Rotocraft
First Claim
1. An aerial vehicle comprising:
- a frame;
a plurality of horizontal thrusters attached to the frame, the plurality of horizontal thrusters configured to provide yaw rotation and horizontal translation of the aerial vehicle;
a plurality of vertical lifters attached to the frame;
a device attached to the frame, wherein the device comprises one or more items selected from the group consisting of a mechanical tool, a sensor, and a weapon; and
a controller attached to the frame and configured to control the plurality of horizontal thrusters and/or the plurality of vertical lifters, wherein the aerial vehicle is;
capable of maneuvering in all directions and axes by independently controlling the thrust applied by the plurality of horizontal thrusters and the plurality of vertical lifters, andconfigured to open, using a mechanical claw, one or more items from the group consisting of an internal door, an external door, and a window.
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Accused Products
Abstract
An aerial vehicle includes independently controlled horizontal thrusters and vertical lifters to provide design and operational simplicity while allowing precision flying with six degrees of freedom and use of mounted devices such as tools, sensors, and instruments. Each horizontal thruster and vertical lifter can be mounted as constant-pitch, fixed-axis rotors while still allowing for precise control of yaw, pitch, roll, horizontal movement, and vertical elevation. Gyroscopes and inclinometers can be used to further enhance flying precision. A controller manages thrust applied the horizontal thrusters and vertical lifters to compensate for forces and torques generated by the use of tools and other devices mounted to the aerial vehicle.
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Citations
25 Claims
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1. An aerial vehicle comprising:
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a frame; a plurality of horizontal thrusters attached to the frame, the plurality of horizontal thrusters configured to provide yaw rotation and horizontal translation of the aerial vehicle; a plurality of vertical lifters attached to the frame; a device attached to the frame, wherein the device comprises one or more items selected from the group consisting of a mechanical tool, a sensor, and a weapon; and a controller attached to the frame and configured to control the plurality of horizontal thrusters and/or the plurality of vertical lifters, wherein the aerial vehicle is; capable of maneuvering in all directions and axes by independently controlling the thrust applied by the plurality of horizontal thrusters and the plurality of vertical lifters, and configured to open, using a mechanical claw, one or more items from the group consisting of an internal door, an external door, and a window. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23)
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24. An aerial vehicle comprising:
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a frame; a plurality of horizontal thrusters attached to the frame, the plurality of horizontal thrusters configured to induce yaw rotation and horizontal translation of the aerial vehicle; a plurality of vertical lifters attached to the frame; a device attached to the frame, wherein the device comprises one or more items selected from the group consisting of a mechanical tool, a sensor, and a weapon; and a controller attached to the frame and configured to control the plurality of horizontal thrusters and the plurality of vertical lifters, wherein the aerial vehicle is configured to; maneuver in all directions and axes by independently controlling the thrust applied by the plurality of horizontal thrusters and the plurality of vertical lifters, ram through one or more of the items in the group consisting of an external door of a building, an internal door of the building, and a window of the building using a spring-loaded punch tool or a pneumatic punch tool, remain operational after ramming through the one or more items in the group consisting of the external door of the building, the internal door of the building, and the window of the building, and enter the building through a doorframe or a window frame, and wherein the aerial vehicle is sized to permit the aerial vehicle to navigate within the building.
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25. An aerial vehicle comprising:
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a frame; a plurality of horizontal thrusters attached to the frame, the plurality of horizontal thrusters configured to provide yaw rotation and horizontal translation of the aerial vehicle; a plurality of vertical lifters attached to the frame; a device attached to the frame, wherein the device comprises one or more items selected from the group consisting of a mechanical tool, a sensor, and a weapon; and a controller attached to the frame and configured to control the plurality of horizontal thrusters and/or the plurality of vertical lifters, wherein the aerial vehicle is; capable of maneuvering in all directions and axes by independently controlling the thrust applied by the plurality of horizontal thrusters and the plurality of vertical lifters, and capable of; opening one or more items from the group consisting of an internal door, an external door, and a window using a mechanical claw attachable to the aerial vehicle, and ramming through one or more items from the group consisting of an internal door, an external door, and a window using a punch tool also attachable to the aerial vehicle.
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Specification