IL300174B1 - Unmanned aerial vehicle for carrying paylaod - Google Patents

Description

P-617596-IL / IMI034IL UNMANNED AERIAL VEHICLE FOR CARRYING PAYLAOD FIELD OF THE INVENTION [0001] The present invention relates to the field of unmanned aerial vehicles, and more particularly, to unmanned aerial vehicles for carrying payloads. BACKGROUND OF THE INVENTION [0002] Unmanned aerial vehicles may be used for delivering payloads to locations that cannot be approached by humans or by land vehicles or to locations that may be dangerous for being approached by humans. SUMMARY OF THE INVENTION [0003] Embodiments of the present invention may provide an unmanned aerial vehicle (UAV) which may include: a body; a plurality of rotors coupled to the body and disposed in a rotors plane; a frame coupled to the body, the frame may include: a payload disposed within an interior of the frame; and a payload discharge surface being parallel to the rotors plane and distanced from the rotors plane in a direction that is perpendicular to the rotors plane. [0004] In some embodiments, the UAV may include a plurality of landing supports coupled to the body, wherein the payload discharge surface of the frame and the landing supports are disposed on opposing sides of the rotors plane. [0005] In some embodiments, the UAV may include a plurality of landing supports coupled to the body, wherein the payload discharge surface of the frame and the landing supports are disposed on the same side of the rotors plane. [0006] In some embodiments, the payload may include an explosive material. [0007] In some embodiments, the explosive material may include one or more shaped charges. [0008] In some embodiments, the UAV may include a detonator configured to detonate the explosive material. [0009] In some embodiments, the frame may include a plurality of contact supports disposed on and projecting from the payload discharge surface, the contact supports being configured to contact a target surface.

P-617596-IL / IMI034IL id="p-10" id="p-10" id="p-10" id="p-10"

[0010] In some embodiments, the UAV may include a plurality of contact enhancers configured to enhance a contact of the frame with a target surface. [0011] In some embodiments, the UAV may include a sub-frame configured to couple the frame top the body of the UAV. [0012] In some embodiments, the sub-frame may be configured to detachably couple the frame to the body of the UAV. [0013] In some embodiments, the UAV may include a controller configured to: navigate the UAV towards a target surface; maneuver the UAV to cause the frame to contact the target surface at one or more initial contact points; maneuver the UAV to cause the UAV and the frame coupled thereto to rotate relative to the target surface about the one or more initial contact points to cause the frame to contact the target surface at one or more additional contact points and get the payload discharge surface of the frame face the target surface. [0014] In some embodiments, the controller may be configured to autonomously at least one of navigate and maneuver the UAV. [0015] In some embodiments, the controller may be configured to at least one of navigate and maneuver the UAV based on instructions received from a remote operator. [0016] In some embodiments, the payload may include an explosive material and wherein upon detection of the contact of the frame with the target surface at the one or more additional points, at least one of the controller and a detonator controller may be configured to cause a detonator to detonate the explosive material. [0017] In some embodiments, at least one of the controller or the detonator controller may be configured to cause the detonator to detonate the explosive material upon receipt of a detonation signal, the detonation signal being received from a remote operator. [0018] In some embodiments, the at least one of the controller or the detonator controller may be configured to cause the detonator to detonate the explosive material upon receipt of a detonation signal, the detonation signal being received from logical circuitry upon fulfillment of at least one predefined condition. [0019] In some embodiments, the explosive material may include shaped charges configured, upon detonation thereof, to discharge the explosive energy through the payload discharge surface of the frame.

P-617596-IL / IMI034IL id="p-20" id="p-20" id="p-20" id="p-20"

