangular array may be that of an isosceles triangle, but for maximum manoeuvrability an equilateral triangle layout is preferred.
The airframe may comprise three arms with one of said pair of rotors at each extremity thereof. Accordingly therefore the array may be seen to comprise an upper rotor bank and a lower rotor bank.
The airframe is preferably formed from a material having a high strength to weight ratio. A material based on woven carbon fibre is accordingly a strong candidate.
It can be particularly valuable from the point of view of stowage for the airframe arms to be detachable one from the other or each from a central body portion. Likewise the rotors are advantageously detachable for stowage, and preferably detachably mountable upon the central body portion. Moreover, where the UAV incorporates antennae these too are preferably arranged to be stowable. The airframe may also incorporate an undercarriage in the form, for example of three legs, which also are preferably stowable.
It has been found possible to construct a UAV in accordance with the present invention which can lift a payload of up to 1kg for 15 minutes. Either of these parameters may be increased if the UAV flies on a wire bringing power from a battery not mounted thereon. The UAV may otherwise be controlled remotely by an operator, or even perform certain tasks, for example "nightwatchman tasks" autonomously. That is to say that it can be arranged for control in the directions up, down, forward, backward, pitch and yaw (as distinct from say a quadrilateral rotor system where roll control may also be required).
Where relatively continuous operation is required in a context where there is no mechanical link between an operator and the UAV, there may be a suite of interchangeable rechargeable batteries, with one battery or group thereof being on charge "on the ground" whilst another is flying.
Among the payloads which a UAV in accordance with the invention may carry are infra-red, thermal imaging and digital cameras, a video camera and a mini synthetic aperture radar (mini SAR). Any of these may be mounted on a gimballed base associated with a central portion of the airframe. Miniature camera devices may be mounted at the extremity of each arm. The UAV may also incorporate global positioning (GPS) apparatus.
A typical inventory of uses to which a tJAV in accordance with the invention may be put includes: a) Border interdiction. Patrol of borders by aerial platforms; b) Search and rescue. Looking for survivors from shipwrecks, aircraft accidents etc.; c) Wild fire suppression. UAVs equipped with infrared sensors can detect fire in forests and notify the fire brigade on time; d) Communications relay. High altitude long endurance UAVs can be used as satellites; e) Law enforcement: VTOL UAVs can take the role of police helicopters in a cost effective way; f) Disaster and emergency management. Aerial platforms with cameras can provide real time surveillance in hazardous situations such as earthquakes; g) Research. Scientific research of any nature (environmental, atmospheric, archaeological, pollution etc) can be carried out by UAVs equipped with the appropriate payloads; h) Industrial applications: Such applications can be crops; spraying, nuclear factory surveillance, surveillance of pipelines etc.: i) Wildlife observation.
There can be a concern about safety. That is, it may not be desirable for a UAV to drop out of the sky and perhaps cause damage to property or person. A UAV in accordance with the invention may incorporate a parachute or helium inflatable balloon to reduce the rate of descent in an emergency. However it is a preferred feature of the invention that each rotor has a discrete motor. In this way, with each rotor station comprising two rotors, the failure of one, for example at one station, may be arranged to cause all motors at that level to stop and the three remaining rotors to allow the UAV to make a controlled descent.
It has been found that a preferred embodiment of a UAV in accordance with the invention, constructed as above described, can be made with a maximum lateral dimension of the order of 70cm and a maximum deployed height of 30cm, using three bladed rotors of blade length 5 inches (12.7cm) can carry 1kg for up to 15 minutes in an autonomous context. Typically a digital camera weighs 144 grams and a thermal imaging camera of the order of 153 grams.
The use of electric motors and rotors makes for a device substantially silent in operation.
Description of the Drawings
An embodiment of the invention will now be described by way of example with reference to the accompanying drawings, of which: Figure 1 is a schematic isometric sketch of a compact UAV; Figure 2 is front elevation sketch of the compact UAV; and Figure 3 is a plan view of the compact UAV.
Description of Preferred Embodiments
Shewn in the drawing is a UAV having an airframe comprising three double arms, an upper set Wa, lOb, lOc, and a lower set ha, hib, lic, a battery box 12, a guidance dome 13 and a payload carrier 14. The three arms are in equilateral triangle array.
The payload carrier 14 is gimballed so that it can pan and tilt its payload with respect to the airframe. Servos 15 control the pan and tilt of the payload carrier.
Mounted on the end of each upper arm is an outrunner motor 20 having an associated upward facing rotor 21. Mounted below the end of each lower arm is an outrunner motor 22 with an associated rotor 23. Mounted on the airframe arms inboard of the motors 20, 22 are electronic speed controllers 24.
The rotors 21, 23 are three bladed and formed of a plastics material.
The battery box 12 contains a rechargeable battenes for powering the motors.
Within the guidance dome 13 is a MicropiIoF flight control device 25 while stowable antennae 26 are mounted on the dome 13.
At the extremity of the lower arm ha, deemed the lead arm, is a video camera 27.
The camera 27 is powered by a battery 28 mounted on an arm 11.
This UAV embodiment is shewn with a video camera 30 and a thermal camera 31 carried on the payload carrier. These cameras are readily interchangeable with others, for example digital still and infra red cameras.
Ground support legs (not shewn) branch out from each lower arm 11.
