WO2023218207A1

WO2023218207A1 - Unmanned aerial vehicle

Info

Publication number: WO2023218207A1
Application number: PCT/GB2023/051253
Authority: WO
Inventors: Andrew George MICHAEL; Marek Rafal OLLIK
Original assignee: Overwerx Ltd
Priority date: 2022-05-12
Filing date: 2023-05-12
Publication date: 2023-11-16
Also published as: GB2618781A; GB202206951D0

Abstract

An unmanned aerial vehicle having: a first rotor system including at least first and second rotor blades connected to a first rotor hub, the first rotor hub being supported for rotation about a first axis such that rotation of the first rotor system generates lift for the vehicle; a second rotor system including at least first and second rotor blades connected to a second rotor hub, the second rotor hub being supported for rotation about a second axis such that rotation of the second rotor system generates lift for the vehicle; a first electrically powered motor for effecting rotation of the first hub about the first axis, said first motor including a first motor output member rotatable about the first axis and which is drivingly connected to the first rotor hub; a second electrically powered motor for effecting rotation of the second hub about the second axis, said second motor including a second motor output member rotatable about the second axis and which is drivingly connected to the second rotor hub; wherein the first motor axis and second motor axis are or are substantially coaxially aligned with each other; and a motor support structure positioned in between the first and second rotor hubs, said motor support structure supporting the first and second motors substantially opposite each other.

Description

UNMANNED AERIAL VEHICLE

FIELD

This invention relates to an unmanned aerial vehicle.

BACKGROUND

Unmanned aerial vehicles are well known. For example it is well known for such a vehicle to have first and second rotor systems (each with their own rotor blades) which are driven by respective electric motors. In some prior art vehicles the first and second rotor systems are rotatable about respective axes which are coaxial with each other. In prior art examples, such vehicles are controlled remotely by a user, thus permitting the vehicle to be flown at a location different from the user’s location. In prior art examples, the vehicle may include a camera thus permitting the remote user to see the location at or near the location of the vehicle. In prior art examples, the vehicle may be capable of supporting or carrying a payload.

BRIEF DESCRIPTION OF THE INVENTION

According to a first aspect of the invention, we provide an unmanned aerial vehicle having: a first rotor system including at least first and second rotor blades connected to a first rotor hub, the first rotor hub being supported for rotation about a first axis such that rotation of the first rotor system generates lift for the vehicle; a second rotor system including at least first and second rotor blades connected to a second rotor hub, the second rotor hub being supported for rotation about a second axis such that rotation of the second rotor system generates lift for the vehicle; a first electrically powered motor for effecting rotation of the first hub about the first axis, said first motor including a first motor output member rotatable about the first axis and which is drivingly connected to the first rotor hub; a second electrically powered motor for effecting rotation of the second hub about the second axis, said second motor including a second motor output member rotatable about the second axis and which is drivingly connected to the second rotor hub; wherein the first motor axis and second motor axis are or are substantially coaxially aligned with each other; and a motor support structure positioned in between the first and second rotor hubs, said motor support structure supporting the first and second motors substantially opposite each other.

The first motor axis and second motor axis may be aligned to provide a common axis and wherein the motor support structure supports the first and second motors such that they are spaced from each other along the common axis.

The first motor includes a first motor housing and wherein the second motor may include a second motor housing, and wherein the first and second motor housings are positioned opposite each other and may each be connected to the motor support structure at opposite sides thereof.

The motor support structure may supports or houses a first motor controller for controlling the operation of the first motor and a second motor controller for controlling operation of the second motor.

The first and second motor controllers may be positioned substantially opposite each other and either side of the first and/or second motor axes.

In use, the first rotor system may be positioned above the motor support structure and wherein the second rotor system may be positioned below the motor support structure.

The first motor output member may be positioned further from the motor support structure than the first motor housing. The second motor output member may be positioned further from the motor support structure than the second motor housing.

The first rotor system may be positioned further from the motor support structure than the first motor output member.

The second rotor system may be positioned further from the motor support structure than the second motor output member.

The motor support structure may include a first substantially planar member which is connected to the first motor housing and a second substantially planar member which is connected to the second motor housing, wherein the first and second substantially planar members are connected to and spaced from each other by at least two elongate supports.

The motor support structure may include a peripheral wall extending around and between the first and second substantially planar members, preferably wherein the peripheral wall includes two or more arcuate wall portions.

The first output member may include a first passage, extending along the first motor axis through which a component part, e.g. a electrical wire, of the vehicle extends.

The second output member my include a second passage, extending along the second motor axis through which a component part, e.g. a electrical wire, of the vehicle extends.

The vehicle may include a location device capable of transmitting and/or receiving location data relating to the location of the vehicle. The locating device may be positioned in an upper housing which, in use, is positioned above the first rotor system.

The upper housing may be connected to the motor support structure by a first connection member which extends through the first motor output member. The first connection member may include a third passage, extending along the first motor axis through which a component part, e.g. a electrical wire, of the vehicle extends.

The vehicle may include a first housing positioned, in use, below the second rotor system, said first housing containing one or more electrical components of the vehicle. The first housing may be connected to the motor support structure by a second connection member which extends through the second motor output member.

The second connection member may include a fourth passage, extending along the second motor axis through which a component part, e.g. a electrical wire, of the vehicle extends.

The first housing may support or include a device, e.g. a swashplate device, for altering the pitch of the first and/or second blades of the second rotor system for adjusting the lift vector generated by the first and second blades of the second rotor system so as to control the direction of movement of the vehicle.

The device may include one or motor motors/servos supported in or by the first housing.