[0020] In some embodiments, the UAV may a plurality of contact sensors, wherein the controller may be configured to detect contact of the frame with the target surface based on a signal from at least one of the contact sensors. [0021] In some embodiments, the UAV may include a sensor, wherein the controller may be configured to at least one of navigate and maneuver the UAV based on a signal from the sensor. [0022] In some embodiments, the UAV may include a communication unit, wherein the controller may be configured to at least one of navigate and maneuver the UAV based on a signal received by the communication unit from a remote operator. [0023] In some embodiments, the frame may be detachably couplable to the body of the UAV, and wherein upon detection of the contact of the frame with the target surface at the one or more additional contact points the controller may be configured to navigate the UAV away from the target surface while the frame remains attached to the target surface by a plurality of contact enhancers. [0024] In some embodiments, the payload may include an explosive material and wherein at least one of the controller and a detonator controller may be configured to cause a detonator to detonate the explosive material when the UAV is at a safe distance from the target surface. BRIEF DESCRIPTION OF THE DRAWINGS [0025] For a better understanding of embodiments of the invention and to show how the same can be carried into effect, reference is made, purely by way of example, to the accompanying drawings in which like numerals designate corresponding elements or sections throughout. [0026] Figs. 1A and 1B are schematic illustrations of an unmanned aerial vehicle (UAV) for carrying a frame including a payload, according to some embodiments of the invention; [0027] Figs. 2A and 2B are schematic illustrations of a UAV having a payload discharge surface of the frame and leg supports disposed on the same side of a rotors plane, according to some embodiments of the invention; [0028] Fig. 3 is a schematic illustration of a UAV having rotors disposed around the frame, according to some embodiments of the invention; [0029] Figs. 4A(i), 4A(ii) and 4A(iii) are schematic illustrations of an operation of the UAV of Figs. 1A, 1B, according to some embodiments of the invention; P-617596-IL / IMI034IL id="p-30" id="p-30" id="p-30" id="p-30"

[0030] Figs. 4B(i), 4B(ii) and 4B(iii) are schematic illustrations of an operation of the UAV of Figs. 1A, 1B having decouplable frame, according to some embodiments of the invention; [0031] Figs. 5(i), 5(ii), 5(iii) and 5(iv) are schematic illustrations of an operation of the UAV of Figs. 2A, 2B, according to some embodiments of the invention; and [0032] Fig. 6 is a block diagram of an exemplary computing device which may be used with embodiments of the present invention. [0033] It will be appreciated that, for simplicity and clarity of illustration, elements shown in the figures have not necessarily been drawn to scale. For example, the dimensions of some of the elements may be exaggerated relative to other elements for clarity. Further, where considered appropriate, reference numerals may be repeated among the figures to indicate corresponding or analogous elements. DETAILED DESCRIPTION OF THE INVENTION [0034] In the following detailed description, numerous specific details are set forth in order to provide a thorough understanding of the invention. However, it will be understood by those skilled in the art that the present invention can be practiced without these specific details. In other instances, well-known methods, procedures, and components, modules, units and/or circuits have not been described in detail so as not to obscure the invention. [0035] Embodiments of the present invention may provide an unmanned aerial vehicle (UAV) such as quadcopter or any other suitable UAV. The UAV may include a body and a plurality of rotors coupled to the body and disposed in a rotors plane. The UAV may include a frame coupled to the body. The frame may include, disposed within an interior of the frame, a payload such as an explosive material (e.g., such as shaped charges or any other suitable explosive material). The frame may include a payload discharge surface. The UAV may be controlled (e.g., autonomously and/or based on instructions from a remote operator) to approach a target surface (e.g., such as a wall or a door of a building or a vehicle or any other suitable surface) and may be further maneuvered to get the payload discharge surface of the frame to face the target surface. If the payload includes an explosive material, the payload may be detonated while the explosive energy may discharge from the frame through the payload discharge surface. Detonation of the payload may generate a hole or an opening in the target surface or otherwise damage the target surface. Embodiments of the present invention may allow delivering payloads to locations that cannot be P-617596-IL / IMI034IL approached by humans or by land vehicles or to locations that may be dangerous for being approached by humans without risking the wellbeing of humans. [0036] Reference is made to Figs. 1A and 1B, which are schematic illustrations of an unmanned aerial vehicle (UAV) 100 for carrying a frame 130 including a payload 140, according to some embodiments of the invention. Fig. 1A shows a schematic side view of UAV 100. Fig. 1B shows a schematic top view of UAV 100. [0037] UAV 100 may include a body 110. UAV 100 may include a plurality of rotors 120. Rotors 120 may be coupled to body 110. Rotors 120 may be disposed in a region 121 around body 110. Rotors 120 may be disposed in a rotors plane 122. UAV 100 may include a plurality of landing supports 124. Landing supports 124 may be coupled to body 110. [0038] UAV 100 may include a frame 130. Frame 130 may be coupled to body 110. UAV 1may include a sub-frame 131 that may couple frame 130 to body 110 of UAV 100. In some embodiments, sub-frame 131 may detachably couple frame 130 to body 110 of UAV 100. For example, frame 130 may be coupled to sub-frame 131 using one or more decouplable connectors (e.g., mechanical decouplable connectors, electromechanical decouplable connectors or any other suitable decouplable connectors). Frame 130 may include, disposed within an interior 132 of frame 130, a payload 140. Payload 140 may include an explosive material. The explosive material may, for example, include one or more shaped charges 141. In some embodiments, payload 140 may include a plurality of shaped charges 141 (e.g., as shown in Figs. 1A and 1B). In some embodiments, payload 140 may include a single shaped charge 141 occupying the entire (or substantially entire) interior of frame 130. In some embodiments, payload 140 may include one shaped charge 141 disposed in each of sides of frame 130 (e.g., one shaped charge 141 in each of four sides of rectangular frame 130). UAV 100 may include a detonator 142 that may detonate payload 140. UAV 100 may include a detonator controller 144. Detonator controller 1may control detonator 142. Detonator controller 144 may cause detonator 142 to detonate payload 140. Frame 130 may include a payload discharge surface 133. When payload 140 is detonated, the explosive energy may discharge from frame 130 through payload discharge surface 133 of frame 130. Payload discharge surface 133 of frame 130 and landing supports 124 may be disposed on opposing sides of rotors plane 122 (e.g., as shown in Figs. 1A and 1B). Payload discharge surface 133 of frame 130 may face and/or contact a target surface (e.g., such as a wall of a building or any other suitable target surface) when UAV 100 approaches the target surface.