In use with the required equipment mounted on the payload carrier a ground controller (not shewn) provides signals via one of the antennae 26 to the flight control device 25. By this means the flight of the UAV is controlled, with the speed controllers 24 controlling the speed of the motors 20, 22. This affects the attitude, rise and descent, forward motion and turn of the UAV. The rotors 21, 23 contra-rotate with respect one to the other.
During the operation the cameras 27, 30 and 31 may be operating and transmitting pictures back to the ground controller and/or elsewhere, via one of the antennae 26.
In the event of failure of one of the motor/rotor combinations the MicropilotTM is arranged to switch off the other two motors at that level. This enables the UAV to descend at a controlled rate.
In a particular example of this embodiment of the invention, the airframe arms and battery box are formed from woven carbon fibre sheet 2mm thick. The motors 20, 22 are Axi 2217/20 brushless motors each weighing 71.2 grams. The rotors 21, 23 are GWT0 plastics rotors with three 5" (12.7cm) long blades. The rotors each weigh 15.9 grams. The rotors are mounted to the motors via Axi Prop saver devices 32.
The electronic speed controllers 24 are YGE-18i ESC devices. Suitable rechargeable batteries are preferably lithium based, eg lithium-iron, Li-poly or Li-metal. Of these, Li-poly batteries are preferred because they are easy to manufacture in small sizes and have a very low self-discharge rate. At typical example therefore is a MaxxAmp 14.8v @ 8000mAh Li-poly 4S2P battery. The camera control batteries may be commercial 9v batteries each weighing 47.8 grams.
RTM
The servos 15 are Hitec I-ib-77BB servo devices.
The camera 27 is a Black Widow Ky 141/90/PAL 480 line camera. Typical other cameras for mounting in the payload carrier may be a Photon thermal camera, a 310 line colour CMOS camera, and a PentaV0 6MP digital camera.
This embodiment of the invention can have a maximum breadth dimension of the order of 70 cm and a depth of less than 30 cm with the legs and antennae stowed. It can carry a payload of up to 1 kg for 15 minutes, with payload and endurance being somewhat Interchangeable.
The rotors 21, 23 can be readily detached, and the legs and antennae folded outwards for stowage purposes.
In alternative embodiments the airframe may have stays or struts between the upper and lower arms 10 and Ii. These arms, or one or two sets thereof may be detachable for stowage purposes. The undercarriage may have the form of a ring or horseshoe and could be retractable for stowage. COMPACT UNMANNED AERIAL VEHICLE
Field of Invention
The present invention relates to unmanned aerial vehicles, hereinafter called UAVs.
It is particularly concerned with such vehicles employed in surveillance operations when the vehicle is required to be relatively marioeuvrable.
Background to the Invention
UAVs are employed in a growing variety of contexts. Although perhaps their primary use has been in the fields of military security and policing, their use is growing in such fields as animal migration watching, land and crop surveying and resource or lost item searching and search and rescue operations In many of these contexts it can be very valuable to maximise the payload or endurance of a UAV and yet to do so with the most compact UAV possible.
The present invention provides a UAV which combines valuable payload/endurance parameters with compactness.
Statements of Invention
A UAV according to the present invention has an airframe supporting a fri-rotor triangular array.
According to an important feature of the invention each tn-rotor may comprise a pair of rotors in tandem, perhaps on substantially the same axis and arranged to contra-rotate. In this way lift may be maximised and dynamic problems reduced. Preferably each rotor has three blades. The layout of the triangular array may be that of an isosceles triangle, but for maximum manoeuvrability an equilateral triangle layout is preferred.
The airframe may comprise three arms with one of said pair of rotors at each extremity thereof. Accordingly therefore the array may be seen to comprise an upper rotor bank and a lower rotor bank.
The airframe is preferably formed from a material having a high strength to weight ratio. A material based on woven carbon fibre is accordingly a strong candidate.
It can be particularly valuable from the point of view of stowage for the airframe arms to be detachable one from the other or each from a central body portion. Likewise the rotors are advantageously detachable for stowage, and preferably detachably mountable upon the central body portion. Moreover, where the UAV incorporates antennae these too are preferably arranged to be stowable. The airframe may also incorporate an undercarriage in the form, for example of three legs, which also are preferably stowable.
It has been found possible to construct a UAV in accordance with the present invention which can lift a payload of up to 1kg for 15 minutes. Either of these parameters may be increased if the UAV flies on a wire bringing power from a battery not mounted thereon. The UAV may otherwise be controlled remotely by an operator, or even perform certain tasks, for example "nightwatchman tasks" autonomously. That is to say that it can be arranged for control in the directions up, down, forward, backward, pitch and yaw (as distinct from say a quadrilateral rotor system where roll control may also be required).
Where relatively continuous operation is required in a context where there is no mechanical link between an operator and the UAV, there may be a suite of interchangeable rechargeable batteries, with one battery or group thereof being on charge "on the ground" whilst another is flying.
Among the payloads which a UAV in accordance with the invention may carry are infra-red, thermal imaging and digital cameras, a video camera and a mini synthetic aperture radar (mini SAR). Any of these may be mounted on a gimballed base associated with a central portion of the airframe. Miniature camera devices may be mounted at the extremity of each arm. The UAV may also incorporate global positioning (GPS) apparatus.