The vehicle may include a battery supported within a battery housing, the battery housing being positioned, in use, below the second rotor system and preferably below the first housing.

The battery housing may be releasably connectable at a first end to the first housing.

The first housing may include at least one battery power connection member which is releasably connectable to a battery power connection member provided on or at the first end of the battery housing for providing electrical power from the battery to power the first and second motors. The battery housing may include a second end for releasable connection to a further housing or to a further component part of the vehicle, said further housing or further component part including at least one battery power connection member which is releasably connectable to a battery power connection member provided on or at the second end of the battery housing for providing electrical power to electrical components supported by or in the further housing or further component part of the vehicle.

The second end of the battery housing may be releasably connectable to a landing gear system or to a payload.

A first end of battery housing and first housing may be slidably engageable with other in a direction parallel to the first and/or second motor axes.

The first end of the battery housing or the first housing may include a first rotatable connection device for connection to a first formation, preferably a threaded formation, provided on the other of the first housing or battery housing.

A second end of battery housing and the further housing (or the further component part of the vehicle or the landing gear system or the payload) may be slidably engageable with other in a direction parallel to the first and/or second motor axes.

The second end of the battery housing or the further housing (or the further component part of the vehicle or the landing gear system or the payload) may include a second rotatable connection device for connection to a second formation, preferably a threaded formation, provided on the other of the further housing (or the further component part of the vehicle or the landing gear system or the payload) or the battery housing.

The first housing may support or may be provided with one or more antennae devices which are electrically connected to one or more component parts positioned in the upper housing. The vehicle may include a camera, preferably positioned in or on one or more of the upper housing, first housing, battery housing, further housing, further component part of the vehicle or the landing gear system.

The first and second motors may be brushless DC motors, preferably stepper motors.

The first and second rotor blades of each of the first and second rotor systems may be collapsible relative to their respective first or second rotor hub to a position where a length of each blade is parallel or substantially parallel to the first and/or second motor axes.

In normal use the direction of rotation of the first rotor hub may be opposite to the direction of rotation of the second rotor hub.

The vehicle may include a communication device(s) for sending and receiving operational signals from a remote location, e.g. from a remote controller, relating to the control of the vehicle and its components parts.

The motor support structure may support the first and second motors substantially opposite each other such that the first and second motors are positioned in between the first and second rotor hubs.

The first motor may directly drive the first rotor hub.

The second motor may directly drive the second rotor hub.

The vehicle may include only one said first rotor system and only one said second rotor system.

The vehicle may be generally elongate save for the first and second rotor systems. The vehicle may include one or more generally elongate housings positioned above and/or below and/or between the first and second rotor systems.

The one or more generally elongate housings may each be substantially cylindrical.

One or more of the generally elongate housings may be releasably connectable to the remainder or the vehicle and/or one of the other elongate housings.

The one or more generally elongate housings may each have an elongate axis which may be substantially coaxially aligned with the first and second motor axes.

The elongate axes of the one or more generally elongate housings may be substantially vertical in normal flight.

The first and second rotor blades of the first and/or second rotor systems may rotate in plane(s) which are substantially perpendicular to the elongate axis of the one or more generally elongate housings.

BRIEF DESCRIPTION OF THE FIGURES

In order that the present disclosure may be more readily understood, preferable embodiments thereof will now be described, by way of example only, with reference to the accompanying drawings, in which:

FIGURE 1 is a perspective view of an unmanned aerial vehicle embodying the present disclosure;

FIGURE 2 is a side view of the unmanned aerial vehicle of figure 1 ;

FIGURE 3 is a plan view of the unmanned aerial vehicle of figure 1 ;

FIGURE 4 is a further perspective view of the unmanned aerial vehicle of figure 1 ; FIGURE 5 is side view of component parts of an# unmanned aerial vehicle of the present disclosure;

FIGURE 6a is cross-sectional view of component parts of an unmanned aerial vehicle of the present disclosure;

FIGURE 6b is cross-sectional view of component parts of an unmanned aerial vehicle of the present disclosure;

FIGURE 7 is a side view of an unmanned aerial vehicle embodying the present disclosure;

FIGURE 8 is side view of component parts of an unmanned aerial vehicle of the present disclosure;

FIGURE 9 is side view of component parts of an unmanned aerial vehicle of the present disclosure;

FIGURE 10 is side view of component parts of an unmanned aerial vehicle of the present disclosure;

FIGURE 11 is side view of a first housing of an unmanned aerial vehicle of the present disclosure;

FIGURE 12 is side view of a battery housing of an unmanned aerial vehicle of the present disclosure;

FIGURE 13 is an end view of a battery housing of an unmanned aerial vehicle of the present disclosure; and

FIGURE 14 is an end view of a battery housing of an unmanned aerial vehicle of the present disclosure. DETAILED DESCRIPTION OF THE DISCLOSURE

Referring firstly to the figures, these show examples of an unmanned aerial vehicle 10 according to the present disclosure. The unmanned aerial vehicle 10 has a first rotor system 20 including first 21 and second 22 rotor blades connected to a first rotor hub 23. The first 21 and second 22 rotors are position diametrically opposite each other (see figure 3) and are supported by the first rotor hub 23 for rotation about a first axis A. Rotation of the rotor hub 23 generates lift for the vehicle.

The unmanned aerial vehicle 10 has a second rotor system 40 including respective first 41 and second 42 rotor blades connected to a second rotor hub 43. The second rotor hub 43 is supported for rotation about a second axis B, which in this example is substantially coaxial or coaxial with the axis A. Rotation of the second rotor hub 43 also generates lift for the vehicle.

