Abstract:
An unmanned aircraft using a multi-axis thrust vectoring system in combination with a telescoping boom assembly to deposit or retrieve packages vertically or laterally from a safe distance to or from various locations including but not limited to lawns, patios, porches, balconies, and windows. Other embodiments are described.

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
       [0001]    See Application Data Sheet (ADS) 37 CFR 1.76. 
       FEDERALLY SPONSORED RESEARCH 
       [0002]    Not applicable 
       PARTIES TO A JOINT RESEARCH AGREEMENT 
       [0003]    Not Applicable 
       SEQUENCE LISTING OR PROGRAM 
       [0004]    Not Applicable 
       BACKGROUND 
       [0005]    The physical delivery of packages using Unmanned Aerial Vehicles (UAVs) has emerged as a potential alternative and/or supplement to more traditional package delivery methods. Given the requirement of UAV delivery vehicles to operate in close proximity to our homes and businesses, it stands to reason that any UAV attempting to insert itself into the current package delivery ecosystem should, among other attributes, be relatively quiet so as not be a public nuisance, should not endanger children or animals with its presence, should be capable of operating in inclement weather, and should be capable of delivering packages to a variety of commercial and residential structures, including office buildings, dorms, houses, and apartments. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         [0006]    The disclosure below refers to the accompanying drawings, wherein like reference numerals refer to like parts throughout the drawings and in which: 
           [0007]      FIG. 1  shows a perspective view of an aircraft in accordance with one embodiment; 
           [0008]      FIG. 2  shows a top plan view of an aircraft in accordance with one embodiment; 
           [0009]      FIG. 3  shows a side elevation view of an aircraft in accordance with one embodiment; 
           [0010]      FIG. 4  shows a side elevation view of a vertical payload deployment and/or retrieval by an aircraft in accordance with one embodiment; 
           [0011]      FIGS. 5A, 5B, and 5C  show side elevation views of several flight modes of an aircraft in accordance with one embodiment; 
           [0012]      FIG. 6  shows a side elevation view of a diagonal payload deployment and/or retrieval by an aircraft in accordance with one embodiment; 
           [0013]      FIG. 7  shows a side elevation view of a lateral payload deployment and/or retrieval by an aircraft in accordance with one embodiment. 
       
    
    
