Transformable aerial vehicle

• US 9,242,729 B1
• Filed: 03/05/2015
• Issued: 01/26/2016
• Est. Priority Date: 01/10/2013
• Status: Active Grant

• Current Assignee: SZ DJI Technology Co., Ltd. (d/b/a DJI) (iFlight Technology Company Limited)
• Original Assignee: SZ DJI Technology Co., Ltd. (d/b/a DJI) (iFlight Technology Company Limited)
• Inventors: Wang, Tao, Zhao, Tao, Du, Hao, Wang, Mingxi
• Primary Examiner(s): Xavier, Valentina
• Assistant Examiner(s): Kreiner, Michael
• Application Number:
  US14/639,550
• Publication Number:
  US 20160023744A1
• Time in Patent Office: 327 Days
• US Class Current: 1/1
• CPC Class Codes: A63H 27/12 Helicopters A63H27/04 takes precedence; Flying tops
• CPC Class Codes: B64C 1/00 Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
• CPC Class Codes: B64C 1/061 Frames
• CPC Class Codes: B64C 1/063 Folding or collapsing to reduce overall dimensions, e.g. foldable tail booms
• CPC Class Codes: B64C 2025/325 specially adapted for helicopters
• CPC Class Codes: B64C 25/12 sideways
• CPC Class Codes: B64C 25/32 characterised by elements which contact the ground or similar surface arrester hooks B64C25/68
• CPC Class Codes: B64C 27/08 with two or more rotors
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64C 39/028 Micro-sized aircraft
• CPC Class Codes: B64D 47/00 Equipment not otherwise provided for
• CPC Class Codes: B64D 47/08 Arrangements of cameras
• CPC Class Codes: B64U 10/10 Rotorcrafts
• CPC Class Codes: B64U 10/13 Flying platforms
• CPC Class Codes: B64U 10/14 with four distinct rotor axes, e.g. quadcopters
• CPC Class Codes: B64U 2101/30 for imaging, photography or videography
• CPC Class Codes: B64U 2201/00 UAVs characterised by their flight controls
• CPC Class Codes: B64U 2201/20 Remote controls
• CPC Class Codes: B64U 30/20 Rotors; Rotor supports
• CPC Class Codes: B64U 30/293 Foldable or collapsible rotors or rotor supports
• CPC Class Codes: B64U 50/13 : using external fans or propellers
• CPC Class Codes: B64U 50/19 : using electrically powered motors
• CPC Class Codes: G05D 1/042 : specially adapted for aircraft

Abstract

Systems, devices, and methods for a transformable aerial vehicle are provided. In one aspect, a transformable aerial vehicle includes: a central body and at least two transformable frames assemblies respectively disposed on the central body, each of the at least two transformable frame assemblies having a proximal portion pivotally coupled to the central body and a distal portion; an actuation assembly mounted on the central body and configured to pivot the at least two frame assemblies to a plurality of different vertical angles relative to the central body; and a plurality of propulsion units mounted on the at least two transformable frame assemblies and operable to move the transformable aerial vehicle.

Claims

1. An aerial vehicle, the aerial vehicle comprising:

a central body;

at least two frame assemblies respectively disposed on the central body, each of the at least two frame assemblies having a primary tube with an inboard portion directly coupled to the central body and an outboard portion directly coupled to a cross bar; and

a plurality of propulsion units operable to move the aerial vehicle, wherein each of the at least two frame assemblies supports at least two propulsion units directly coupled to the cross bar,

wherein a lowest part of the cross bar is above a highest part of the central body at least during flight,

wherein the primary tube of each frame assembly is coupled to the cross bar between ends of the cross bar, and

wherein the cross bar is substantially perpendicular to the primary tube at the outboard portion of the primary tube.

2. The aerial vehicle of claim 1, wherein the aerial vehicle is an unmanned aerial vehicle further comprising a receiver configured to receive user commands for controlling one or more of the propulsion units.

3. The aerial vehicle of claim 2, wherein the user commands are transmitted from a remote terminal.

4. The aerial vehicle of claim 1, wherein the central body supports a payload beneath the central body.

5. The aerial vehicle of claim 4, wherein the payload is movable relative to the central body.

6. The aerial vehicle of claim 5, wherein the payload is movable relative to the central body about one or more axes of rotation.

7. The aerial vehicle of claim 4, further comprising a support member configured to support the aerial vehicle when the aerial vehicle is resting on a surface, with the payload not contacting the surface, wherein the aerial vehicle is in a first configuration when the aerial vehicle is resting on the surface.

8. The aerial vehicle of claim 7, wherein the aerial vehicle is in a second configuration when the aerial vehicle is in flight, wherein the second configuration increases the functional space of the payload.

9. The aerial vehicle of claim 7, wherein the support member is coupled to the cross bar.

10. The aerial vehicle of claim 1, wherein the primary tube of each frame assembly is coupled to the cross bar at a midpoint of the cross bar.

11. The aerial vehicle of claim 1, wherein the primary tube of each frame assembly is coupled to the cross bar via a coupling.

12. The aerial vehicle of claim 1, wherein the at least two propulsion units are supported at ends of the cross bar.

13. The aerial vehicle of claim 1, wherein the propulsion units comprise rotors that are configured to provide lift to the aerial vehicle.

14. The aerial vehicle of claim 13, wherein the rotors are affixed above the cross bar.

15. The aerial vehicle of claim 1, wherein the primary tube and the cross bar form a “

T”

shape.

16. The aerial vehicle of claim 1, further comprising a payload and a carrier, wherein the payload is coupled to the aerial vehicle via the carrier.

17. The aerial vehicle of claim 16, wherein the payload is releasably coupled to the carrier.

18. The aerial vehicle of claim 16, wherein the carrier is releasably coupled to the aerial vehicle.

19. The aerial vehicle of claim 16, wherein the carrier is configured to permit movement of the payload relative to the carrier.

20. The aerial vehicle of claim 19, wherein the movement is translational with respect to up to three degrees freedom.

21. The aerial vehicle of claim 16, wherein the carrier comprises a carrier frame assembly and a carrier actuation assembly, wherein the carrier frame assembly provides structural support to the payload, wherein the carrier frame assembly comprises individual carrier frame components, and wherein the carrier actuation assembly comprises one or more actuators that actuate movement of the individual carrier frame components.

22. The aerial vehicle of claim 21, wherein the actuators are configured to permit the movement of multiple carrier frame components simultaneously.

23. The aerial vehicle of claim 21, wherein the actuators configured to permit the movement of a single carrier frame component at a time.

24. The aerial vehicle of claim 16, wherein the payload is an image capture device.

25. The aerial vehicle of claim 1, further comprising a robotic arm, wherein the robotic arm is coupled to an underside of the central body and is configured to remove an obstruction from the functional space.

26. The aerial vehicle of claim 1, wherein each primary tube is angled upward relative to the central body such that an outboard end of the primary tube is higher than an inboard end of the primary tube.

27. The aerial vehicle of claim 1, wherein primary tubes of the at least two frame assemblies are at a vertical angle of less than 180 degrees relative to one another.