In embodiments, the vehicle includes only one said first rotor system and only one said second rotor system. In other words, the vehicle includes no further separate rotor systems.

In embodiments, the first and second rotor blades of each of the first 20 and second 40 rotor systems are pivotally collapsible in direction C relative to their respective first 23 or second 43 rotor hub to a position where a length of each blade is parallel or substantially parallel to the axis A, B. In examples, in the collapsed condition, the blades are aligned substantially with the exterior housing of the vehicle 10.

In normal use the direction of rotation of the first rotor hub 23 is opposite to the direction of rotation of the second rotor hub 43. This counter-rotation ensures that the remainder of the vehicle, e.g. its various housings not unintentionally rotate during fight. In embodiments, they may rotate or be rotatable in the same direction.

Each blade is held in a recess 25 in a part 24 which is pivotally connected at 26 o the rotor hub 23, 43. This connection ensures that the blades can be collapsed to a storage condition and also that during use the blade connection is free to move slightly, up and down, relative to the rotor hub 23, 43.

The vehicle 10 includes a first electrically powered motor 60 for effecting rotation of the first hub about the first axis A. The first motor 60 includes a first motor output member 61 which is rotatable about the axis A and which is drivingly connected, directly or indirectly, to the first rotor hub 23. The vehicle 10 includes a second electrically powered motor 80 for effecting rotation of the second hub about the second axis B. The second motor 80 includes a second motor output member 81 which is rotatable about the axis B and which is drivingly connected, directly or indirectly, to the second rotor hub 43. The first and second motors 60, 80, each have a respective motor housing within which is supported a respective motor rotor and motor stator. The motor stator is connected to its respective output member 61 , 81. The motor housings are generally cylindrical. In examples, first and second motors are brushless DC motors, preferably stepper motors.

The vehicle 10 includes a motor support structure 100 which is positioned generally midway in between the first 20 and second 40 rotor hubs. In examples, in use, the first rotor system is positioned above the motor support structure 100 and wherein the second rotor system is positioned below the motor support structure 100. In alternative examples, the positions of the rotor systems may be switched. The motor support structure therefore supports the first 60 and second 80 motors substantially opposite each other such that the first 60 and second 80 motors are positioned in between the first 23 and second 43 rotor hubs.

The motor support structure 100 provides support for the first 60 and second 80 motors so as to position them substantially opposite each other and to align the axes A, B coaxially with each other. In this position the first 60 and second 80 motors are spaced from each other along the common axis A, B. In examples, the first and second motor housings are positioned opposite each other and are each connected to the motor support structure at opposite sides thereof. The motor support structure 100 in the present example includes a first substantially planar member 101 which is connected to the first motor 60 housing and a second substantially planar member 102 which is connected to the second 80 motor housing. These connections may be permanent connections, such as welding or adhering, but they may be connected using fasteners or the like. The first 101 and second 102 substantially planar members (which in examples are circular in plan view) are connected to and spaced from each other by at least two elongate supports 103. The supports 103, which in examples may be arcuate in plan view, are positioned substantially diametrically from each other either side of the common axis A, B.

The motor support structure 100 includes a peripheral wall extending around and between the first 101 and second 102 substantially planar members. In examples the peripheral wall includes two or more arcuate wall portions 104, 105. In examples, the peripheral wall may be a single wall or three or more wall portions. The wall or walls may be connected to the supports 103 by suitable fasteners 106.

Within an internal cavity of the motor support structure 100 is supported first 63 and second 83 motor controllers for controlling the operation of the first 60 and a second 80 motors, respectively. The first 63 and second 83 motor controllers are positioned substantially opposite each other and either side of the common axis A, B.

As seen from the figures, in examples, the first motor output member 61 is positioned further from the motor support structure 100 than the first motor housing. In addition, the first rotor system 20 is positioned further from the motor support structure 100 than the first motor output member 61. In examples, the second motor output member 81 is positioned further from the motor support structure 100 than the second motor housing and the second rotor system 40 is positioned further from the motor support structure 100 than the second motor output member 81. In examples, the position of the first rotor system, its connection to the first motor output member and the position of the first motor are substantially a mirror image of the second rotor system, its connection to the second motor output member and the position of the second motor. In embodiments, this mirror image need not be necessary.

The first output member 61 includes a first passage 64, extending along the first motor axis A through which component parts may pass. In examples, the passage 64 permits structural components and electrical wires 125, to extend therethrough, whilst still permitting the output member 61 to rotate therearound. In a similar fashion, the second output member 81 includes a second passage 84, extending along the second motor axis B through which component parts may pass. In examples, the passage 84 permits structural components and electrical wires, to extend therethrough, whilst still permitting the output member 81 to rotate therearound.

As seen from the figures, and in other envisaged embodiments, the vehicle 10 may be generally elongate save for the first and second rotor systems thereof and any supporting legs (162, discussed below). The vehicle may therefore include one or more generally elongate housings positioned above and/or below and/or between the first 23 and second 43 rotor systems. As discussed in more detail below, the one or more generally elongate housings may each be substantially cylindrical.

In embodiments, the one or more generally elongate housings may each have an elongate axis which is substantially coaxially aligned with the first 60 and second 80 motor axes A, B. In embodiments, the elongate axes of the one or more generally elongate housings are substantially vertical in normal flight. In embodiments, the first and second rotor blades of the first and/or second rotor systems rotate in plane(s) which are substantially perpendicular to the elongate axis of the one or more generally elongate housings.

