Perching attachment for unmanned aircraft

• US 10,081,421 B2
• Filed: 03/24/2016
• Issued: 09/25/2018
• Est. Priority Date: 03/26/2015
• Status: Active Grant

• Current Assignee: University of North Dakota (North Dakota University System)
• Original Assignee: University of North Dakota (North Dakota University System)
• Inventors: Semke, William, Swetich, Weston
• Primary Examiner(s): Benedik, Justin M
• Application Number:
  US15/080,265
• Publication Number:
  US 20160280359A1
• Time in Patent Office: 915 Days
• CPC Class Codes: B64C 25/32 characterised by elements which contact the ground or similar surface arrester hooks B64C25/68
• CPC Class Codes: B64C 27/006 Safety devices
• CPC Class Codes: B64C 27/10 arranged coaxially
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64U 10/10 Rotorcrafts
• CPC Class Codes: B64U 20/65 Composite materials
• CPC Class Codes: B64U 2201/10 autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
• CPC Class Codes: B64U 30/20 Rotors; Rotor supports
• CPC Class Codes: B64U 30/299 Rotor guards ducted or shrouded rotors B64U30/26; guards used as ground propulsion B64U60/60
• CPC Class Codes: B64U 60/60 with rolling cages
• CPC Class Codes: B64U 70/00 Launching, take-off or landing arrangements
• CPC Class Codes: B64U 70/99 Means for retaining the UAV on the platform, e.g. dogs or magnets

Abstract

An aerial vehicle system includes a flight system configured to generate propulsive force and lift, a protective framework, and an attachment mechanism secured to the protective framework and configured to selectively attach to a structure to provide stable perching of the aerial vehicle system. The attachment mechanism is an electro-permanent magnet device or a talon-like grip. The flight system is at least partially enclosed by the protective framework.

Claims

1. An aerial vehicle system comprising:

a flight system configured to generate propulsive force and lift;

a protective framework, wherein the flight system is at least partially enclosed by the protective framework; and

an attachment mechanism secured to the protective framework and configured to selectively attach to a structure to provide stable perching of the aerial vehicle system, wherein the attachment mechanism is an electro-permanent magnet device comprising;

a permanent magnet and;

an electromagnet positioned adjacent to the permanent magnet.

2. The system of claim 1, wherein the protective framework comprises:

a connector; and

a plurality of rods attached to the connector, wherein the plurality of rods defines an outer boundary of the protective framework having a substantially spheroid shape.

3. The system of claim 2, wherein the flight system comprises a plurality of rotor blades in a coaxcopter configuration, and wherein the plurality of rotor blades is located entirely within the outer boundary of the protective framework.

4. The system of claim 1 and further comprising:

a deployable system supported relative to the flight system and comprising;

a sensor located within an outer boundary of the protective framework; and

a robotic arm capable of extending to locations outside an outer boundary of the protective framework.

5. The system of claim 1, wherein the flight system includes an automated control subsystem configured for unmanned flight.

6. The system of claim 1, wherein the attachment mechanism is secured directly to the protective framework at or near an outer boundary defined by the protective framework.

7. The system of claim 1, wherein the protective framework further comprises:

a frame made of a cellular composite material, wherein the frame is substantially planar; and

a plurality of rods attached to the frame.

8. The system of claim 1, wherein the flight system is positioned within one or more openings in the frame.

9. The system of claim 1, wherein an electromagnet of the electro-permanent magnetic device is configured to be temporarily powered to negate a magnetic attractiveness of a permanent magnet of the electro-permanent magnetic device.

10. The system of claim 1, wherein an electromagnet of the electro-permanent magnetic device is configured to be temporarily powered to bolster a magnetic attractiveness of a permanent magnet of the electro-permanent magnetic device.

11. The system of claim 1, wherein the electromagnet at least partially surrounds the permanent magnet.

12. A method of operating an aerial vehicle, the method comprising:

flying the aerial vehicle to a perching location, wherein the aerial vehicle comprises a flight system configured to generate propulsive force and lift;

a protective framework, wherein the flight system is at least partially enclosed by the protective framework; and

an attachment mechanism secured to the protective framework and configured to selectively attach to a structure to provide stable perching of the aerial vehicle system, wherein the attachment mechanism is an electro-permanent magnet device comprising;

a permanent magnet and;

an electromagnet;

magnetically attracting the aerial vehicle to a perch with the permanent magnet magnetic field to create a perching engagement between the aerial vehicle and the perch;

generating an opposing magnetic field with the electromagnet, wherein the opposing magnetic field cancels out at least a portion of the permanent magnetic field; and

disengaging the aerial vehicle from the perch.

13. The method of claim 12, wherein the step of generating the opposing magnetic field is performed while the aerial vehicle is flying.

14. The method of claim 12, wherein the step of generating the opposing magnetic field is performed while the aerial vehicle is perched.

15. The method of claim 12 and further comprising:

placing a flight system of the aerial vehicle in a low power mode when the aerial vehicle is magnetically attracted to the perch in the perching engagement, wherein rotor blades of the flight system are idle in the low power mode.

16. The method of claim 15 and further comprising:

performing an operation with a deployable system carried onboard the aerial vehicle while the flight system is in the lower power mode.

17. The method of claim 15 and further comprising:

powering the flight system to rotate the rotor blades of the flight system; and

flying the aerial vehicle away from the perching location.

18. The method of claim 12, wherein the perching engagement supports the entire aerial vehicle in a stable relationship relative to the perch.

19. The method of claim 12, wherein the perching engagement is maintained passively through the use of the permanent magnet magnetic field.

20. The method of claim 12 and further comprising:

generating an auxiliary magnetic field that bolsters the permanent magnet magnetic field to create the perching engagement; and

ceasing generation of the auxiliary magnetic field after the perching engagement is stable.