A typical inventory of uses to which a tJAV in accordance with the invention may be put includes: a) Border interdiction. Patrol of borders by aerial platforms; b) Search and rescue. Looking for survivors from shipwrecks, aircraft accidents etc.; c) Wild fire suppression. UAVs equipped with infrared sensors can detect fire in forests and notify the fire brigade on time; d) Communications relay. High altitude long endurance UAVs can be used as satellites; e) Law enforcement: VTOL UAVs can take the role of police helicopters in a cost effective way; f) Disaster and emergency management. Aerial platforms with cameras can provide real time surveillance in hazardous situations such as earthquakes; g) Research. Scientific research of any nature (environmental, atmospheric, archaeological, pollution etc) can be carried out by UAVs equipped with the appropriate payloads; h) Industrial applications: Such applications can be crops; spraying, nuclear factory surveillance, surveillance of pipelines etc.: i) Wildlife observation.
There can be a concern about safety. That is, it may not be desirable for a UAV to drop out of the sky and perhaps cause damage to property or person. A UAV in accordance with the invention may incorporate a parachute or helium inflatable balloon to reduce the rate of descent in an emergency. However it is a preferred feature of the invention that each rotor has a discrete motor. In this way, with each rotor station comprising two rotors, the failure of one, for example at one station, may be arranged to cause all motors at that level to stop and the three remaining rotors to allow the UAV to make a controlled descent.
It has been found that a preferred embodiment of a UAV in accordance with the invention, constructed as above described, can be made with a maximum lateral dimension of the order of 70cm and a maximum deployed height of 30cm, using three bladed rotors of blade length 5 inches (12.7cm) can carry 1kg for up to 15 minutes in an autonomous context. Typically a digital camera weighs 144 grams and a thermal imaging camera of the order of 153 grams.
The use of electric motors and rotors makes for a device substantially silent in operation.
Description of the Drawings
An embodiment of the invention will now be described by way of example with reference to the accompanying drawings, of which: Figure 1 is a schematic isometric sketch of a compact UAV; Figure 2 is front elevation sketch of the compact UAV; and Figure 3 is a plan view of the compact UAV.
Description of Preferred Embodiments
Shewn in the drawing is a UAV having an airframe comprising three double arms, an upper set Wa, lOb, lOc, and a lower set ha, hib, lic, a battery box 12, a guidance dome 13 and a payload carrier 14. The three arms are in equilateral triangle array.
The payload carrier 14 is gimballed so that it can pan and tilt its payload with respect to the airframe. Servos 15 control the pan and tilt of the payload carrier.
Mounted on the end of each upper arm is an outrunner motor 20 having an associated upward facing rotor 21. Mounted below the end of each lower arm is an outrunner motor 22 with an associated rotor 23. Mounted on the airframe arms inboard of the motors 20, 22 are electronic speed controllers 24.
The rotors 21, 23 are three bladed and formed of a plastics material.
The battery box 12 contains a rechargeable battenes for powering the motors.
Within the guidance dome 13 is a MicropiIoF flight control device 25 while stowable antennae 26 are mounted on the dome 13.
At the extremity of the lower arm ha, deemed the lead arm, is a video camera 27.
The camera 27 is powered by a battery 28 mounted on an arm 11.
This UAV embodiment is shewn with a video camera 30 and a thermal camera 31 carried on the payload carrier. These cameras are readily interchangeable with others, for example digital still and infra red cameras.
Ground support legs (not shewn) branch out from each lower arm 11.
In use with the required equipment mounted on the payload carrier a ground controller (not shewn) provides signals via one of the antennae 26 to the flight control device 25. By this means the flight of the UAV is controlled, with the speed controllers 24 controlling the speed of the motors 20, 22. This affects the attitude, rise and descent, forward motion and turn of the UAV. The rotors 21, 23 contra-rotate with respect one to the other.
During the operation the cameras 27, 30 and 31 may be operating and transmitting pictures back to the ground controller and/or elsewhere, via one of the antennae 26.
In the event of failure of one of the motor/rotor combinations the MicropilotTM is arranged to switch off the other two motors at that level. This enables the UAV to descend at a controlled rate.
In a particular example of this embodiment of the invention, the airframe arms and battery box are formed from woven carbon fibre sheet 2mm thick. The motors 20, 22 are Axi 2217/20 brushless motors each weighing 71.2 grams. The rotors 21, 23 are GWT0 plastics rotors with three 5" (12.7cm) long blades. The rotors each weigh 15.9 grams. The rotors are mounted to the motors via Axi Prop saver devices 32.
The electronic speed controllers 24 are YGE-18i ESC devices. Suitable rechargeable batteries are preferably lithium based, eg lithium-iron, Li-poly or Li-metal. Of these, Li-poly batteries are preferred because they are easy to manufacture in small sizes and have a very low self-discharge rate. At typical example therefore is a MaxxAmp 14.8v @ 8000mAh Li-poly 4S2P battery. The camera control batteries may be commercial 9v batteries each weighing 47.8 grams.
RTM
The servos 15 are Hitec I-ib-77BB servo devices.
The camera 27 is a Black Widow Ky 141/90/PAL 480 line camera. Typical other cameras for mounting in the payload carrier may be a Photon thermal camera, a 310 line colour CMOS camera, and a PentaV0 6MP digital camera.
This embodiment of the invention can have a maximum breadth dimension of the order of 70 cm and a depth of less than 30 cm with the legs and antennae stowed. It can carry a payload of up to 1 kg for 15 minutes, with payload and endurance being somewhat Interchangeable.
The rotors 21, 23 can be readily detached, and the legs and antennae folded outwards for stowage purposes.
In alternative embodiments the airframe may have stays or struts between the upper and lower arms 10 and Ii. These arms, or one or two sets thereof may be detachable for stowage purposes. The undercarriage may have the form of a ring or horseshoe and could be retractable for stowage.