In embodiments, one or more of the generally elongate housings are releasably connectable to the remainder or the vehicle and/or one of the other elongate housings. In other embodiments, the housings may be permanently connected to each other. In embodiments, the vehicle 10 includes a location device 110 capable of transmitting and/or receiving location data relating to the location of the vehicle 10. In examples, the locating device 110 is positioned in a generally cylindrical upper housing 120 which, in use, is positioned above the first rotor system 20. Of course, the location device may be positioned elsewhere in the vehicle 10 and the upper hosing 120 may include other component parts for the vehicle.

The upper housing 120 is connected to the motor support structure 100 by a first connection member 121 which extends from a within an interior of the upper housing

120 through the first motor output member 61 and motor housing of the first motor 60 and into the motor support structure 100. The connection member 121 in this example is a tube with a passage 122 extending therethrough. The connection member is coaxial with the motor axis A. An upper end of the connection member

121 is connected to the upper housing by a bracket 124. An opposite lower end of the connection member 121 is connected to the motor support structure 100 by a bracket 123. Bearings or bushings may be provided between the exterior surface of the connection member 121 and the output member 61 to permit the output member 61 to freely rotate relative thereto.

As shown in figures 6b, the passage 122 provides a route through which electrical wires, for example, may extend, thus providing a path for electrical connection between the component parts in the upper housing 120, e.g. location device 110, and the motor support structure 100 (and from there to the battery, as discussed below).

In examples, the vehicle includes a generally cylindrical first housing 130 positioned, in use, below the second rotor system 40. The first housing 130 may contain one or more electrical components of the vehicle 10.

The first housing 130 is connected to the motor support structure 100 by a second connection member 131 which extends from a within an interior of the first housing 130 through the second motor output member 81 and motor housing of the second motor 80 and into the motor support structure 100. The connection member 131 in this example is a tube with a passage 132 extending therethrough. In examples the second connection member 131 is larger in external diameter than the first connection member 121 and the passage 132 therethrough is larger in cross-section than the passage 122 in the first connection member 121. The connection member is coaxial with the motor axis B. An upper end of the connection member 131 is connected to the motor support structure 100 by a bracket 134, which bracket is positioned in between the motor controllers 63, 64. An opposite lower end of the connection member 131 is connected to the first housing by a bracket (not shown, although such a bracket may be similar to the bracket 124). Bearings or bushings may be provided between the exterior surface of the connection member 131 and the output member 81 to permit the output member 81 to freely rotate relative thereto.

As shown in figures 6b, the passage 132 provides a route through which electrical wires, for example, may extend, thus providing a path for electrical connection between the component parts in the first housing 120 (and upper housing 120) and the motor support structure 100 (and from there to the battery, as discussed below). For example, the passage 132 permits electrical wires 135, 136 originating within the first housing 130 to connect to the motor controllers 63, 64 and wire(s) 125 to pass from the first housing 130 all the way through the motors and rotor systems and to the upper housing 120.

In embodiments, the first housing 130 supports or includes a device 140, e.g. a swashplate device, for altering the pitch of the first 41 and/or second 42 blades of the second rotor system 40 for adjusting the lift vector generated by the first and second blades of the second rotor system so as to control the direction of movement of the vehicle. Such a device is well known in the art, so will not be discussed in more detail herein, except to say that the device 140 includes one or motor motors/servos supported in or by the first housing 130. A swashplate device is not essential, however, although the vehicle should ideally include some means of modifying the pitch of the blades of the first or second rotor systems to ensure that the direction of flight of the vehicle can be changed. The vehicle 10 includes one or more batteries for providing power to the electrical components of the vehicle 10. The battery is supported within a battery housing 150 which is generally cylindrical and having first 152 and second 155 ends. The battery housing 150 being positioned, in use, below the second rotor system 40 and preferably below the first housing 130, with its first end 152 being connected to the first housing 130. The second end 155 of the battery housing 150 is releasably (although it could be permanently) connectable to a further housing or to a further component part of the vehicle 10, e.g. to a landing gear system 160 or to a payload 170. The battery includes a switch 159 which can be actuated shortly before the vehicle 10 is to be used. Said switch ensures or at least minimises unnecessary or unintentional battery drain, e.g. during transportation.

The battery housing 150 could be positioned elsewhere in embodiments. The battery could, for example, be provided in the first 130 or upper 120 housings, or in the landing gear system 160. Multiple batteries could be positioned in multiple locations of the vehicle 10. Two or more battery housings 150 could be positioned and connected to each other end on end.

Advantageously, in embodiments the battery housing 150 is releasably connectable at a first end 152 thereof to the first housing 130. In examples, however, the battery housing 150 may be permanently connected to the first housing 130.

The first housing 130 includes at least one, preferably two, battery power connection members (not shown, but similar to members 156b discussed below) which are releasably connectable to battery power connection members 156a provided on or at the first end 152 of the battery housing 150 for providing electrical power from the battery to power the first 60 and second 80 motors.

The second end 155 of the battery housing 150 provides at least one, preferably two, battery power connection members 156b for providing electrical power to electrical components supported by or in the further housing 130 or further component parts 160, 170 of the vehicle 10. Such connections 156a, 156b permit multiple battery housings to be electrically connected to each other. The first end 152 of battery housing 150 and first housing 130 are slidably engageable with other in a direction parallel to the first and second motor axes A, B. This permits the battery power connection members 156a, 156b to be engaged with each other.

In addition, the first end 152 of the battery housing 150 includes a first rotatable connection device 157 for connection to a first formation 133, provided on the other of the first housing 130. The connection device 157 may include a female threaded portion which engages with a male thread formation 133 on the first housing 130. This ensures that the battery housing 150 and first housing 130 can be connected to each other after the electrical connections 156a, 156b have been made. In examples, the device 157 may be provided on the first housing 130, with the formation 133 being provided on the battery housing 150.

