Reconfigurable unmanned aircraft system

• US 9,902,491 B2
• Filed: 03/05/2015
• Issued: 02/27/2018
• Est. Priority Date: 12/04/2014
• Status: Expired due to Fees

• Current Assignee: Elwha LLC (Intellectual Ventures LLC)
• Original Assignee: Elwha LLC (Intellectual Ventures LLC)
• Inventors: Chan, Alistair K., Cheatham, III, Jesse R., Chin, Hon Wah, Duncan, William David, Hyde, Roderick A., Ishikawa, Muriel Y., Kare, Jordin T., Pan, Tony S., Petroski, Robert C., Tegreene, Clarence T., Tuckerman, David B., Weaver, Thomas Allan, Wood, Jr., Lowell L.
• Primary Examiner(s): Bonzell, Philip J
• Application Number:
  US14/639,369
• Publication Number:
  US 20160159472A1
• Time in Patent Office: 1,090 Days
• CPC Class Codes: B64C 13/02 Initiating means
• CPC Class Codes: B64C 27/08 with two or more rotors
• CPC Class Codes: B64C 27/37 having articulated joints
• CPC Class Codes: B64C 27/54 Mechanisms for controlling blade adjustment or movement relative to rotor head, e.g. lag-lead movement
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64D 1/00 Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight with respect to weapon sights devices F41G takes precedence, parachutes per se B64D17/00; ejectable seats B64D25/10; ejectable capsules B64D25/12; refuelling during flight B64D39/00; launching apparatus for projecting projectiles or missiles F41F1/00, F41F7/00; rocket or torpedo launchers F41F3/00
• CPC Class Codes: B64D 45/00 Aircraft indicators or protectors not otherwise provided for camouflage F41H3/00
• CPC Class Codes: B64U 10/13 Flying platforms
• CPC Class Codes: B64U 20/40 Modular UAVs
• CPC Class Codes: B64U 2101/60 for transporting passengers; for transporting goods other than weapons
• CPC Class Codes: B64U 30/20 Rotors; Rotor supports
• CPC Class Codes: B64U 50/13 using external fans or propellers
• CPC Class Codes: B64U 50/19 using electrically powered motors

Abstract

A reconfigurable unmanned aircraft system is disclosed. A system and method for configuring a reconfigurable unmanned aircraft and system and method for operation and management of a reconfigurable unmanned aircraft in an airspace are also disclosed. The aircraft is selectively reconfigurable to modify flight characteristics. The aircraft comprises a set of rotors. The position of at least one rotor relative to the base can be modified by at least one of translation of the rotor relative to the boom, pivoting of the boom relative to the base, and translation of the boom relative to the base; so that flight characteristics can be modified by configuration of position of at least one rotor relative to the base. A method of configuring an aircraft having a set of rotors on a mission to carry a payload comprises the steps of determining properties of the payload including at least mass properties, determining the manner in which the payload will be coupled to the aircraft, determining configuration for each of the rotors in the set of rotors at least partially in consideration of the properties of the payload, and positioning the set of rotors in the configuration for the aircraft to perform the mission.

Claims

1. A method of reconfiguring selectively reconfigurable aircraft for unmanned flight comprising the steps of:

(a) positioning a first rotor on a first boom coupled to a base;

(b) positioning a second rotor on a second boom coupled to the base;

(c) modifying the position of at least one rotor relative to the base;

wherein position of the rotor relative to the base is modifiable by (1) translation of the rotor relative to the boom;

so that flight characteristics are modifiable by reconfiguration of the position of at least one rotor relative to the base.

2. The method of claim 1 wherein position of the rotor on a boom is modifiable by at least one of:

(2) translation of the boom relative to the base;

(3) pivoting of the boom relative to the base;

(4) retraction of the boom relative to the base;

(5) pivoting of the rotor relative to the boom;

(6) raising the height of the boom relative to the base;

(7) lowering the height of the boom relative to the base;

(8) rotating the rotor relative to boom; and

(9) rotating the boom relative to the base.

3. The method of claim 1 further comprising at least one of:

positioning a third rotor on a third boom coupled to the base;

positioning a fourth rotor on a fourth boom coupled to the base;

positioning a fifth rotor on a fifth boom coupled to the base;

positioning a sixth rotor on a sixth boom coupled to the base;

positioning a seventh rotor on a seventh boom coupled to the base; and

positioning an eighth rotor on an eighth boom coupled to the base.