Claims (19)

  1. Claims 1. A UAV having an airframe supporting a tn-rotor triangular array.
  2. 2. A UAV as claimed in claim I and wherein each tn-rotor comprises a pair of rotors on the same axis and arranged to contra-rotate.
  3. 3. A UAV as claimed in claim 1 or claim 2 and having an individual motor for each rotor.
  4. 4. A UAV as claimed in claim 3 when dependent on claim 2 and arranged in the event of motor failure at one rotor level to switch off the other motors at that level.
  5. 5. A UAV as claimed in any one of claims 1 to 4 and wherein each rotor has three blades.
  6. 6. A UAV as claimed in any one of the preceding claims and wherein the rotor blade length is of the order of 5 inches (12.7cm).
  7. 7. A UAV as claimed in any one of the preceding claims and wherein the layout of the triangular array is that of an equilateral triangle.
  8. 8. A UAV as claimed in any one of the preceding claims and wherein the airframe comprises three arms with one of said pair of rotors at each extremity thereof.
  9. 9. A UAV as claimed in claim 8 and wherein one or more of said arms is detachable or foldable for stowage purposes.
  10. 10. A UAV as claimed in any one of the preceding claims and wherein the airframe is formed from a carbon fibre reinforced material.
  11. 11. A UAV as claimed in claim 10 and wherein the material is based upon woven carbon fibre 12. A UAV as claimed in any one of the preceding claims and wherein the rotors are readily detachable for stowage purposes.
    13. A UAV as claimed in any one of the preceding claims and having a stowable antenna.
    14. A UAV as claimed in any one of the preceding claims and having an undercarriage.
    15. A UAV as claimed in claim 14 and wherein the undercarriage comprises three legs.
    16. A UAV as claimed in claim 14 or claim 15 and wherein the undercarriage is stowable.
    17. A UAV as claimed in any one of the preceding claims and which is autonomous.
    18. A UAV as claimed in any one of the preceding claims and arranged to carry a video camera, to transmit images to a controller and to be guided as to trajectory and
    field of view.
    19. A UAV as claimed in any one of the preceding claims and having a maximum breadth less than 70cm.
    20. A UAV substantially as hereinbefore described with reference to the accompanying drawings.
    Amendments to the claims have been filed as follows Claims 1. A UAV having an airframe supporting a tn-rotor triangular array and wherein each tn-rotor comprises a pair of rotors on the same axis and arranged to contra-rotate.
    2. A UAV as claimed in claim 1 and having an individual motor for each rotor.
    3. A UAV as claimed in claim 2 and arranged in the event of motor failure at one rotor level to switch off the other motors at that level.
    4. A UAV as claimed in any one of claims 1 to 3 and wherein each rotor has three blades.
    5. A UAV as claimed in any one of the preceding claims and wherein the rotor blade length is of the order of 5 inches (12.7cm).
    6. A UAV as claimed in any one of the preceding claims and wherein the layout of the triangular array is that of an equilateral triangle.
    7. A UAV as claimed in any one of the preceding claims and wherein the airframe comprises three arms with one of said pair of rotors at each extremity thereof.
    8. A UAV as claimed in claim 7 and wherein one or more of said arms is detachable or foldable for stowage purposes.
    9. A UAV as claimed in any one of the preceding claims and wherein the airframe is formed from a carbon fibre reinforced material.
    10. A UAV as claimed in claim 9 and wherein the material is based upon woven carbon fibre 11. A UAV as claimed in any one of the preceding claims and wherein the rotors are readily detachable for stowage purposes.
  12. 12 A UAV as claimed in any one of the preceding claims and having a stowable antenna.
    13. A UAV as claimed in any one of the preceding claims and having an undercarriage.
    14. A UAV as claimed in claim 13 and wherein the undercarriage comprises three legs.
    15. A UAV as claimed in claim 13 or claim 14 and wherein the undercarriage is stowable.
    16. A UAV as claimed in any one of the preceding claims and which is autonomous.
    17. A UAV as claimed in any one of the preceding claims and arranged to carry a : video camera, to transmit images to a controller and to be guided as to trajectory and S...
    field of view. IS..
    20 18. A UAV as claimed in any one of the preceding claims and having a maximum S..
    breadth less than 70cm. S.
    19. A UAV substantially as hereinbefore described with reference to the accompanying drawings.
    IC
    Claims 1. A UAV having an airframe supporting a tn-rotor triangular array.
    2. A UAV as claimed in claim I and wherein each tn-rotor comprises a pair of rotors on the same axis and arranged to contra-rotate.
    3. A UAV as claimed in claim 1 or claim 2 and having an individual motor for each rotor.
    4. A UAV as claimed in claim 3 when dependent on claim 2 and arranged in the event of motor failure at one rotor level to switch off the other motors at that level.
    5. A UAV as claimed in any one of claims 1 to 4 and wherein each rotor has three blades.
    6. A UAV as claimed in any one of the preceding claims and wherein the rotor blade length is of the order of 5 inches (12.7cm).
    7. A UAV as claimed in any one of the preceding claims and wherein the layout of the triangular array is that of an equilateral triangle.
    8. A UAV as claimed in any one of the preceding claims and wherein the airframe comprises three arms with one of said pair of rotors at each extremity thereof.
    9. A UAV as claimed in claim 8 and wherein one or more of said arms is detachable or foldable for stowage purposes.
    10. A UAV as claimed in any one of the preceding claims and wherein the airframe is formed from a carbon fibre reinforced material.
    11. A UAV as claimed in claim 10 and wherein the material is based upon woven carbon fibre 12. A UAV as claimed in any one of the preceding claims and wherein the rotors are readily detachable for stowage purposes.
  13. 13. A UAV as claimed in any one of the preceding claims and having a stowable antenna.
  14. 14. A UAV as claimed in any one of the preceding claims and having an undercarriage.
  15. 15. A UAV as claimed in claim 14 and wherein the undercarriage comprises three legs.
  16. 16. A UAV as claimed in claim 14 or claim 15 and wherein the undercarriage is stowable.
  17. 17. A UAV as claimed in any one of the preceding claims and which is autonomous.
  18. 18. A UAV as claimed in any one of the preceding claims and arranged to carry a video camera, to transmit images to a controller and to be guided as to trajectory and
    field of view.
  19. 19. A UAV substantially as hereinbefore described with reference to the accompanying drawings.
    IC
    19. A UAV as claimed in any one of the preceding claims and having a maximum breadth less than 70cm.
    20. A UAV substantially as hereinbefore described with reference to the accompanying drawings.
    Amendments to the claims have been filed as follows Claims 1. A UAV having an airframe supporting a tn-rotor triangular array and wherein each tn-rotor comprises a pair of rotors on the same axis and arranged to contra-rotate.
    2. A UAV as claimed in claim 1 and having an individual motor for each rotor.
    3. A UAV as claimed in claim 2 and arranged in the event of motor failure at one rotor level to switch off the other motors at that level.
    4. A UAV as claimed in any one of claims 1 to 3 and wherein each rotor has three blades.
    5. A UAV as claimed in any one of the preceding claims and wherein the rotor blade length is of the order of 5 inches (12.7cm).
    6. A UAV as claimed in any one of the preceding claims and wherein the layout of the triangular array is that of an equilateral triangle.
    7. A UAV as claimed in any one of the preceding claims and wherein the airframe comprises three arms with one of said pair of rotors at each extremity thereof.
    8. A UAV as claimed in claim 7 and wherein one or more of said arms is detachable or foldable for stowage purposes.
    9. A UAV as claimed in any one of the preceding claims and wherein the airframe is formed from a carbon fibre reinforced material.
    10. A UAV as claimed in claim 9 and wherein the material is based upon woven carbon fibre 11. A UAV as claimed in any one of the preceding claims and wherein the rotors are readily detachable for stowage purposes.
    12 A UAV as claimed in any one of the preceding claims and having a stowable antenna.
    13. A UAV as claimed in any one of the preceding claims and having an undercarriage.
    14. A UAV as claimed in claim 13 and wherein the undercarriage comprises three legs.
    15. A UAV as claimed in claim 13 or claim 14 and wherein the undercarriage is stowable.
    16. A UAV as claimed in any one of the preceding claims and which is autonomous.
    17. A UAV as claimed in any one of the preceding claims and arranged to carry a : video camera, to transmit images to a controller and to be guided as to trajectory and S...
    field of view. IS..
    20 18. A UAV as claimed in any one of the preceding claims and having a maximum S..
    breadth less than 70cm. S.
GB0810886A 2008-06-16 2008-06-16 Unmanned aerial vehicle comprising a triangular array of rotors Active GB2455374B (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
GB0810886A GB2455374B (en) 2008-06-16 2008-06-16 Unmanned aerial vehicle comprising a triangular array of rotors
PCT/GB2009/050661 WO2009153588A1 (en) 2008-06-16 2009-06-11 Compact unmanned aerial vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
GB0810886A GB2455374B (en) 2008-06-16 2008-06-16 Unmanned aerial vehicle comprising a triangular array of rotors