The second end 155 of battery housing and the further housing (or the further component part of the vehicle or the landing gear system or the payload) are slidably engageable with other in a similar manner in a direction parallel to the first and second motor axes A, B. Again, this permits battery power connection members 156a, 156b on those components parts to be engaged with each other.

In addition, in a similar fashion, the second end 155 of the battery housing 150 includes a second rotatable connection device 161 for connection to, for examples, a second formation 158, provided on the landing gear system 160 or payload 170. The connection device 161 may include a female threaded portion which engages with a male thread formation 158 on the landing gear system 160 or payload 170. This ensures that the battery housing 150 and the landing gear system 160 or payload 170 can be connected to each other after the electrical connections 156a, 156b have been made. In examples, the device 161 may be provided on the landing gear system 160 or payload 170, with the formation 158 being provided on the battery housing 150. In embodiments, the first housing 130 supports or is provided with one or more antennae devices which are electrically connected to one or more component parts positioned in the device, e.g. in the upper housing 120.

In examples, a camera 180 is provided, preferably positioned in or on one or more of the upper housing 120, first housing 130, battery housing 150, further housing, further component part of the vehicle, the landing gear system 160 or the payload 170.

The landing gear system 160 may include a plurality of legs 162, preferably three, supported by or in formations 163 for engaging with a floor surface to support the vehicle thereon during take off and/or landing of the vehicle 10. In examples, the landing gear system 160 may be the lowermost component part of the vehicle. In other examples, the landing gear system 160 may provide a means for connection to another component part of the vehicle, e.g. a payload 170.

As is well known in the art, the vehicle 10 includes a communication device(s) for sending and receiving operational signals from a remote location, e.g. from a remote controller, relating to the control of the vehicle 10 and its components parts. Such devices are well known so will not be described in further details herein.

The invention may also broadly consist in the parts, elements, steps, examples and/or features referred to or indicated in the specification individually or collectively in any and all combinations of two or more said parts, elements, steps, examples and/or features. In particular, one or more features in any of the embodiments described herein may be combined with one or more features from any other embodiment(s) described herein.

Protection may be sought for any features disclosed in any one or more published documents referenced herein in combination with the present disclosure.

Although certain example embodiments of the invention have been described, the scope of the appended claims is not intended to be limited solely to these embodiments. The claims are to be construed literally, purposively, and/or to encompass equivalents.

REPRESENTATIVE FEATURES

Representative features are set out in the following clauses, which stand alone or may be combined, in any combination, with one or more features disclosed in the text and/or drawings of the specification.

1. An unmanned aerial vehicle having: a first rotor system including at least first and second rotor blades connected to a first rotor hub, the first rotor hub being supported for rotation about a first axis such that rotation of the first rotor system generates lift for the vehicle; a second rotor system including at least first and second rotor blades connected to a second rotor hub, the second rotor hub being supported for rotation about a second axis such that rotation of the second rotor system generates lift for the vehicle; a first electrically powered motor for effecting rotation of the first hub about the first axis, said first motor including a first motor output member rotatable about the first axis and which is drivingly connected to the first rotor hub; a second electrically powered motor for effecting rotation of the second hub about the second axis, said second motor including a second motor output member rotatable about the second axis and which is drivingly connected to the second rotor hub; wherein the first motor axis and second motor axis are or are substantially coaxially aligned with each other; and a motor support structure positioned in between the first and second rotor hubs, said motor support structure supporting the first and second motors substantially opposite each other.

2. An unmanned aerial vehicle according to clause 1 wherein the first motor axis and second motor axis are aligned to provide a common axis and wherein the motor support structure supports the first and second motors such that they are spaced from each other along the common axis. 3. An unmanned aerial vehicle according to clause 1 or clause 2 wherein the first motor includes a first motor housing and wherein the second motor includes a second motor housing, and wherein the first and second motor housings are positioned opposite each other and are each connected to the motor support structure at opposite sides thereof.

4. An unmanned aerial vehicle according to any preceding clause wherein the motor support structure supports or houses a first motor controller for controlling the operation of the first motor and a second motor controller for controlling operation of the second motor.

5. An unmanned aerial vehicle according to any preceding clause wherein the first and second motor controllers are positioned substantially opposite each other and either side of the first and/or second motor axes.

6. An unmanned aerial vehicle according to any preceding clause wherein, in use, the first rotor system is positioned above the motor support structure and wherein the second rotor system is positioned below the motor support structure.

7. An unmanned aerial vehicle according to any preceding clause wherein the first motor output member is positioned further from the motor support structure than the first motor housing.

8. An unmanned aerial vehicle according to any preceding clause wherein the second motor output member is positioned further from the motor support structure than the second motor housing.

9. An unmanned aerial vehicle according to any preceding clause wherein the first rotor system is positioned further from the motor support structure than the first motor output member. 10. An unmanned aerial vehicle according to any preceding clause wherein the second rotor system is positioned further from the motor support structure than the second motor output member.

11. An unmanned aerial vehicle according to any preceding clause where dependent directly or indirectly on clause 3 wherein the motor support structure includes a first substantially planar member which is connected to the first motor housing and a second substantially planar member which is connected to the second motor housing, wherein the first and second substantially planar members are connected to and spaced from each other by at least two elongate supports.

12. An unmanned aerial vehicle according to clause 11 wherein the motor support structure includes a peripheral wall extending around and between the first and second substantially planar members, preferably wherein the peripheral wall includes two or more arcuate wall portions.