4. The method of claim 1 wherein flight characteristics are modifiable by at least one of:

(a) changing rotation speed of at least one rotor;

(b) changing pitch of vanes of at least one rotor;

(c) changing position of the rotor relative at least one other rotor;

(d) modifying the positioning of one boom relative to another boom; and

(e) modifying the positioning of one rotor relative to the base.

5. The method of claim 1 wherein flight characteristics comprise at least one of aerodynamic profile, maneuverability, available thrust, available lift, energy consumption, energy efficiency, mass, mass properties, center of mass, center of gravity, balance point, stability, controllability, control axes, maximum relative ground velocity, maximum relative air speed, ascent rate, descent rate, sink rate, flight altitude, aerodynamic drag, number of operational rotors, control system type, equipment status.

6. The method of claim 1 wherein each rotor comprises a set of blades rotating on an axis, the method further comprising adjusting pitch of blades of the rotor.

7. The method of claim 1 further comprising anticipating rotor malfunction so that reconfiguration of the rotor occurs before malfunction.

8. The method of claim 1 wherein flight characteristics are modifiable in response to operating conditions for a mission.

9. The method of claim 8 wherein operating conditions for a mission comprise at least one of operability of each rotor, energy storage capacity, remaining energy storage, payload profile, payload mass, payload type, payload shape, payload size, payload changes, route, altitude, traffic, weather conditions, weather effects, wind velocity, wind direction, distance of mission, remaining distance of mission, time for mission, remaining time for mission, fuel storage capacity, remaining fuel, energy storage capacity, remaining stored energy.

10. The method of claim 8 further comprising the step of responding to a change in operating conditions.

11. The method of claim 10 wherein responding comprises the step of changing rotor speed.

12. The method of claim 11 wherein if change in rotor speed is beyond a limit of off-design-point rotor speed then responding further comprises changing rotor position.

13. A method of reconfiguring selectively reconfigurable aircraft for unmanned flight having a set of rotors configured to provide lift for propulsion with at least one rotor that is at least partially malfunctioning comprising the steps of:

(a) anticipating rotor malfunction;

(b) identifying the rotor that is malfunctioning;

(c) identifying at least one functioning rotor that is in an initial position; and

(d) repositioning the at least one functioning rotor from the initial position to a reconfigured position so that reconfiguration of the at least one functioning rotor occurs before malfunction;

so that before malfunction the at least one functional rotor when after reconfiguration in the reconfigured position compensates for the loss of function of the malfunctioning rotor.

14. The method of claim 13 wherein the aircraft comprises a base and wherein repositioning of the at least one functioning rotor comprises positioning the at least one functioning rotor relative to the base.

15. The method of claim 13 wherein malfunctioning comprises at least one of the rotor that is malfunctioning being (a) unable to provide commanded rotation speed;

(b) unable to provide expected thrust;

(c) unable to be given intended blade pitch; and

(d) unable to be positioned to the intended rotor position.

16. The method of claim 13 further comprising monitoring at least one of (a) rotational speed of the rotor, (b) force at rotor bearings, (c) force applied at rotor mount, (d) vibration at the rotor, (e) temperature at the rotor;

(f) performance of motor for the rotor.

17. The method of claim 13 wherein identifying comprises monitoring that includes at least one of acoustic monitoring, visual monitoring, vibration monitoring, stress/strain monitoring, and data monitoring.

18. The method of claim 13 further comprising the step of retracting the malfunctioning rotor by at least one of a translating movement and a pivoting movement.

19. The method of claim 13 wherein repositioning the at least one functioning rotor comprises at least one of (1) extending the boom;

(2) retracting the boom;

(3) elevating the boom relative to the base;

(4) lowering the boom relative to the base;

(5) rotating the boom in a plane relative to the base;

(6) translating the rotor along the boom;

(7) tilting the rotor relative to the base;

(8) rotating the rotor relative to boom;

(9) rotating the boom relative to the base.

20. The method of claim 13 further comprising the step of hovering the aircraft during the step of repositioning at least one rotor.

21. The method of claim 13 further comprising at least one of repositioning pitch of blades of the functional rotor;

repositioning pitch of vanes of the functional rotor;

regulating rotational speed of the functional rotor; and

restricting thrust produced by the functional rotor.