Publications (3)

Publication Number Publication Date
GB0810886D0 GB0810886D0 (en) 2008-07-23
GB2455374A true GB2455374A (en) 2009-06-10
GB2455374B GB2455374B (en) 2009-11-04

Family

ID=39672266

Family Applications (1)

Application Number Title Priority Date Filing Date
GB0810886A Active GB2455374B (en) 2008-06-16 2008-06-16 Unmanned aerial vehicle comprising a triangular array of rotors

Country Status (2)

Country Link
GB (1) GB2455374B (en)
WO (1) WO2009153588A1 (en)

Cited By (40)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ITCE20090012A1 (en) * 2009-11-27 2011-05-28 Uni Degli Studi Di Napoli P Arthenope CONTINUOUS MONITORING PROCESS, IN REAL TIME AND WITH VARIABLE QUOTAS OF AERODISPERSE POLLUTANTS.
LT5879B (en) 2012-01-26 2012-11-26 Aleksej Zaicevskij The control method of helicopter with six or more bearing rotors
CN103350752A (en) * 2012-10-29 2013-10-16 深圳市哈博森科技有限公司 Four-rotor aircraft
FR2995875A1 (en) * 2012-09-21 2014-03-28 A U E V Advanced Unmanned Electric Vehicle Frame for e.g. quadri-rotor type drone, has set of arms, rigidification unit fixed on face of frame, and absorption unit arranged for absorption of shocks is fixed on face of frame opposed to face receiving rigidification unit
US20140117149A1 (en) * 2012-10-29 2014-05-01 Shenzhen Hubsan Technology Co., Ltd Tetra-Propeller Aircraft
DE102012022925A1 (en) * 2012-11-24 2014-05-28 Michael Wissmann Device for generating text messages in airspace by skywriter during aerial advertising process, has aerosol generator provided in unmanned rotary-wing aircraft
CN103921937A (en) * 2013-01-11 2014-07-16 佛山市安尔康姆航拍科技有限公司 Rapid installation structure of unmanned aerial vehicle rotor wing, and unmanned aerial vehicle
ES2524383A1 (en) * 2013-06-04 2014-12-05 Miguel Ángel ÁLVAREZ ALARIO Aerial platform with radio frequency control (Machine-translation by Google Translate, not legally binding)
EP2818406A1 (en) * 2013-06-24 2014-12-31 The Boeing Company Modular vehicle lift system
CN104386248A (en) * 2014-11-03 2015-03-04 成都好飞机器人科技有限公司 Double-layer separation type unmanned aerial vehicle
CN104776141A (en) * 2015-04-08 2015-07-15 深圳市大疆创新科技有限公司 Damping bracket and flight equipment applying same
DE102014103847A1 (en) * 2014-03-20 2015-09-24 Jochen Schmidt Multicopter, boom for a multicopter and method of making the boom
WO2015169279A1 (en) * 2014-05-06 2015-11-12 Fachhochschule Westküste Hochschule für Wirtschaft & Technik Multifunctional boom with at least one drive, in particular for use in a multicopter system
WO2016025341A1 (en) * 2014-08-11 2016-02-18 Amazon Technologies, Inc. Propeller safety for automated aerial vehicles
WO2016038204A1 (en) * 2014-09-12 2016-03-17 Hochschule für Angewandte Wissenschaften Hamburg Decentralized redundant architecture for an unmanned aircraft for simplified integration of sensor systems
WO2016124761A1 (en) * 2015-02-06 2016-08-11 Universite Technologie De Compiegne - Utc Aerial robot and method for catapulting an aerial robot
CN105939933A (en) * 2015-11-30 2016-09-14 深圳市大疆创新科技有限公司 Battery accommodating device, unmanned aerial vehicle and electronic device
WO2016144421A1 (en) * 2015-03-10 2016-09-15 Qualcomm Incorporated Adjustable weight distribution for multi-rotor helicopter drone
US9501061B2 (en) 2015-02-24 2016-11-22 Qualcomm Incorporated Near-flight testing maneuvers for autonomous aircraft
CN106178360A (en) * 2016-06-28 2016-12-07 安徽扫宝智能科技有限公司 A kind of power supply station fire operation specialized robot four-degree-of-freedom mechanical hand
CN106178326A (en) * 2016-06-28 2016-12-07 安徽扫宝智能科技有限公司 A kind of electric power transmission line fire-fighting unmanned plane
CN106178369A (en) * 2016-06-28 2016-12-07 安徽扫宝智能科技有限公司 A kind of multifunctional fire-fighting intelligence equipment multi-joint manipulator
WO2016193884A1 (en) * 2015-05-29 2016-12-08 Verity Studios Ag An aerial vehicle
EP3158728A4 (en) * 2015-04-20 2017-06-14 SZ DJI Technology Co., Ltd. Imaging system
WO2017180239A1 (en) * 2016-04-14 2017-10-19 Qualcomm Incorporated Electronic speed controller arm for an unmanned aerial vehicle
US20180057163A1 (en) * 2016-08-24 2018-03-01 Princess Sumaya University For Technology Unmanned aerial vehicle
EP3227181A4 (en) * 2014-12-04 2018-05-16 Elwha, Llc Reconfigurable unmanned aircraft system
CN108064209A (en) * 2017-04-26 2018-05-22 深圳市大疆创新科技有限公司 Unmanned vehicle
WO2018090435A1 (en) * 2016-11-18 2018-05-24 深圳市大疆创新科技有限公司 Aircraft
EP3267189A4 (en) * 2015-03-04 2018-11-07 Nec Corporation Defect inspection device, defect inspection method, and program
US10134291B2 (en) 2014-09-30 2018-11-20 Elwha Llc System and method for management of airspace for unmanned aircraft
US10135124B1 (en) * 2017-06-19 2018-11-20 Pinnacle Vista, LLC Antenna assembly
US10155584B2 (en) 2012-11-15 2018-12-18 SZ DJI Technology Co., Ltd. Unmanned aerial vehicle and operations thereof
US10783796B2 (en) 2017-09-01 2020-09-22 Qualcomm Incorporated Collision management for a robotic vehicle
EP3734793A1 (en) * 2013-12-06 2020-11-04 SZ DJI Technology Co., Ltd. Battery and unmanned aerial vehicle with the battery
US20200369383A1 (en) * 2017-08-15 2020-11-26 Saronikos Trading And Services, Unipessoal Lda Improved Multirotor Aircraft and Interface Device
US10906427B2 (en) 2013-12-06 2021-02-02 SZ DJI Technology Co., Ltd. Battery and unmanned aerial vehicle with the battery
US20220194573A1 (en) * 2020-12-22 2022-06-23 California Institute Of Technology Thrusters for Multi-Copter Yaw Control and Forward Flight
US11975824B2 (en) 2020-12-11 2024-05-07 California Institute Of Technology Systems for flight control on a multi-rotor aircraft
US12032391B2 (en) 2014-08-11 2024-07-09 Amazon Technologies, Inc. Virtual safety shrouds for aerial vehicles

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
USD756842S1 (en) 2014-08-21 2016-05-24 Javad Gnss, Inc. Unmanned aerial drone
ES2560952B1 (en) * 2015-09-01 2016-12-09 Drone Hopper, S.L. Unmanned vehicle for firefighting
WO2017128317A1 (en) * 2016-01-29 2017-08-03 深圳市大疆创新科技有限公司 Unmanned aerial vehicle and aerial photographing method for unmanned aerial vehicle
CN105539808B (en) * 2016-02-11 2017-06-20 杨一舟 Tumbler spring foam security aircraft
CN105905280B (en) * 2016-05-25 2019-09-17 北京小米移动软件有限公司 Aircraft and its foot rest structure
CN106199215B (en) * 2016-07-06 2019-09-13 青岛四合信息科技有限公司 A kind of unmanned plane electromagnetic environment test devices and methods therefor
CN108214509B (en) * 2016-07-12 2020-12-15 浙江昌新生物纤维股份有限公司 Robot
CN106628217B (en) * 2016-12-23 2019-02-26 深圳市道通智能航空技术有限公司 A kind of detachable cradle head connection device and unmanned vehicle
CN106828898A (en) * 2017-01-05 2017-06-13 东莞产权交易中心 A kind of aircraft
WO2019041126A1 (en) * 2017-08-29 2019-03-07 深圳市大疆创新科技有限公司 Frame and multi-rotor unmanned aerial vehicle
EP3842340A4 (en) * 2019-05-21 2021-10-27 SZ DJI Technology Co., Ltd. Unmanned aerial vehicle
CN114348252B (en) * 2022-03-01 2023-12-01 成都纵横大鹏无人机科技有限公司 Multi-rotor aircraft