13. An unmanned aerial vehicle according to any preceding clause wherein the first output member includes a first passage, extending along the first motor axis through which a component part, e.g. a electrical wire, of the vehicle extends.

14. An unmanned aerial vehicle according to any preceding clause wherein the second output member includes a second passage, extending along the second motor axis through which a component part, e.g. a electrical wire, of the vehicle extends.

15. An unmanned aerial vehicle according to any preceding clause wherein the vehicle includes a location device capable of transmitting and/or receiving location data relating to the location of the vehicle, wherein the locating device is positioned in an upper housing which, in use, is positioned above the first rotor system.

16. An unmanned aerial vehicle according to clause 15 wherein the upper housing is connected to the motor support structure by a first connection member which extends through the first motor output member. 17. An unmanned aerial vehicle according to clause 16 wherein the first connection member includes a third passage, extending along the first motor axis through which a component part, e.g. a electrical wire, of the vehicle extends.

18. An unmanned aerial vehicle according to any preceding clause wherein the vehicle includes a first housing positioned, in use, below the second rotor system, said first housing containing one or more electrical components of the vehicle, wherein the first housing is connected to the motor support structure by a second connection member which extends through the second motor output member.

19. An unmanned aerial vehicle according to clause 18 wherein the second connection member includes a fourth passage, extending along the second motor axis through which a component part, e.g. a electrical wire, of the vehicle extends.

20. An unmanned aerial vehicle according to any preceding clause wherein the first housing supports or includes a device, e.g. a swashplate device, for altering the pitch of the first and/or second blades of the second rotor system for adjusting the lift vector generated by the first and second blades of the second rotor system so as to control the direction of movement of the vehicle.

21. An unmanned aerial vehicle according to clause 20 wherein said device includes one or motor motors/servos supported in or by the first housing.

22. An unmanned aerial vehicle according to any preceding clause wherein the vehicle includes a battery supported within a battery housing, the battery housing being positioned, in use, below the second rotor system and preferably below the first housing.

23. An unmanned aerial vehicle according to clause 22 wherein the battery housing is releasably connectable at a first end to the first housing. 24. An unmanned aerial vehicle according to clause 22 or clause 23 where dependent directly or indirectly on clause 18 wherein the first housing includes at least one battery power connection member which is releasably connectable to a battery power connection member provided on or at the first end of the battery housing for providing electrical power from the battery to power the first and second motors.

25. An unmanned aerial vehicle according to clause 24 wherein the battery housing includes a second end for releasable connection to a further housing or to a further component part of the vehicle, said further housing or further component part including at least one battery power connection member which is releasably connectable to a battery power connection member provided on or at the second end of the battery housing for providing electrical power to electrical components supported by or in the further housing or further component part of the vehicle.

26. An unmanned aerial vehicle according to clause 25 wherein the second end of the battery housing is releasably connectable to a landing gear system or to a payload.

27. An unmanned aerial vehicle according any preceding clause where dependent directly or indirectly on clause 18 and clause 22 wherein a first end of battery housing and first housing are slidably engageable with other in a direction parallel to the first and/or second motor axes.

28. An unmanned aerial vehicle according to clause 27 wherein the first end of the battery housing or the first housing includes a first rotatable connection device for connection to a first formation, preferably a threaded formation, provided on the other of the first housing or battery housing.

29. An unmanned aerial vehicle according any preceding clause where dependent directly or indirectly on clause 18 and clause 22 wherein a second end of battery housing and the further housing (or the further component part of the vehicle or the landing gear system or the payload) are slidably engageable with other in a direction parallel to the first and/or second motor axes.

30. An unmanned aerial vehicle according to clause 29 wherein the second end of the battery housing or the further housing (or the further component part of the vehicle or the landing gear system or the payload) includes a second rotatable connection device for connection to a second formation, preferably a threaded formation, provided on the other of the further housing (or the further component part of the vehicle or the landing gear system or the payload) or the battery housing.

31. An unmanned aerial vehicle according to any preceding clause where dependent directly or indirectly on clause 18 wherein the first housing supports or is provided with one or more antennae devices which are electrically connected to one or more component parts positioned in the upper housing.

32. An unmanned aerial vehicle according to any preceding clause including a camera, preferably positioned in or on one or more of the upper housing, first housing, battery housing, further housing, further component part of the vehicle or the landing gear system.

33. An unmanned aerial vehicle according to any preceding clause wherein the first and second motors are brushless DC motors, preferably stepper motors.

34. An unmanned aerial vehicle according to any preceding clause wherein the first and second rotor blades of each of the first and second rotor systems are collapsible relative to their respective first or second rotor hub to a position where a length of each blade is parallel or substantially parallel to the first and/or second motor axes.

35. An unmanned aerial vehicle according to any preceding clause wherein in normal use the direction of rotation of the first rotor hub is opposite to the direction of rotation of the second rotor hub. 36. An unmanned aerial vehicle according to any preceding clause wherein the vehicle includes a communication device(s) for sending and receiving operational signals from a remote location, e.g. from a remote controller, relating to the control of the vehicle and its components parts.

37. An unmanned aerial vehicle according to any preceding clause wherein the motor support structure supports the first and second motors substantially opposite each other such that the first and second motors are positioned in between the first and second rotor hubs.

38. An unmanned aerial vehicle according to any preceding clause wherein the first motor directly drives the first rotor hub.

39. An unmanned aerial vehicle according to any preceding clause wherein the second motor directly drives the second rotor hub.

40. An unmanned aerial vehicle according to any preceding clause wherein the vehicle includes only one said first rotor system and only one said second rotor system.