22. The method of claim 13 wherein flight characteristics are modifiable by at least one of (1) translation of the rotor relative to the boom;

(2) pivoting of the boom relative to the base;

(3) translation of the boom relative to the base;

(4) retraction of the boom relative to the base;

(5) pivoting of the rotor relative to the boom;

(6) raising the height of the boom relative to the base;

(7) lowering the height of the boom relative to the base;

(8) rotation of the rotor relative to the base;

(9) rotational twist of the boom relative to the base;

(10) changing spacing of the rotor relative to another rotor;

(11) changing incline of the rotor;

(12) changing horizontal position of the rotor relative to the base;

(13) changing vertical position of the rotor relative to the base;

(14) moving the rotor inward relative to the base;

(15) moving the rotor outward relative to the base;

(16) tilting the rotor;

(17) changing rotor thrust;

(18) disabling the rotor;

(19) changing pitch of vanes of at least one of the rotors;

(20) changing rotation speed of at least one of the rotors; and

(21) changing position of the rotor relative at least one other rotor.

23. The method of claim 13 wherein flight characteristics comprise at least one of aerodynamic profile, maneuverability, available thrust, available lift, energy consumption, energy efficiency, mass, mass properties, center of mass, center of gravity, balance point, stability, controllability, control axes, maximum relative ground velocity, maximum relative air speed, ascent rate, descent rate, sink rate, flight altitude, aerodynamic drag, number of operational rotors, control system type, equipment status.

24. The method of claim 13 wherein flight characteristics are modifiable in response to operating conditions for a mission.

25. The method of claim 24 wherein operating conditions for a mission comprise at least one of operability of each rotor, energy storage capacity, remaining energy storage, payload profile, payload mass, payload type, payload shape, payload size, payload changes, route, altitude, traffic, weather conditions, weather effects, wind velocity, wind direction, distance of mission, remaining distance of mission, time for mission, remaining time for mission, fuel storage capacity, remaining fuel, energy storage capacity, remaining stored energy.

26. A method of operating a reconfigurable multi-rotor unmanned aircraft with each rotor in a rotor position on a movable boom relative to a base of the aircraft for flight on a mission to provide intended flight characteristics in operating conditions comprising the steps of:

(a) configuring the aircraft in a first configuration with intended flight characteristics for ascent to start a flight;

(b) configuring the aircraft in a second configuration with intended flight characteristics for flight in operating conditions;

wherein the first configuration comprises a first rotor position for at least one rotor;

wherein the second configuration comprises a second rotor position for the at least one rotor;

wherein position of the at least one rotor relative to the base is modifiable by (1) translation of the rotor relative to the boom.

27. The method of claim 26 further comprising at least one of configuring the aircraft in a third configuration with intended flight characteristics for descent to conclude a flight;

and configuring the aircraft in a fourth configuration with flight characteristics for flight in operating conditions.

28. The method of claim 26 wherein flight characteristics comprise at least one of aerodynamic profile, maneuverability, available thrust, available lift, energy consumption, energy efficiency, mass, mass properties, center of mass, center of gravity, balance point, stability, controllability, control axes, maximum relative ground velocity, maximum relative air speed, ascent rate, descent rate, sink rate, flight altitude, aerodynamic drag, number of operational rotors, control system type, equipment status.

29. The method of claim 26 wherein flight characteristics are modifiable by at least one of (1) pivoting of the boom relative to the base;

(2) retraction of the boom relative to the base;

(3) pivoting of the rotor relative to the boom;

(4) raising the height of the boom relative to the base;

(5) lowering the height of the boom relative to the base;

(6) rotation of the rotor relative to the base;

(7) rotational twist of the boom relative to the base;

(8) changing spacing of the rotor relative to another rotor;

(9) changing incline of the rotor;

(10) changing horizontal position of the rotor relative to the base;

(11) changing vertical position of the rotor relative to the base;

(12) moving the rotor inward relative to the base;

(13) moving the rotor outward relative to the base;

(14) tilting the rotor;

(15) changing rotor thrust;

(16) disabling the rotor;

(17) changing pitch of vanes of at least one of the rotors;

(18) changing rotation speed of at least one of the rotors;

(19) changing position of the rotor relative at least one other rotor; and

(20) translation of the boom relative to the base.

30. The method of claim 26 further comprising:

carrying a payload having a mass; and

modifying the position of at least one rotor to compensate for at least one of the mass of the payload and position of the mass of the payload.

31. The method of claim 26 wherein reconfiguration of rotor position is performed during a mission to rebalance mass properties after partial delivery of a payload.

32. The method of claim 26 wherein flight characteristics are modifiable in response to operating conditions for a mission.

33. The method of claim 32 wherein operating conditions for a mission comprise at least one of operability of each rotor, energy storage capacity, remaining energy storage, payload profile, payload mass, payload type, payload shape, payload size, payload changes, route, altitude, traffic, weather conditions, weather effects, wind velocity, wind direction, distance of mission, remaining distance of mission, time for mission, remaining time for mission, fuel storage capacity, remaining fuel, energy storage capacity, remaining stored energy.