P-617596-IL / IMI034IL Frame 130 may include a plurality of contact supports 134 disposed on and projecting from payload discharge surface 133 and configured to contact the target surface. Contact supports 1may be disposed in a contact supports plane 135. Payload discharge surface 133 and/or contact supports plane 135 may be parallel (or substantially parallel) to rotors plane 122. Payload discharge surface 133 and/or contact supports plane 135 may be offset or distanced from rotors plane 122 in a direction that is perpendicular (or substantially perpendicular) to rotors plane 122. Payload discharge surface 133 and/or contact supports plane 135 may be disposed at a greater distance from body 110 than rotors plane 122. Frame 130 may have a square shape, a rectangular shape, a circular shape or any other suitable shape. Frame 130 may have dimensions that are greater than dimensions of rotors region 121 in which rotors 120 are disposed. For example, the distance between inner side walls of frame 130 may be greater than the diameter of rotors region 121 in which rotors 120 are disposed. This may ensure that frame 130 does not interfere (or substantially does not interfere) with operation of rotors 120 and does not affect (or substantially does not affect) the thrust generated by rotors 120. [0039] UAV 100 may include a controller 150. Controller 150 may control operation of components of UAV 100. For example, controller 150 may control rotors 120, detonator 142 or any other suitable components of UAV 100. [0040] UAV 100 may include a sensor 151, such as camera, LIDAR or any other suitable sensor. Sensor 151 may be disposed on body 110 of UAV 100. Based on signals from sensor 151, controller 150 may control components of UAV 100 to navigate (e.g., autonomously navigate) UAV 100 towards the target surface or otherwise control components of UAV 100. [0041] UAV 100 may include a communication unit 152. Communication unit 152 may receive signals from, e.g., a remote operator. Based the signals received by communication unit 152, controller 150 may control components of UAV 100 to navigate UAV 100 towards the target or otherwise control components of UAV 100. [0042] UAV 100 may include a plurality of contact sensors 153. Contact sensors 153 may be disposed on payload discharge surface 133 and/or on contact supports 134. Based on signals from contact sensors 153, controller 150 may determine a contact of payload discharge surface 1and/or of contact supports 134 of frame 130 with the target surface. [0043] UAV 100 may include a plurality of contact enhancers 160. Contact enhancers 160 may be disposed on payload discharge surface 133 and/or on contact supports 134. Contact enhancers P-617596-IL / IMI034IL 160 may enhance the contact of payload discharge surface 133 or contact supports 134 with the target surface and/or attach payload discharge surface 133 and/or contact supports 134 to the target surface. Contact enhancers 160 may include adhesive materials, magnetic materials or any other suitable material that may enhance the contact of payload discharge surface 133 and/or of contact supports 134 with the target surface. [0044] Reference is made to Figs. 2A and 2B, which are schematic illustrations of UAV 1having payload discharge surface 133 of frame 130 and leg supports 124 disposed on the same side of rotors plane 122, according to some embodiments of the invention. Fig. 2A shows a schematic side view of UAV 101. Fig. 2B shows a schematic top view of UAV 101. [0045] UAV 101 may include components similar to UAV 100 described hereinabove and/or any other suitable components. In UAV 101, payload load discharge surface 133 of frame 130 and landing supports 124 may be disposed on the same side of rotors plane 122. [0046] Reference is made to Fig. 3, which is a schematic illustration of UAV 102 having rotors 120 disposed around frame 130, according to some embodiments of the invention. Fig. 3 shows a schematic side view of UAV 102. [0047] UAV 102 may include components similar to UAV 100 and/or UAV 101 described hereinabove and/or any other suitable components. While in UAV 100, 101 described hereinabove frame 130 envelops rotors region 121 in which rotors 120 are disposed, rotors of UAV 102 may be disposed around frame 130 such that frame 130 does not interfere (or substantially does not interfere) with operation of rotors 120 (e.g., as schematically shown in Fig. 3). While in UAV 102 payload load discharge surface 133 of frame 130 and landing supports 1are disposed on opposing sides of rotors plane 122, payload load discharge surface 133 and landing supports 124 of UAV 102 may be also disposed on the same side of rotors plane 1(e.g., as described above with respect to Figs. 2A and 2B). [0048] While each of UAV 100, UAV 101 and UAV 102 shown in Figs. 1A, 1B, Figs. 2A, 2B and Fig. 3 as quadcopter, each of UAV 100, UAV 101 and/or UAV 102 may be of any other suitable type of UAV. [0049] Reference is made to Figs. 4A(i), 4A(ii) and 4A(iii), which are schematic illustrations of an operation of UAV 100 of Figs. 1A, 1B, according to some embodiments of the invention. [0050] In operation, controller 150 of UAV 100 may control rotors 120 and/or components of UAV 100 to navigate UAV 100 towards a target surface 90 (e.g., as shown in Fig. 4A(i)).