41. An unmanned aerial vehicle according to any preceding clause wherein the vehicle is generally elongate save for the first and second rotor systems.

42. An unmanned aerial vehicle according to any preceding clause wherein the vehicle includes one or more generally elongate housings positioned above and/or below and/or between the first and second rotor systems.

43. An unmanned aerial vehicle according to clause 42 wherein the one or more generally elongate housings are each substantially cylindrical.

44. An unmanned aerial vehicle according to claim 42 or 43 wherein one or more of the generally elongate housings are releasably connectable to the remainder or the vehicle and/or one of the other elongate housings. 45. An unmanned aerial vehicle according to clause 42, 43 or 44 wherein the one or more generally elongate housings each has an elongate axis which is substantially coaxially aligned with the first and second motor axes.

46. An unmanned aerial vehicle according to clause 45 wherein the elongate axes of the one or more generally elongate housings are substantially vertical in normal flight. 47. An unmanned aerial vehicle according to clause 42, 43, 44 or 45 wherein the first and second rotor blades of the first and/or second rotor systems rotate in plane(s) which are substantially perpendicular to the elongate axis of the one or more generally elongate housings.

Claims

1. An unmanned aerial vehicle (10) having: a first rotor system (20) including at least first (21) and second (22) rotor blades connected to a first rotor hub (23), the first rotor hub being supported for rotation about a first axis (A) such that rotation of the first rotor system generates lift for the vehicle; a second rotor system (40) including at least first (41) and second (42) rotor blades connected to a second rotor hub (43), the second rotor hub being supported for rotation about a second axis (B) such that rotation of the second rotor system generates lift for the vehicle; a first electrically powered motor (60) for effecting rotation of the first hub about the first axis, said first motor including a first motor output member (61) rotatable about the first axis and which is drivingly connected to the first rotor hub; a second electrically powered motor (80) for effecting rotation of the second hub about the second axis, said second motor including a second motor output member (81) rotatable about the second axis and which is drivingly connected to the second rotor hub; wherein the first motor axis and second motor axis are or are substantially coaxially aligned with each other; and a motor support structure (100) positioned in between the first and second rotor hubs, said motor support structure supporting the first and second motors substantially opposite each other.

2. An unmanned aerial vehicle according to claim 1 wherein the first motor axis and second motor axis are aligned to provide a common axis and wherein the motor support structure supports the first and second motors such that they are spaced from each other along the common axis.

3. An unmanned aerial vehicle according to claim 1 or claim 2 wherein the first motor includes a first motor housing (62) and wherein the second motor includes a second motor housing (82), and wherein the first and second motor housings are positioned opposite each other and are each connected to the motor support structure at opposite sides thereof.

4. An unmanned aerial vehicle according to any preceding claim wherein the motor support structure supports or houses a first motor controller (63) for controlling the operation of the first motor and a second motor controller (83) for controlling operation of the second motor.

5. An unmanned aerial vehicle according to any preceding claim wherein the first and second motor controllers are positioned substantially opposite each other and either side of the first and/or second motor axes.

6. An unmanned aerial vehicle according to any preceding claim wherein, in use, the first rotor system is positioned above the motor support structure and wherein the second rotor system is positioned below the motor support structure.

7. An unmanned aerial vehicle according to any preceding claim wherein the first motor output member is positioned further from the motor support structure than the first motor housing.

8. An unmanned aerial vehicle according to any preceding claim wherein the second motor output member is positioned further from the motor support structure than the second motor housing.

9. An unmanned aerial vehicle according to any preceding claim wherein the first rotor system is positioned further from the motor support structure than the first motor output member.

10. An unmanned aerial vehicle according to any preceding claim wherein the second rotor system is positioned further from the motor support structure than the second motor output member.

11. An unmanned aerial vehicle according to any preceding claim where dependent directly or indirectly on claim 3 wherein the motor support structure includes a first substantially planar member (101) which is connected to the first motor housing and a second substantially planar member (102) which is connected to the second motor housing, wherein the first and second substantially planar members are connected to and spaced from each other by at least two elongate supports (103).

12. An unmanned aerial vehicle according to claim 11 wherein the motor support structure includes a peripheral wall extending around and between the first and second substantially planar members, preferably wherein the peripheral wall includes two or more arcuate wall portions (104, 105).

13. An unmanned aerial vehicle according to any preceding claim wherein the first output member includes a first passage (64), extending along the first motor axis through which a component part, e.g. a electrical wire, of the vehicle extends.

14. An unmanned aerial vehicle according to any preceding claim wherein the second output member includes a second passage (84), extending along the second motor axis through which a component part, e.g. a electrical wire, of the vehicle extends.

15. An unmanned aerial vehicle according to any preceding claim wherein the vehicle includes a location device (110) capable of transmitting and/or receiving location data relating to the location of the vehicle, wherein the locating device is positioned in an upper housing (120) which, in use, is positioned above the first rotor system.

16. An unmanned aerial vehicle according to claim 15 wherein the upper housing is connected to the motor support structure by a first connection member (121) which extends through the first motor output member.

17. An unmanned aerial vehicle according to claim 16 wherein the first connection member includes a third passage (122), extending along the first motor axis through which a component part, e.g. a electrical wire, of the vehicle extends.

18. An unmanned aerial vehicle according to any preceding claim wherein the vehicle includes a first housing (130) positioned, in use, below the second rotor system, said first housing containing one or more electrical components of the vehicle, wherein the first housing is connected to the motor support structure by a second connection member (131) which extends through the second motor output member.

