Multicopter with self-adjusting rotors

Patent metadata

Field	Value
Publication number	US-12140968-B2
Application number	US-202318376358-A
Country	US
Kind code	B2
Filing date	Oct 3, 2023
Priority date	Nov 25, 2019
Publication date	Nov 12, 2024
Grant date	Nov 12, 2024

Abstract

During a vertical landing state, it is decided whether to switch from the vertical landing state to a self adjusting state. The VTOL vehicle includes the flight controller, the rotor, and a fuselage where the rotor is coupled to the fuselage via a vertical connector. If it is so decided, there is a switch from the vertical landing state to the self adjusting state. During the self adjusting state, a control signal for a rotor is generated where the control signal causes: (1) the rotor to rotate during the self adjusting state and (2) the VTOL vehicle to remain in a fixed position during the self adjusting state, in response to the control signal, and independent of docking infrastructure. During a rotors off state, a rotor off control signal is generated for the rotor that causes the rotor to turn off.

First claim

What is claimed is:

1. A vertical takeoff and landing (VTOL) vehicle, comprising:
a flight controller, wherein:
during a vertical landing state, during which the VTOL vehicle is performing a vertical landing, the flight controller:
decides whether to switch from the vertical landing state to a self adjusting state; and
in the event it is decided to switch from the vertical landing state to the self adjusting state, the flight controller switches from the vertical landing state to the self adjusting state; and

during the self adjusting state, the flight controller generates a control signal for a rotor, wherein the control signal causes: (1) the rotor to rotate during the self adjusting state and (2) the VTOL vehicle to remain in a fixed position during the self adjusting state, in response to the control signal, and independent of docking infrastructure; and
during a rotors off state, the flight controller generates a rotor off control signal for the rotor that causes the rotor to turn off;

the rotor; and
a fuselage, wherein the rotor is coupled to the fuselage via a vertical connector.

2. The VTOL vehicle recited in claim 1 , wherein the VTOL vehicle remains airborne during the self adjusting state.

3. The VTOL vehicle recited in claim 1 , wherein:
the VTOL vehicle remains airborne during the self adjusting state; and
the VTOL vehicle further includes a display associated with indicating when it is safe to enter or exit the VTOL vehicle.

4. The VTOL vehicle recited in claim 1 , wherein during the self adjusting state, the flight controller further: decides whether to switch from the self adjusting state to a vertical takeoff state, including by automatically detecting when a fuselage is empty.

5. The VTOL vehicle recited in claim 1 , wherein during the self adjusting state, the flight controller further: decides whether to switch from the self adjusting state to a vertical takeoff state, including by automatically detecting when a fuselage is empty using one or more of the following: a change in weight, a decrease in rotor thrust, a decrease in rotor power, a decrease in rotor torque, a change in pressure on a seat, optical recognition, or an infrared sensor, or a position of a smart phone.

6. The VTOL vehicle recited in claim 1 , wherein during the self adjusting state, the flight controller further: decides whether to switch from the self adjusting state to a vertical takeoff state based at least in part on a user indication.

7. The VTOL vehicle recited in claim 1 , wherein:
the VTOL vehicle remains airborne during the self adjusting state at a desired altitude; and
deciding whether to switch from the vertical landing state to the self adjusting state is based at least in part on user input associated with specifying the desired altitude.

8. The VTOL vehicle recited in claim 1 , wherein:
the VTOL vehicle further includes a foldable vertical beam, disposed between a fuselage and the rotor, and having a first lockable hinge disposed between the foldable vertical beam and the fuselage and a second lockable hinge disposed between the foldable vertical beam and the rotor; and
the flight controller further:
unlocks the first lockable hinge and the second lockable hinge; and
after unlocking the first lockable hinge and the second lockable hinge, generates a second control signal associated with lowering the rotor and the foldable vertical beam.

9. The VTOL vehicle recited in claim 1 , wherein the rotor includes a canted rotor.

10. The VTOL vehicle recited in claim 1 , wherein the rotor includes a canted rotor and the canted rotor is at an angle within a range of 5°-20°, inclusive.

11. A method, comprising:
during a vertical landing state, during which a vertical takeoff and landing (VTOL) vehicle is performing a vertical landing, using a flight controller to:
decide whether to switch from the vertical landing state to a self adjusting state; and
in the event it is decided to switch from the vertical landing state to the self adjusting state, switching from the vertical landing state to the self adjusting state; and

during the self adjusting state, using the flight controller to generate a control signal for a rotor, wherein the control signal causes: (1) the rotor to rotate during the self adjusting state and (2) the VTOL vehicle to remain in a fixed position during the self adjusting state, in response to the control signal, and independent of docking infrastructure; and
during a rotors off state, using the flight controller to generate a rotor off control signal for the rotor that causes the rotor to turn off, wherein:
the VTOL vehicle includes the flight controller, the rotor, and a fuselage; and
the rotor is coupled to the fuselage via a vertical connector.

12. The method recited in claim 11 , wherein the VTOL vehicle remains airborne during the self adjusting state.

13. The method recited in claim 11 , wherein:
the VTOL vehicle remains airborne during the self adjusting state; and
the method further includes displaying an indication associated with indicating when it is safe to enter or exit the VTOL vehicle.

14. The method recited in claim 11 , further including: during the self adjusting state, using the flight controller to decide whether to switch from the self adjusting state to a vertical takeoff state, including by automatically detecting when a fuselage is empty.

15. The method recited in claim 11 , further including: during the self adjusting state, using the flight controller to decide whether to switch from the self adjusting state to a vertical takeoff state, including by automatically detecting when a fuselage is empty using one or more of the following: a change in weight, a decrease in rotor thrust, a decrease in rotor power, a decrease in rotor torque, a change in pressure on a seat, optical recognition, or an infrared sensor, or a position of a smart phone.

16. The method recited in claim 11 , further including: during the self adjusting state, using the flight controller to decide whether to switch from the self adjusting state to a vertical takeoff state based at least in part on a user indication.

17. The method recited in claim 11 , wherein:
the VTOL vehicle remains airborne during the self adjusting state at a desired altitude; and
deciding whether to switch from the vertical landing state to the self adjusting state is based at least in part on user input associated with specifying the desired altitude.

18. The method recited in claim 11 , wherein:
the VTOL vehicle further includes a foldable vertical beam, disposed between a fuselage and the rotor, and having a first lockable hinge disposed between the foldable vertical beam and the fuselage and a second lockable hinge disposed between the foldable vertical beam and the rotor; and
the method further includes:
unlocking the first lockable hinge and the second lockable hinge; and
after unlocking the first lockable hinge and the second lockable hinge, generating a second control signal associated with lowering the rotor and the foldable vertical beam.

19. The method recited in claim 11 , wherein the rotor includes a canted rotor.

20. The method recited in claim 11 , wherein the rotor includes a canted rotor and the canted rotor is at an angle within a range of 5°-20°, inclusive.

Assignees

• Kitty Hawk Corp

Inventors

• Thrun Sebastian
• Berry Benjamin Otto

Classifications

• G05D1/606

  Compensating for or utilising external environmental conditions, e.g. wind or water currents (station keeping G05D1/611) · CPC title

• B64F1/12

  for anchoring aircraft · CPC title

• B64C27/41

  with flapping hinge or universal joint, common to the blades · CPC title

• G05D1/46

  Control of position or course in three dimensions [3D] · CPC title

• B64U50/14

  ducted or shrouded · CPC title