Controlled flight of a multicopter experiencing a failure affecting an effector
US-9856016-B2 · Jan 2, 2018 · US
US10059436B1 · US · B1
| Field | Value |
|---|---|
| Publication number | US-10059436-B1 |
| Application number | US-201715783898-A |
| Country | US |
| Kind code | B1 |
| Filing date | Oct 13, 2017 |
| Priority date | Jul 13, 2017 |
| Publication date | Aug 28, 2018 |
| Grant date | Aug 28, 2018 |
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A float has a front-to-back length, a width, and a height where the front-to-back length of the float is strictly greater than the height of the float which in turn is strictly greater than the width of the float. At least a bottom portion of the float is watertight. The float includes an access panel to access the inside of the float. A battery is inside the float and is accessible via the access panel.
Opening claim text (preview).
What is claimed is: 1. A system, comprising: a float which has a front-to-back length, a width, and a height, wherein: the float is included in an aircraft; the front-to-back length of the float is strictly greater than the height of the float which in turn is strictly greater than the width of the float; at least a bottom portion of the float is watertight; the float includes an access panel to access the inside of the float; the float includes a removable and interchangeable float bottom adapted for at least one of: water and land, the land float bottom including a wheel; and a battery, wherein the battery is inside the float and is accessible via the access panel. 2. The system recited in claim 1 , wherein the aircraft includes a plurality of rotors which are attached to the aircraft at a fixed roll angle and a fixed pitch angle. 3. The system recited in claim 1 , wherein: the aircraft includes a plurality of rotors which are attached to the aircraft at a fixed roll angle and a fixed pitch angle; and the plurality of rotors include: a right inner front rotor which is configured to rotate in a first direction; a right outer front rotor which is configured to rotate in the first direction; a right inner middle rotor which is configured to rotate in a second direction; a right outer back rotor which is configured to rotate in the second direction; a right inner back rotor which is configured to rotate in the first direction; a left inner back rotor which is configured to rotate in the second direction; a left outer back rotor which is configured to rotate in the first direction; a left inner middle rotor which is configured to rotate in the first direction; a left outer front rotor which is configured to rotate in the second direction; and a left inner front rotor which is configured to rotate in the second direction. 4. The system recited in claim 1 , wherein: the aircraft includes a plurality of rotors which are attached to the aircraft at a fixed roll angle and a fixed pitch angle; the plurality of rotors include: a right outer front rotor which is attached to the aircraft at a negative roll angle and a negative pitch angle; a right inner middle rotor which is attached to the aircraft at a negative roll angle and a negative pitch angle; a right outer back rotor which is attached to the aircraft at a negative roll angle and a negative pitch angle; a right inner back rotor which is attached to the aircraft at a negative roll angle and a negative pitch angle; a left inner back rotor which is attached to the aircraft at a positive roll angle and a negative pitch angle; a left outer back rotor which is attached to the aircraft at a positive roll angle and a negative pitch angle; a left inner middle rotor which is attached to the aircraft at a positive roll angle and a negative pitch angle; and a left outer front rotor which is attached to the aircraft at a positive roll angle and a negative pitch angle; and the plurality of rotors are attached to the aircraft at roll angles and pitch angles with magnitudes in the range of 0 degrees and 10 degrees. 5. The system recited in claim 1 further including at least one of a gore vent and a drain. 6. The system recited in claim 1 further including a heat sink, wherein a view of the heat sink is at least partially obstructed by a blocking object when viewed from above. 7. The system recited in claim 1 further including a heat sink, wherein a view of the heat sink is at least partially obstructed by a blocking object when viewed from above, wherein the blocking object includes one or more of the following: a boom or a rotor. 8. The system recited in claim 1 , wherein the float further includes a sidewall with sandwich-structure composite. 9. The system recited in claim 1 , wherein: the aircraft further includes a parachute and a fuselage, where the parachute is attached to an anchor point in a back half of the fuselage; and the float includes energy absorbing material inside the float at a front portion. 10. The system recited in claim 1 further including a crush structure inside the float which supports the battery.
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