19. An unmanned aerial vehicle according to claim 18 wherein the second connection member includes a fourth passage (132), extending along the second motor axis through which a component part, e.g. a electrical wire, of the vehicle extends.

20. An unmanned aerial vehicle according to any preceding claim wherein the first housing supports or includes a device, e.g. a swashplate device, for altering the pitch of the first and/or second blades of the second rotor system for adjusting the lift vector generated by the first and second blades of the second rotor system so as to control the direction of movement of the vehicle.

21. An unmanned aerial vehicle according to claim 20 wherein said device includes one or motor motors/servos supported in or by the first housing.

22. An unmanned aerial vehicle according to any preceding claim wherein the vehicle includes a battery supported within a battery housing (150), the battery housing being positioned, in use, below the second rotor system and preferably below the first housing.

23. An unmanned aerial vehicle according to claim 22 wherein the battery housing is releasably connectable at a first end (152) to the first housing.

24. An unmanned aerial vehicle according to claim 22 or claim 23 where dependent directly or indirectly on claim 18 wherein the first housing includes at least one battery power connection member which is releasably connectable to a battery power connection member (156a) provided on or at the first end (152) of the battery housing for providing electrical power from the battery to power the first and second motors.

25. An unmanned aerial vehicle according to claim 24 wherein the battery housing includes a second end (155) for releasable connection to a further housing or to a further component part of the vehicle, said further housing or further component part including at least one battery power connection member which is releasably connectable to a battery power connection member (156b) provided on or at the second end of the battery housing for providing electrical power to electrical components supported by or in the further housing or further component part of the vehicle.

26. An unmanned aerial vehicle according to claim 25 wherein the second end (155) of the battery housing is releasably connectable to a landing gear system (160) or to a payload (170).

27. An unmanned aerial vehicle according any preceding claim where dependent directly or indirectly on claim 18 and claim 22 wherein a first end (152) of battery housing and first housing are slidably engageable with other in a direction parallel to the first and/or second motor axes.

28. An unmanned aerial vehicle according to claim 27 wherein the first end of the battery housing or the first housing includes a first rotatable connection device (157) for connection to a first formation (133), preferably a threaded formation, provided on the other of the first housing or battery housing.

29. An unmanned aerial vehicle according any preceding claim where dependent directly or indirectly on claim 18 and claim 22 wherein a second end (155) of battery housing and the further housing (or the further component part of the vehicle or the landing gear system or the payload) are slidably engageable with other in a direction parallel to the first and/or second motor axes.

30. An unmanned aerial vehicle according to claim 29 wherein the second end (155) of the battery housing or the further housing (or the further component part of the vehicle or the landing gear system or the payload) includes a second rotatable connection device (161) for connection to a second formation (158), preferably a threaded formation, provided on the other of the further housing (or the further component part of the vehicle or the landing gear system or the payload) or the battery housing.

31. An unmanned aerial vehicle according to any preceding claim where dependent directly or indirectly on claim 18 wherein the first housing supports or is provided with one or more antennae devices which are electrically connected to one or more component parts positioned in the upper housing.

32. An unmanned aerial vehicle according to any preceding claim including a camera (180), preferably positioned in or on one or more of the upper housing, first housing, battery housing, further housing, further component part of the vehicle or the landing gear system.

33. An unmanned aerial vehicle according to any preceding claim wherein the first and second motors are brushless DC motors, preferably stepper motors.

34. An unmanned aerial vehicle according to any preceding claim wherein the first and second rotor blades of each of the first and second rotor systems are collapsible relative to their respective first or second rotor hub to a position where a length of each blade is parallel or substantially parallel to the first and/or second motor axes.

35. An unmanned aerial vehicle according to any preceding claim wherein in normal use the direction of rotation of the first rotor hub is opposite to the direction of rotation of the second rotor hub.

36. An unmanned aerial vehicle according to any preceding claim wherein the vehicle includes a communication device(s) for sending and receiving operational signals from a remote location, e.g. from a remote controller, relating to the control of the vehicle and its components parts.

37. An unmanned aerial vehicle according to any preceding claim wherein the motor support structure supports the first and second motors substantially opposite each other such that the first and second motors are positioned in between the first and second rotor hubs.

38. An unmanned aerial vehicle according to any preceding claim wherein the first motor directly drives the first rotor hub.

39. An unmanned aerial vehicle according to any preceding claim wherein the second motor directly drives the second rotor hub.

40. An unmanned aerial vehicle according to any preceding claim wherein the vehicle includes only one said first rotor system and only one said second rotor system.

41. An unmanned aerial vehicle according to any preceding claim wherein the vehicle is generally elongate save for the first and second rotor systems.

42. An unmanned aerial vehicle according to any preceding claim wherein the vehicle includes one or more generally elongate housings positioned above and/or below and/or between the first and second rotor systems.

43. An unmanned aerial vehicle according to claim 42 wherein the one or more generally elongate housings are each substantially cylindrical.

44. An unmanned aerial vehicle according to claim 42 or 43 wherein one or more of the generally elongate housings are releasably connectable to the remainder or the vehicle and/or one of the other elongate housings.

45. An unmanned aerial vehicle according to claim 42, 43 or 44 wherein the one or more generally elongate housings each has an elongate axis which is substantially coaxially aligned with the first and second motor axes.

46. An unmanned aerial vehicle according to claim 45 wherein the elongate axes of the one or more generally elongate housings are substantially vertical in normal flight.

47. An unmanned aerial vehicle according to claim 42, 43, 44 or 45 wherein the first and second rotor blades of the first and/or second rotor systems rotate in plane(s) which are substantially perpendicular to the elongate axis of the one or more generally elongate housings.