P-617596-IL / IMI034IL Controller 150 may autonomously navigate UAV 100, for example based on signals from sensor 151, and/or controller 150 may navigate UAV 100 based on instructions from a remote operator. Target surface 90 may be, for example, a wall or a door of a building or a vehicle or any other suitable surface. [0051] When UAV 100 is approaching target surface 90, payload discharge surface 133 of frame 130 may partly face towards target surface 90 (e.g., as shown in Fig. 4A(i)). Once UAV 100 has reached target surface 90, frame 130 of UAV 100 may contact target surface 90 at one or more initial contact points 80 (e.g., at one or more initial contact points, one or more initial contact lines or one or more initial contact surfaces; as shown in Fig. 4A(ii)). For example, payload discharge surface 133 of frame 130 and/or one or more contact supports 134 of frame 130 may contact target support surface 90 at one or more initial contact points 80. Controller 150 may detect the contact of frame 130 with target surface 90 at one or more initial contact points (e.g., based on signals from one or more contact sensors 153 as described hereinabove). [0052] Upon detection of the contact of frame 130 with target surface 90 at one or more initial points 80, controller 150 may control rotors 120 and/or other suitable components of UAV 100 to cause UAV 100 and frame 130 coupled thereto to rotate relative to target surface 90 about one or more initial contact points 80 to cause frame 130 contact target surface 90 at one or more additional contact points 82 (e.g., at one or more additional contact points, one or more additional contact lines or one or more additional contact surfaces; wherein one or more additional contact points 82 may be opposed to one or more initial contact points 80) and get payload discharge surface 133 of frame 130 face target surface 90 (e.g., as shown in Fig. 4A(iii)). In order to cause UAV 101 and frame 130 coupled thereto to rotate relative to target surface 90 about one or more initial contact points 80, controller 150 may, for example, increase the rotational speed of rotors 120 to cause free end of frame 130 to accelerate towards target surface 90. [0053] If payload 140 includes an explosive material (e.g., such as shaped charges or any other suitable explosive material), upon detection of the contact of frame 130 with target surface 90 at two or more points 82 (e.g., based on signals from one or more contact sensors 153), controller 150 and/or detonator controller 144 may control detonator 142 to detonate payload 140. For example, controller 150 and/or detonator controller 144 may control detonator 142 to detonate payload 140 upon receipt of a detonation signal. The detonation signal may be, for example, received from a remote operator, e.g., by communication unit 152. In another example, UAV 100 P-617596-IL / IMI034IL may include logical circuitry that may send the detonation signal to controller 150 and/or detonation controller 142 upon fulfillment of at least one predefined conditions (e.g., upon detection of contact of frame 130 based on signals from one or more contact sensors 153 and/or any other suitable conditions). The explosive energy caused by detonation of payload 140 may be discharged through payload discharge surface 133 of frame 130 facing target surface 90. Detonation of payload 140 may generate a hole or an opening in target surface 90 or otherwise damage target surface 90. [0054] Reference is made to Figs. 4B(i), 4B(ii) and 4B(iii), which are schematic illustrations of an operation of UAV 100 of Figs. 1A, 1B having decouplable frame 130, according to some embodiments of the invention. [0055] As described herein above, frame 130 may be detachably coupled to body 110 of UAV 100 (e.g., by sub-frame 131). In this example, upon detection of the contact of frame 130 with target surface 90 at two or more points 82 (e.g., based on signals from two or more contact sensors 153), for example as shown in Figs. 4A(iii) and Fig. 4B(i), controller 150 may control rotors 120 and/or other components of UAV 100 to cause UAV 100 to move away from target surface 90 while frame 130 may remain attached to target surface 90 by contact enhancers 1(e.g., shown in Fig. 4B(ii)). Once UAV 100 has moved to a safe distance from target surface (e.g., as shown in Fig. 4B(iii)), controller 150 and/or detonator controller 144 may control detonator 142 to detonate payload 140. [0056] Reference is made to Figs. 5(i), 5(ii), 5(iii) and 5(iv), which are schematic illustrations of an operation of UAV 101 