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10209881A1 (en) * 2002-03-06 2003-09-18 Aloys Wobben aircraft
US20070246601A1 (en) * 2004-10-07 2007-10-25 Layton Otis F Manned/unmanned V.T.O.L. flight vehicle
US7357352B2 (en) * 2005-11-09 2008-04-15 The Boeing Company Air vehicle assembly and an associated control system and method
DE102006021182B4 (en) * 2006-05-06 2012-10-31 Zoltán Rácz Aircraft with four lifting rotors and three axes of rotation as a universal flight platform
EP2035276B1 (en) * 2006-06-26 2011-02-23 Burkhard Wiggerich Aircraft

Cited By (60)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ITCE20090012A1 (en) * 2009-11-27 2011-05-28 Uni Degli Studi Di Napoli P Arthenope CONTINUOUS MONITORING PROCESS, IN REAL TIME AND WITH VARIABLE QUOTAS OF AERODISPERSE POLLUTANTS.
EP2327626A1 (en) * 2009-11-27 2011-06-01 Universita' Degli Studi di Napoli Parthenope Air pollutants monitoring by a continuous process in real time and at different altitudes
LT5879B (en) 2012-01-26 2012-11-26 Aleksej Zaicevskij The control method of helicopter with six or more bearing rotors
FR2995875A1 (en) * 2012-09-21 2014-03-28 A U E V Advanced Unmanned Electric Vehicle Frame for e.g. quadri-rotor type drone, has set of arms, rigidification unit fixed on face of frame, and absorption unit arranged for absorption of shocks is fixed on face of frame opposed to face receiving rigidification unit
US20140117149A1 (en) * 2012-10-29 2014-05-01 Shenzhen Hubsan Technology Co., Ltd Tetra-Propeller Aircraft
CN103350752A (en) * 2012-10-29 2013-10-16 深圳市哈博森科技有限公司 Four-rotor aircraft
US8973861B2 (en) * 2012-10-29 2015-03-10 Shenzhen Hubsan Technology Co., Ltd. Tetra-propeller aircraft
US10155584B2 (en) 2012-11-15 2018-12-18 SZ DJI Technology Co., Ltd. Unmanned aerial vehicle and operations thereof
DE102012022925A1 (en) * 2012-11-24 2014-05-28 Michael Wissmann Device for generating text messages in airspace by skywriter during aerial advertising process, has aerosol generator provided in unmanned rotary-wing aircraft
CN103921937A (en) * 2013-01-11 2014-07-16 佛山市安尔康姆航拍科技有限公司 Rapid installation structure of unmanned aerial vehicle rotor wing, and unmanned aerial vehicle
ES2524383A1 (en) * 2013-06-04 2014-12-05 Miguel Ángel ÁLVAREZ ALARIO Aerial platform with radio frequency control (Machine-translation by Google Translate, not legally binding)
EP2818406A1 (en) * 2013-06-24 2014-12-31 The Boeing Company Modular vehicle lift system
US9457899B2 (en) 2013-06-24 2016-10-04 The Boeing Company Modular vehicle lift system
EP3734793A1 (en) * 2013-12-06 2020-11-04 SZ DJI Technology Co., Ltd. Battery and unmanned aerial vehicle with the battery
US10906427B2 (en) 2013-12-06 2021-02-02 SZ DJI Technology Co., Ltd. Battery and unmanned aerial vehicle with the battery
US11607972B2 (en) 2013-12-06 2023-03-21 SZ DJI Technology Co., Ltd. Battery and unmanned aerial vehicle with battery indicator and venting opening
DE102014103847A1 (en) * 2014-03-20 2015-09-24 Jochen Schmidt Multicopter, boom for a multicopter and method of making the boom
WO2015169279A1 (en) * 2014-05-06 2015-11-12 Fachhochschule Westküste Hochschule für Wirtschaft & Technik Multifunctional boom with at least one drive, in particular for use in a multicopter system
US11926428B2 (en) 2014-08-11 2024-03-12 Amazon Technologies, Inc. Propeller safety for automated aerial vehicles
EP4086172A1 (en) * 2014-08-11 2022-11-09 Amazon Technologies, Inc. Propeller safety for automated aerial vehicles
US12032391B2 (en) 2014-08-11 2024-07-09 Amazon Technologies, Inc. Virtual safety shrouds for aerial vehicles
US10780988B2 (en) 2014-08-11 2020-09-22 Amazon Technologies, Inc. Propeller safety for automated aerial vehicles
WO2016025341A1 (en) * 2014-08-11 2016-02-18 Amazon Technologies, Inc. Propeller safety for automated aerial vehicles
WO2016038204A1 (en) * 2014-09-12 2016-03-17 Hochschule für Angewandte Wissenschaften Hamburg Decentralized redundant architecture for an unmanned aircraft for simplified integration of sensor systems
