Systems and methods for a foldable unmanned aerial vehicle having a laminate structure

Patent metadata

Field	Value
Publication number	US-11260972-B2
Application number	US-201916255610-A
Country	US
Kind code	B2
Filing date	Jan 23, 2019
Priority date	Jan 24, 2018
Publication date	Mar 1, 2022
Grant date	Mar 1, 2022

Abstract

Various embodiments of a foldable unmanned aerial vehicle having a multi-layer laminate structure and extendible arms are disclosed.

First claim

What is claimed is:

1. An unmanned aerial vehicle comprising:
a structure, the structure defining:
a plurality of arms defined along a periphery of the structure, the plurality of arms configured for variable length relative to a center portion of the structure, wherein each arm of the plurality of arms is operable to fold to shorten a length of the arm and wherein each arm is operable to unfold to increase the length of the arm,
a plurality of mountings, wherein each mounting of the plurality of mountings is respectively formed at an end portion of each arm of the plurality of arms of the structure;

a plurality of motors, a motor of the plurality of motors being housed within each of the plurality of mountings of the structure;
a plurality of propellers in operative communication with the plurality of motors for propelling the foldable unmanned aerial vehicle during flight;
a string and spring mechanism associated with each respective arm of the plurality of arms for altering a length of each arm of the plurality of arms, wherein the string and spring mechanism includes:
a servo motor associated with the center portion of the structure,
a wheel in operable engagement with the servo motor, and
a plurality of strings in operative engagement to the wheel and to respective ones of the plurality of arms,
wherein engaging the servo motor turns the wheel and tensions the plurality of strings which consequently shortens the length of each arm of the plurality of arms relative to the center portion of the structure; and

a processor in operative communication with the plurality of motors that controls operation of the plurality of motors, the processor further configured for controlling the string and spring mechanism to alter the length of each arm of the plurality of arms of the structure such that a motor associated with the each arm is drawn towards or forced away from the center portion of the structure.

2. The method of claim 1 , wherein the plurality of arms are restricted to one degree of freedom such that altering the length of an arm of the plurality of arms moves a respective motor of the plurality of motors towards or away from the center portion of the structure.

3. The method of claim 1 , wherein the string and spring mechanism includes:
a plurality of springs in operative engagement with a respective arm of the plurality of arms, wherein the spring is biased in an extended state such that the arm is biased in an extended configuration.

4. The method of claim 1 , wherein the processor and the string and spring mechanism are configured for symmetric or asymmetric articulation of the plurality of arms, such that each arm of the plurality of arms is operable to extend outwardly at a variable distances relative to one another during flight to influence rotation of the unmanned aerial vehicle.

5. The method of claim 1 , wherein the processor is configured to control flight of the unmanned aerial vehicle using a dynamic closed loop control system that considers structure dynamics for output of the plurality of motors, wherein the dynamic closed loop control system is modified to account for alteration of the length of the arms during flight of the vehicle.

6. The method of claim 1 , wherein the structure is comprised of a multi-laminate cardboard.

7. A method of making a foldable unmanned aerial vehicle comprising:
providing a multi-layer laminate;
cutting a plurality of layers from the multi-layer laminate;
arranging the plurality of layers in a predetermined configuration relative to one another to form a structure, the structure defining a plurality of arms defined along a periphery of the structure; and
mounting a motor-propeller assembly along each of the plurality of arms; and
forming a string and spring mechanism associated with each respective arm of the plurality of arms for altering a length of each arm of the plurality of arms, wherein the string and spring mechanism includes:
a servo motor associated with the center portion of the structure;
a wheel in operable engagement with the servo motor; and
a plurality of strings in operative engagement to the wheel and to respective ones of the plurality of arms, wherein engaging the servo motor turns the wheel and tensions the plurality of strings which consequently shortens the length of each arm of the plurality of arms relative to the center portion of the structure.

8. The method of claim 7 , further comprising controlling the string and spring mechanism using a processor, the processor configured for controlling the string and spring mechanism to alter the length of each arm of the plurality of arms in order to accommodate predetermined rotation of the unmanned aerial vehicle, wherein the processor is further configured to account for alteration of the length of the arms during flight of the unmanned aerial vehicle.

9. A foldable unmanned aerial vehicle comprising:
a structure comprising a multi-layered laminate;
a plurality of extendable arms coupled to the structure and operable by one or more motors for variable length based on one or more control signals;
a plurality of propellers operable for propelling the foldable unmanned aerial vehicle during flight by one or motors based on one or more control signals;
a spring-string mechanism associated with each respective extendable arm of the plurality of extendable arms for altering a length of the extendable arm, wherein the string and spring mechanism includes:
a servo motor associated with the center portion of the structure;
a wheel in operable engagement with the servo motor; and
a plurality of strings in operative engagement to the wheel and to respective ones of the plurality of arms, wherein engaging the servo motor turns the wheel and tensions the plurality of strings which consequently shortens the length of each arm of the plurality of arms relative to the center portion of the structure; and

a processor in operative communication with the one or more motors for providing the one or more control signals to the one or more motors.

10. The foldable unmanned aerial vehicle of claim 9 , wherein a respective arm of the plurality of extendible arms is associated with a respective motor of the one or more motors.

11. The foldable unmanned aerial vehicle of claim 10 , wherein an alteration of the length of at least one extendible arms controls the rotation of the foldable unmanned aerial vehicle during flight and wherein the processor accounts for alteration of the length of the at least one extendible arm during flight of the vehicle.

12. The method of claim 1 , wherein a spring in operative engagement with a respective arm of the plurality of arms is forcibly compressed between the motor of the arm and the center portion of the structure when an associated string of the plurality of strings is tensioned.

Assignees

• Zhang Wenlong
• Yang Dangli
• Aukes Daniel
• Univ Arizona State

Inventors

• Zhang Wenlong
• Yang Dangli
• Aukes Daniel

Classifications

• B64U2201/20

  Remote controls · CPC title

• B64U20/50

  Foldable or collapsible UAVs (with frangible components B64U20/30) · CPC title

• B64U50/19

  using electrically powered motors · CPC title

• B64U30/20

  Rotors; Rotor supports · CPC title

• B64U10/13

  Flying platforms · CPC title