of Figs. 2A, 2B, according to some embodiments of the invention. [0057] When UAV 101 is approaching target surface 90, 5(controller 150 may control rotors 1and/or other components of UAV 101 to 5(frame 130 of UAV 101 contact target surface 90 at one or more initial contact points 80 (e.g., as shown in Figs. 5(i)-5(ii)). [0058] Upon detection of the contact of frame 130 with target surface 90 at one or more initial points 80, controller 150 may control rotors 120 and/or other suitable components of UAV 101 to cause UAV 101 and frame 130 coupled thereto to rotate relative to target surface 90 about one or more initial contact points 80 (e.g., as shown in Figs. 5(ii)-5(iii)) to cause frame 130 contact target surface 90 at one or more additional contact points 82 (e.g., opposed to one or more initial contact points 80) and get payload discharge surface 133 of frame 130 face target surface 90 (e.g., as shown in Fig. 5(iv)). In order to cause UAV 101 and frame 130 coupled thereto to rotate P-617596-IL / IMI034IL relative to target surface 90 about one or more initial contact points 80 (e.g., as shown in Figs. 5(ii)-5(iii)), controller 150 may, for example, reduce the rotational speed of rotors 120 (or terminate the operation of rotors 120) to cause free end of frame 130 to fall towards target surface 90. [0059] If payload 140 includes an explosive material (e.g., such as shaped charges or any other suitable explosive material), upon detection of the contact of frame 130 with target surface 90 at two or more points 82 (e.g., based on signals from two or more contact sensors 153), controller 150 may control detonator 142 to detonate payload 140. Detonation of payload 140 may generate a hole or an opening in target surface 90 or otherwise damage target surface 90. [0060] If frame 130 of UAV 101 is detachably coupled to body 110 (e.g., by sub-frame 131), upon detection of the contact of frame 130 with target surface 90 at two or more points 82 (e.g., based on signals from one or more contact sensors 153) controller 150 may control rotors 1and/or other components of UAV 101 to cause UAV 101 to move away from target surface while frame 130 may remain attached to target surface 90 by contact enhancers 160 and control detonator 142 to detonate payload 140 once UAV 101 has moved to the safe distance from target surface 90 (e.g., as described above with respect to Figs. 4B(i) to 4B(iii)). [0061] While payload discharge surface 133 of frame 130 is described as being parallel to rotors plane 122 of UAVs 100, 101, 102 payload discharge surface 133 of frame 130 may be arranged in different orientations with respect to rotors plane 122. For example, payload discharge surface 133 of frame 130 may be perpendicular (or substantially perpendicular) to rotors plane 122 or inclined at a selected angle relative to rotors plane 122. Frame 130 may include payloads 1other than explosive materials. [0062] Reference is made to Fig. 6, which is a block diagram of an exemplary computing device which may be used with embodiments of the present invention. [0063] Computing device 200 may include a controller or processor 205 that may be, for example, a central processing unit processor (CPU), a chip or any suitable computing or computational device, an operating system 215, a memory 220, a storage 230, input devices 2and output devices 240. [0064] Operating system 215 may be or may include any code segment designed and/or configured to perform tasks involving coordination, scheduling, arbitration, supervising, controlling or otherwise managing operation of computing device 200, for example, scheduling P-617596-IL / IMI034IL execution of programs. Memory 220 may be or may include, for example, a Random Access Memory (RAM), a read only memory (ROM), a Dynamic RAM (DRAM), a Synchronous DRAM (SD-RAM), a double data rate (DDR) memory chip, a Flash memory, a volatile memory, a non-volatile memory, a cache memory, a buffer, a short term memory unit, a long term memory unit, or other suitable memory units or storage units. Memory 220 may be or may include a plurality of, possibly different, memory units. Memory 220 may store for example, instructions to carry out a method (e.g., code 225), and/or data such as user responses, interruptions, etc. [0065] Executable code 225 may be any executable code, e.g., an application, a program, a process, task or script. Executable code 225 may be executed by controller 205 possibly under control of operating system 215. In some embodiments, more than one computing device 200 or components of device 100 may be used