US10134291B2 (en) 2014-09-30 2018-11-20 Elwha Llc System and method for management of airspace for unmanned aircraft
CN104386248A (en) * 2014-11-03 2015-03-04 成都好飞机器人科技有限公司 Double-layer separation type unmanned aerial vehicle
EP3227181A4 (en) * 2014-12-04 2018-05-16 Elwha, Llc Reconfigurable unmanned aircraft system
WO2016124761A1 (en) * 2015-02-06 2016-08-11 Universite Technologie De Compiegne - Utc Aerial robot and method for catapulting an aerial robot
FR3032425A1 (en) * 2015-02-06 2016-08-12 Univ Tech De Compiegne - Utc AERIAL ROBOT AND METHOD FOR CATAPULATING AN AIR ROBOT
US9501061B2 (en) 2015-02-24 2016-11-22 Qualcomm Incorporated Near-flight testing maneuvers for autonomous aircraft
EP3267189A4 (en) * 2015-03-04 2018-11-07 Nec Corporation Defect inspection device, defect inspection method, and program
US9469394B2 (en) 2015-03-10 2016-10-18 Qualcomm Incorporated Adjustable weight distribution for drone
US9908618B2 (en) 2015-03-10 2018-03-06 Qualcomm Incorporated Adjustable weight distribution for drone
WO2016144421A1 (en) * 2015-03-10 2016-09-15 Qualcomm Incorporated Adjustable weight distribution for multi-rotor helicopter drone
CN104776141A (en) * 2015-04-08 2015-07-15 深圳市大疆创新科技有限公司 Damping bracket and flight equipment applying same
US10419690B2 (en) 2015-04-20 2019-09-17 SZ DJI Technology Co., Ltd. Imaging system
US10979651B2 (en) 2015-04-20 2021-04-13 SZ DJI Technology Co., Ltd. Imaging system
EP3158728A4 (en) * 2015-04-20 2017-06-14 SZ DJI Technology Co., Ltd. Imaging system
CN107848623A (en) * 2015-05-29 2018-03-27 维里蒂工作室股份公司 Aircraft
US11814185B2 (en) 2015-05-29 2023-11-14 Verity Ag Aerial vehicle
CN107848623B (en) * 2015-05-29 2021-02-09 维里蒂工作室股份公司 Aircraft with a flight control device
WO2016193884A1 (en) * 2015-05-29 2016-12-08 Verity Studios Ag An aerial vehicle
CN105939933B (en) * 2015-11-30 2017-09-08 深圳市大疆创新科技有限公司 Battery accommodating apparatus and unmanned vehicle, electronic installation
CN105939933A (en) * 2015-11-30 2016-09-14 深圳市大疆创新科技有限公司 Battery accommodating device, unmanned aerial vehicle and electronic device
WO2017180239A1 (en) * 2016-04-14 2017-10-19 Qualcomm Incorporated Electronic speed controller arm for an unmanned aerial vehicle
CN106178326A (en) * 2016-06-28 2016-12-07 安徽扫宝智能科技有限公司 A kind of electric power transmission line fire-fighting unmanned plane
CN106178360B (en) * 2016-06-28 2019-04-16 新昌县坞捷农业科技有限公司 A kind of power supply station's fire operation specialized robot four-degree-of-freedom manipulator
CN106178369B (en) * 2016-06-28 2018-12-21 定远县众创科技服务有限公司 A kind of intelligent equip of multifunctional fire-fighting uses multi-joint manipulator
CN106178326B (en) * 2016-06-28 2018-12-14 定远县众创科技服务有限公司 A kind of electric power transmission line fire-fighting unmanned plane
CN106178360A (en) * 2016-06-28 2016-12-07 安徽扫宝智能科技有限公司 A kind of power supply station fire operation specialized robot four-degree-of-freedom mechanical hand
CN106178369A (en) * 2016-06-28 2016-12-07 安徽扫宝智能科技有限公司 A kind of multifunctional fire-fighting intelligence equipment multi-joint manipulator
US20180057163A1 (en) * 2016-08-24 2018-03-01 Princess Sumaya University For Technology Unmanned aerial vehicle
WO2018090435A1 (en) * 2016-11-18 2018-05-24 深圳市大疆创新科技有限公司 Aircraft
CN108064209A (en) * 2017-04-26 2018-05-22 深圳市大疆创新科技有限公司 Unmanned vehicle
US10135124B1 (en) * 2017-06-19 2018-11-20 Pinnacle Vista, LLC Antenna assembly
US20200369383A1 (en) * 2017-08-15 2020-11-26 Saronikos Trading And Services, Unipessoal Lda Improved Multirotor Aircraft and Interface Device
US12060150B2 (en) * 2017-08-15 2024-08-13 Saronikos Trading And Services, Unipessoal Lda Multirotor aircraft and interface device
US10783796B2 (en) 2017-09-01 2020-09-22 Qualcomm Incorporated Collision management for a robotic vehicle
US11975824B2 (en) 2020-12-11 2024-05-07 California Institute Of Technology Systems for flight control on a multi-rotor aircraft
US20220194573A1 (en) * 2020-12-22 2022-06-23 California Institute Of Technology Thrusters for Multi-Copter Yaw Control and Forward Flight

