Safety system for aerial vehicles and method of operation

• US 10,004,652 B1
• Filed: 02/23/2018
• Issued: 06/26/2018
• Est. Priority Date: 01/30/2017
• Status: Active Grant

• Current Assignee: SkyRyse, Inc.
• Original Assignee: SkyRyse, Inc.
• Inventors: Groden, Mark, Adler, Mitch
• Primary Examiner(s): Badii, Behrang
• Assistant Examiner(s): Greene, Daniel L
• Application Number:
  US15/904,082
• Time in Patent Office: 123 Days
• CPC Class Codes: A61G 2220/10 Aircrafts
• CPC Class Codes: A61G 3/001 Vehicles provided with medical equipment to perform operations or examinations
• CPC Class Codes: B64D 17/80 in association with aircraft, e.g. for braking thereof
• CPC Class Codes: B64D 45/04 Landing aids; Safety measures to prevent collision with earth's surface
• CPC Class Codes: B64D 45/08 optical
• CPC Class Codes: B64D 47/00 Equipment not otherwise provided for
• CPC Class Codes: B64F 1/18 Visual or acoustic landing aids
• CPC Class Codes: B64F 5/60 Testing or inspecting aircraft components or systems
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/105 specially adapted for unpowered flight, e.g. glider, parachuting, forced landing parachutes per se B64D17/00
• CPC Class Codes: G05D 1/106 Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones
• CPC Class Codes: G06Q 10/02 Reservations, e.g. for tickets, services or events
• CPC Class Codes: G06Q 50/40 Business processes related to the transportation industry shipping G06Q10/083
• CPC Class Codes: G06V 20/52 Surveillance or monitoring of activities, e.g. for recognising suspicious objects recognising microscopic objects G06V20/69
• CPC Class Codes: G07C 5/008 communicating information to a remotely located station transmission systems for measured values G08C
• CPC Class Codes: G08B 7/06 using electric transmission , e.g. involving audible and visible signalling through the use of sound and light sources
• CPC Class Codes: G08G 5/0013 with a ground station
• CPC Class Codes: G08G 5/003 Flight plan management
• CPC Class Codes: G08G 5/0034 Assembly of a flight plan
• CPC Class Codes: G08G 5/0056 in an emergency situation, e.g. hijacking
• CPC Class Codes: G08G 5/0069 : specially adapted for an unmanned aircraft
• CPC Class Codes: G08G 5/0095 : Aspects of air-traffic control not provided for in the other subgroups of this main group
• CPC Class Codes: G16H 15/00 : ICT specially adapted for medical reports, e.g. generation or transmission thereof
• CPC Class Codes: G16H 40/20 : for the management or administration of healthcare resources or facilities, e.g. managing hospital staff or surgery rooms

Abstract

A safety system for an aerial vehicle, preferably including: a ballistic subsystem, preferably including one or more rockets operable to adjust motion of the aerial vehicle and a mounting unit that couples the ballistic subsystem to the aerial vehicle; and/or a deployable parachute subsystem. An aerial vehicle, preferably including a safety system. A method for aerial vehicle operation, preferably including activating a safety system.

Claims

1. A rotorcraft comprising:

an airframe;

a rotor rotationally coupled to the airframe about a rotor axis; and

a parachute module comprising;

a parachute;

an anchor submodule comprising a first anchor connected to the airframe at a first point and a second anchor connected to the airframe at a second point; and

a parachute connector mechanically coupling the parachute to the anchor submodule;

wherein the first anchor is operable to transition from an anchoring mode to a released mode, wherein;

in the anchoring mode, the parachute connector is connected to the first anchor and a parachute force is exerted on the first anchor by the parachute connector; and

in the released mode, the parachute connector is disconnected from the first anchor and connected to the second anchor.

2. The rotorcraft of claim 1, wherein the parachute module further comprises a parachute rocket engine coupled to the parachute and configured to propel the parachute away from the airframe.

3. The rotorcraft of claim 1, wherein:

the parachute connector comprises a tether defining a first end connected to the parachute and a second end connected to the second anchor; and

in the anchoring mode, the first anchor is connected to the parachute connector between the first and second ends.

4. The rotorcraft of claim 1, wherein:

the rotorcraft defines;

a center of gravity (CG);

a rotor vector directed along the rotor axis from the airframe to the rotor;

a first moment arm from the CG to the first point; and

a second moment arm from the CG to the second point; and

the magnitude of a first cross product of the rotor vector and the first moment arm is greater than the magnitude of a second cross product of the rotor vector and the second moment arm.