for multiple functions described herein. For the various modules and functions described herein, one or more computing devices 100 or components of computing device 200 may be used. Devices that include components similar or different to those included in computing device 200 may be used, and may be connected to a network and used as a system. One or more processor(s) 205 may be configured to carry out embodiments of the present invention by for example executing software or code. Storage 230 may be or may include, for example, a hard disk drive, a floppy disk drive, a Compact Disk (CD) drive, a CD-Recordable (CD-R) drive, a universal serial bus (USB) device or other suitable removable and/or fixed storage unit. In some embodiments, some of the components shown in Fig. 1 may be omitted. [0066] Input devices 235 may be or may include a mouse, a keyboard, a touch screen or pad or any suitable input device. It will be recognized that any suitable number of input devices may be operatively connected to computing device 200 as shown by block 235. Output devices 240 may include one or more displays, speakers and/or any other suitable output devices. It will be recognized that any suitable number of output devices may be operatively connected to computing device 200 as shown by block 140. Any applicable input/output (I/O) devices may be connected to computing device 200, for example, a wired or wireless network interface card (NIC), a modem, printer or facsimile machine, a universal serial bus (USB) device or external hard drive may be included in input devices 235 and/or output devices 240. [0067] Embodiments of the invention may include one or more article(s) (e.g., memory 220 or storage 230) such as a computer or processor non-transitory readable medium, or a computer or P-617596-IL / IMI034IL processor non-transitory storage medium, such as for example a memory, a disk drive, or a USB flash memory, encoding, including or storing instructions, e.g., computer-executable instructions, which, when executed by a processor or controller, carry out methods disclosed herein. [0068] One skilled in the art will realize the invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The foregoing embodiments are therefore to be considered in all respects illustrative rather than limiting of the invention described herein. Scope of the invention is thus indicated by the appended claims, rather than by the foregoing description, and all changes that come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. [0069] In the foregoing detailed description, numerous specific details are set forth in order to provide an understanding of the invention. However, it will be understood by those skilled in the art that the invention can be practiced without these specific details. In other instances, well-known methods, procedures, and components, modules, units and/or circuits have not been described in detail so as not to obscure the invention. Some features or elements described with respect to one embodiment can be combined with features or elements described with respect to other embodiments. [0070] Although embodiments of the invention are not limited in this regard, discussions utilizing terms such as, for example, "processing," "computing," "calculating," "determining," "establishing", "analyzing", "checking", or the like, can refer to operation(s) and/or process(es) of a computer, a computing platform, a computing system, or other electronic computing device, that manipulates and/or transforms data represented as physical (e.g., electronic) quantities within the computer’s registers and/or memories into other data similarly represented as physical quantities within the computer’s registers and/or memories or other information non-transitory storage medium that can store instructions to perform operations and/or processes. [0071] Although embodiments of the invention are not limited in this regard, the terms "plurality" and "a plurality" as used herein can include, for example, "multiple" or "two or more". The terms "plurality" or "a plurality" can be used throughout the specification to describe two or more components, devices, elements, units, parameters, or the like. The term set when used herein can include one or more items. Unless explicitly stated, the method embodiments described herein are not constrained to a particular order or sequence. Additionally, some of the P-617596-IL / IMI034IL described method embodiments or elements thereof can occur or be performed simultaneously, at the same point in time, or concurrently.