Also Published As

Publication number Publication date
GB2455374B (en) 2009-11-04
GB0810886D0 (en) 2008-07-23
WO2009153588A1 (en) 2009-12-23

Similar Documents

Publication Publication Date Title
GB2455374A (en) Unmanned aerial vehicle comprising a triangular array of rotors
US11858631B2 (en) Aerial launch and/or recovery for unmanned aircraft with submersible devices, and associated systems and methods
US11565805B2 (en) Unmanned supply delivery aircraft
EP2147858B1 (en) Ducted fan core for use with an unmanned aerial vehicle
JP2019165750A (en) Flight unit and control method of flight unit
US20110186687A1 (en) Unmanned gyrokite as self-powered airborne platform for electronic systems
US10112700B1 (en) Multi-mode mobility micro air vehicle
RU2381959C1 (en) Aircraft system of rescue operations support
Martinez et al. State of the art and future trends on unmanned aerial vehicle
EP3787968A1 (en) Unmanned supply delivery aircraft
EP2868577A1 (en) Remotely controllable airplane adapted for belly-landing
US20230264838A1 (en) Multipurpose and long endurance hybrid unmanned aerial vehicle
CA3006445A1 (en) Rocket propelled drone
RU2782479C1 (en) Aeromobile air surveillance system
Verma et al. Unmanned Aerial Vehicle for disaster response and relief operations: helping hands from air