Multirotor aircraft with enhanced yaw control
First Claim
Patent Images
1. A multirotor aircraft, comprising:
- a front frame;
a first motor arm coupled to the front frame and including a first motor and a second motor, the first motor at a first end of the first motor arm and the second motor at a second end of the first motor arm;
a rear frame;
a second motor arm coupled to the rear frame and including a third motor and a fourth motor, the third motor at a first end of the second motor arm and the fourth motor at a second end of the second motor arm; and
an adjustable member coupling the front frame to the rear frame; and
wherein;
the front frame rotates by a first rotation in a first direction about an axis via the adjustable member;
the rear frame rotates by a second rotation in a second direction about the axis via the adjustable member;
the axis is transverse to axes of rotation of the first, second, third, and fourth motors;
the first rotation is generated in response to a first differential thrust generated between the first motor and the second motor; and
the second rotation is generated in response to a second differential thrust generated between the third motor and the fourth motor.
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Abstract
A configuration of a multirotor aircraft that will facilitate enhanced yaw control includes one or more adjustable members that will twist the frame of the multirotor aircraft, thereby adjusting the orientation of the motors and propellers and enhancing the yaw control of the multirotor aircraft. In some implementations, the adjustable member(s) are passive and twist in response to differential thrusts generated by the propellers. In other implementations, the adjustable members are active and twist in response to a yaw command from the multirotor aircraft control system.
95 Citations
20 Claims
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1. A multirotor aircraft, comprising:
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a front frame; a first motor arm coupled to the front frame and including a first motor and a second motor, the first motor at a first end of the first motor arm and the second motor at a second end of the first motor arm; a rear frame; a second motor arm coupled to the rear frame and including a third motor and a fourth motor, the third motor at a first end of the second motor arm and the fourth motor at a second end of the second motor arm; and an adjustable member coupling the front frame to the rear frame; and wherein; the front frame rotates by a first rotation in a first direction about an axis via the adjustable member; the rear frame rotates by a second rotation in a second direction about the axis via the adjustable member; the axis is transverse to axes of rotation of the first, second, third, and fourth motors; the first rotation is generated in response to a first differential thrust generated between the first motor and the second motor; and the second rotation is generated in response to a second differential thrust generated between the third motor and the fourth motor. - View Dependent Claims (2, 3, 4, 5)
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6. A multirotor aircraft, comprising:
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a frame comprising a first portion and a second portion connected by an adjustable member; the first portion including a first motor; and a second motor, wherein a first differential thrust is generated between the first motor and the second motor; and the adjustable member alters an orientation of the first portion of the frame with respect to a second portion of the frame about an axis, thereby causing the multirotor aircraft to yaw; wherein the axis is transverse to axes of rotation of the first and second motors. - View Dependent Claims (7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. A multirotor aircraft, comprising:
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a frame; a wing; and an adjustable member that rotates at least a portion of the wing by a first rotation in a first direction about an axis and rotates at least a portion of the wing by a second rotation in a second direction about the axis, wherein the first rotation is at least partially generated in response to a first differential thrust generated between a first motor and a second motor; wherein the axis is transverse to axes of rotation of the first and second motors. - View Dependent Claims (17, 18, 19, 20)
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Specification