Claims (20)

1.P-617596-IL 300174/

2.CLAIMS 1. An unmanned aerial vehicle (UAV) comprising: a body; a plurality of rotors coupled to the body and disposed in a rotors plane; a frame coupled to the body, the frame comprising: a payload disposed within an interior of the frame; and a payload discharge surface being parallel to the rotors plane and distanced from the rotors plane in a direction that is perpendicular to the rotors plane; and a controller configured to: navigate the UAV towards a target surface; maneuver the UAV to cause the frame to contact the target surface at one or more initial contact points; maneuver the UAV to cause the UAV and the frame coupled thereto to rotate relative to the target surface about the one or more initial contact points to cause the frame to contact the target surface at one or more additional contact points and get the payload discharge surface of the frame face the target surface; wherein the payload comprises an explosive material and wherein upon detection of the contact of the frame with the target surface at the one or more additional points, at least one of the controller and a detonator controller is configured to cause a detonator to detonate the explosive material. 2. The UAV of claim 1, comprising a plurality of landing supports coupled to the body, wherein the payload discharge surface of the frame and the landing supports are disposed on opposing sides of the rotors plane.

3. The UAV of claim 1, comprising a plurality of landing supports coupled to the body, wherein the payload discharge surface of the frame and the landing supports are disposed on the same side of the rotors plane.

4. The UAV of any one of claims 1-3, wherein the payload comprises an explosive material. P-617596-IL 300174/

5. The UAV of claim 4, wherein the explosive material comprises one or more shaped charges.

6. The UAV of any one of claims 4-5, comprising a detonator configured to detonate the explosive material.

7. The UAV of any one of claims 1-6, wherein the frame comprises a plurality of contact supports disposed on and projecting from the payload discharge surface, the contact supports being configured to contact a target surface.

8. The UAV of any one of claims 1-7, comprising a plurality of contact enhancers configured to enhance a contact of the frame with a target surface.

9. The UAV of any one of claims 1-8, comprising a sub-frame configured to couple the frame top the body of the UAV.

10. The UAV of any one of claims 1-9, wherein the sub-frame is configured to detachably couple the frame to the body of the UAV.

11. The UAV of claim 1, wherein the controller is configured to perform autonomously at least one of navigate and maneuver the UAV.

12. The UAV of any one of claims 1-11, wherein the controller is configured to perform at least one of navigate and maneuver the UAV based on instructions received from a remote operator.

13. The UAV of claim 1, wherein at least one of the controller or the detonator controller is configured to cause the detonator to detonate the explosive material upon receipt of a detonation signal, the detonation signal being received from a remote operator.

14. The UAV of any one of claims 1-13, wherein at least one of the controller or the detonator controller is configured to cause the detonator to detonate the explosive material upon receipt of a detonation signal, the detonation signal being received from logical circuitry upon fulfillment of at least one predefined condition. P-617596-IL 300174/

15. The UAV of any one of claims 1-14, wherein the explosive material comprises shaped charges configured, upon detonation thereof, to discharge the explosive energy through the payload discharge surface of the frame.

16. The UAV of any one of claims 1-15, comprising a plurality of contact sensors, wherein the controller is configured to detect contact of the frame with the target surface based on a signal from at least one of the contact sensors.

17. The UAV of any one of claims 1-16, comprising a sensor, wherein the controller is configured to at least one of navigate and maneuver the UAV based on a signal from the sensor.

18. The UAV of any one of claims 1-17, comprising a communication unit, wherein the controller is configured to at least one of navigate and maneuver the UAV based on a signal received by the communication unit from a remote operator.

19. The UAV of any one of claims 1-18, wherein the frame is detachably couplable to the body of the UAV, and wherein upon detection of the contact of the frame with the target surface at the one or more additional contact points the controller is configured to navigate the UAV away from the target surface while the frame remains attached to the target surface by a plurality of contact enhancers.

20. The UAV of claim 19, wherein the payload comprises an explosive material and wherein at least one of the controller and a detonator controller is configured to cause a detonator to detonate the explosive material when the UAV is at a safe distance from the target surface.