5. The rotorcraft of claim 4, further comprising a rocket engine mechanically connected to the airframe, wherein:

the rocket engine defines a propulsion vector; and

a dot product of the propulsion vector and the second moment arm is greater than zero.

6. The rotorcraft of claim 1, further comprising a second rotor rotationally coupled to the airframe about a second rotor axis, wherein:

the first point is closer to the second rotor axis than to the CG; and

the second point is closer to the CG than to the second rotor axis.

7. The rotorcraft of claim 6, wherein the first point is distal the CG from the second rotor axis.

8. The rotorcraft of claim 7, wherein the second rotor axis is substantially perpendicular the rotor axis.

9. The rotorcraft of claim 1, further comprising a rocket engine mechanically connected to the airframe.

10. The rotorcraft of claim 9, wherein:

the rotorcraft defines;

a center of gravity (CG); and

a midplane normal the rotor axis, the midplane comprising the CG; and

the rocket engine opposes the rotor across the midplane.

11. A method for rotorcraft operation, comprising:

at a rotorcraft comprising an airframe, a rotor rotationally coupled to the airframe about a rotor axis, and a parachute mechanically coupled to the airframe;

operating the rotorcraft in a nominal flight mode, comprising controlling the rotor to rotate about the rotor axis;

after operating the rotorcraft in the nominal flight mode, determining an emergency condition associated with the rotorcraft; and

in response to determining the emergency condition, at the rotorcraft, performing emergency countermeasures, comprising;

deploying the parachute in a first parachute anchoring mode, wherein the parachute exerts, on the airframe, a first force with a first moment arm defined from a center of gravity (CG) of the rotorcraft;

after deploying the parachute, determining a parachute mode transition trigger;

in response to determining the parachute mode transition trigger, controlling the parachute to transition from the first parachute anchoring mode to a second parachute anchoring mode, wherein the parachute exerts, on the airframe, a second force with a second moment arm defined from the CG; and

after controlling the parachute to transition from the first parachute anchoring mode to the second parachute anchoring mode, landing the rotorcraft.

12. The method of claim 11, wherein:

operating the rotorcraft in the nominal flight mode comprises controlling the rotor to rotate about the rotor axis at a first speed greater than a threshold speed; and

determining the parachute mode transition trigger comprises sampling sensor data indicative of rotor rotation about the rotor axis at a second speed less than the threshold speed.

13. The method of claim 11, wherein:

the rotorcraft further comprises a first anchor connected to the airframe at a first point, a second anchor connected to the airframe at a second point, and a parachute connector;

in the first parachute anchoring mode, the parachute connector connects the parachute to the first anchor;

in the second parachute anchoring mode, the parachute connector connects the parachute to the second anchor; and

controlling the parachute to transition from the first parachute anchoring mode to the second parachute anchoring mode comprises disconnecting the first anchor from the parachute connector.

14. The method of claim 11, wherein:

controlling the rotor to rotate about the rotor axis comprises controlling a powerplant of the rotorcraft to drive rotation of the rotor; and

determining the emergency condition comprises sampling sensor data indicative of failure of the powerplant.

15. The method of claim 11, wherein:

the rotorcraft further comprises a rocket engine mechanically coupled to the parachute; and

the method further comprises, after controlling the parachute to transition from the first parachute anchoring mode to the second parachute anchoring mode;

disconnecting the parachute from the airframe; and

firing the rocket engine to propel the parachute away from the airframe.

16. The method of claim 11, wherein:

while operating the rotorcraft in the nominal flight mode, the rotorcraft orientation defines a nominal pitch;

while in the first parachute anchoring mode, the rotorcraft orientation defines a first mode pitch, wherein the difference between the nominal pitch and the first mode pitch is greater than a threshold angle; and

while in the second parachute anchoring mode, the rotorcraft orientation defines a second mode pitch, wherein the difference between the nominal pitch and the second mode pitch is less than the threshold angle.

17. The method of claim 16, wherein:

the threshold angle is greater than 45°

; and

the difference between the nominal pitch and the second mode pitch is less than 15°

.

18. The method of claim 11, wherein performing emergency countermeasures further comprises, at a rocket engine mechanically connected to the airframe, exerting a rocket force on the airframe, wherein the rocket force is oriented upward relative to a gravity vector.

19. The method of claim 18, wherein exerting the rocket force comprises, before deploying the parachute, firing the rocket engine.

20. The method of claim 18, wherein exerting the rocket force comprises, after controlling the parachute to transition from the first parachute anchoring mode to the second parachute anchoring mode and before landing the rotorcraft, firing the rocket engine.