     DETAILED DESCRIPTION 
       [0014]    In accordance with one embodiment,  FIGS. 1, 2, 3, and 4  depict an aircraft  10  which includes a fuselage, frame, or body  12 , a rotor assembly  14 , a cyclorotor assembly  18 , and a telescoping boom assembly  26  ( FIG. 4 ). 
         [0015]    The body  12  serves as the central mounting point for the major assemblies of the aircraft  10  and may include a payload fairing  24 . The payload fairing  24  of the present embodiment is illustrated as tri-section fairing that opens and closes as required and, when open, provides the aircraft  10  with landing legs. 
         [0016]    The rotor assembly  14  is rotatably mounted to the body  12  and includes a plurality of rotor blades  16  pivotally mounted to a central hub  19 . The pivot line of the rotor blade  16  extends radially from the central hub  19 . The pitch of each rotor blade  16  is controlled using a swash plate system or other suitable actuation system. The rotation of the rotor assembly  14  is driven by one or more motors. 
         [0017]    The cyclorotor assembly  18  is rotatably mounted to the body  12  and includes a plurality of spokes  22  projecting radially from a central hub  23 . At the end of each spoke  22  is mounted a pivotable wing surface  20 . The pitch of each pivotable wing surface  20  is controlled using a swash plate system or other suitable actuation system. The pivotable wing surfaces  20  are shown with a slight sweep but other sweep angles are considered. The rotation of the cyclorotor assembly  18  is driven by one or more motors. 
         [0018]    The telescoping boom assembly  26  ( FIG. 4 ) is a sufficiently rigid extensible structure mounted to the body  12  and is configured and actuated such that it can maintain any intermediate extension length between full retraction and full extension. Any mechanism or element  27  suitable for interfacing with a payload or package  28  may be affixed to the end of the telescoping boom assembly  26  as required. 
       Operation 
       [0019]    In accordance with one embodiment, the cyclorotor assembly  18  and the rotor assembly  14  rotate about the same axis, at appropriate speeds, in opposite directions while the pivotable wing surfaces  20  and the rotor blades  16  are actuated as required to control the flight of the aircraft. 
         [0020]    The rotor assembly  14  produces and vectors thrust in a manner conceptually similar to that of a helicopter main rotor. By collectively increasing or decreasing the pitch of the rotor blades  16  the rotor assembly  14  can be made to quickly generate lift along the longitudinal axis of the aircraft  10 . And by cyclically varying the pitch of each rotor blade  16  as the rotor assembly  14  rotates the rotor assembly  14  can be made to generate lift asymmetrically such that an overturning moment can be quickly produced about any axis perpendicular to the longitudinal axis of the aircraft  10 . 
         [0021]    The operation of the cyclorotor assembly  18  is conceptually similar to that of a typical cyclorotor in that it produces thrust by cyclically varying the pitch of each pivotable wing surface  20  as the cyclorotor assembly  18  rotates. By coordinating the pitch variations of each pivotable wing surface  20  the net thrusting force can be quickly vectored in any direction normal to the longitudinal axis of the aircraft. 
         [0022]    Both the cyclorotor assembly  18  and the rotor assembly  14  are driven by motors mounted to the aircraft body  12 . Each motor naturally imparts a reaction torque to the body  12  which tends to rotate the body  12  about its longitudinal axis. By driving the rotor assembly  14  and the cyclorotor assembly  18  in opposite directions and by coordinating the magnitude of their respective reaction torques, the rotation of the body  12  about its longitudinal axis can be prevented or controlled as desired. 
         [0023]    Combining the thrust vectoring and overturning moment generating capabilities of the cyclorotor assembly  18  and the rotor assembly  14 , the aircraft  10  is able to generate net thrust in any direction while simultaneously generating overturning moments as required to balance the aircraft  10  over a wide range of weight distributions. This multi-axis thrust vectoring capability gives the aircraft  10  the unusual ability to hover in several distinct orientations and to translate in any direction while maintaining a particular orientation ( FIG. 5A  thru  FIG. 7  depict the ground plane  32  for orientation reference). Common flight modes envisioned are upright hovering and flight ( FIG. 5A ), horizontal hovering and high-speed flight ( FIG. 5B ), and hovering while transitioning between upright and horizontal orientations ( FIG. 5C ). Note that in  FIG. 5A , all of the vertical lift is provided by the rotor assembly  14  whereas in  FIG. 5B  all of the vertical lift is provided by the cyclorotor assembly  18 . And in  FIG. 5C , the vertical lift is provided by the coordination of the thrusts produced by the rotor assembly  14  and the cyclorotor assembly  18 . But in all cases, the control or balance of the aircraft is achieved through careful coordination of the thrusts and moments generated by the rotor assembly  14  and the cyclorotor assembly  18 . 
         [0024]    In addition, the ability of the aircraft  10  to generate and quickly modulate a large overturning moment enables the aircraft  10  to maintain or adjust its orientation while extending or retracting the telescoping boom assembly  26 . This capability enables the aircraft to deploy payloads diagonally, such as on to a balcony or a porch  34  ( FIG. 6 ), or laterally, such as into a window  30  ( FIG. 7 ). For a given package weight, this capability is limited primarily by the maximum overturning moment that can be generated by the rotor assembly  14 . 
       Advantages 
       [0025]    From the present disclosure, a number of advantages of one or more aspects become evident: 
         [0026]    Reduced Noise: In general, it is well known that a large diameter rotor producing X amount of thrust will generate less noise than several smaller diameter rotors collectively producing the same X amount of thrust. It is for this reason that the aircraft  10  described herein generates less noise than a comparably sized conventional UAV with multiple small diameter propellers. 
         [0027]    Improved Wind Resistance: Conventional aerial delivery vehicles with multiple small propellers are notoriously unsteady in windy conditions whereas the ability of the aircraft  10  described herein to quickly vector thrust in any direction, while simultaneously maintaining its orientation, makes it uniquely well suited to execute more precise and deliberate maneuvers in windy environments. 
         [0028]    Operational Safety: The implementation of a sufficiently long telescoping boom  26  enables the aircraft  10  to deposit packages while hovering safely out of reach of children and animals. In addition, the ability of the aircraft  10  to extend packages diagonally or laterally enables the aircraft  10  to deposit packages through natural protective barriers such as windows and also enables the aircraft to deposit packages without hovering directly above the intended deposit location. 
         [0029]    Delivery Versatility: As disclosed, the inherent capabilities of the aircraft  10  give it the unique ability to deliver packages to a wide array of commercial and residential structures including office buildings, dorms, houses, and apartments, regardless of their proximity to a field or open yard, or lack thereof. 
       Alternatives and Variations 
       [0030]    Those of ordinary skill in the art will understand and appreciate the existence of alternatives, variations, combinations, and equivalents of the specific embodiment herein. The subject of the disclosure should therefore not be limited by the above described embodiment, but by all embodiments and methods within the scope and spirit of the disclosure. Such embodiments may include but are not limited to the following:
       Variations in the structure of the body  12  including but not limited to the use of monocoque structures, truss structures, frame structures, etc., or any combination thereof.   Variations in the configuration of the payload fairing  24  including but not limited to alternate articulation schemes, static installations, removable installations, partial or total exclusion, etc.   Variations in the design of applicable alighting gear including but not limited to the use of posts, legs, hooks (for hanging from a perch, cable or other similar structure), wheels, skids, suspension, etc.   Variations in the shape, extent, and layout of the body  12  (with or without a payload fairing  24 ) including but not limited to the addition of features such as fins, camera domes, air data probes, auxiliary payload bays, etc.   Variations in the number of rotor assemblies  14 , and cyclorotor assemblies  18 .   Variations in the number of rotor blades  16  per rotor assembly  14 .   Variations in the number of pivotable wing surfaces  20  per cyclorotor assembly  18 .   Variations in the alignment, displacement, and/or the relative order of the rotor assembly(s)  14  and the cyclorotor assembly(s)  18 .   Variations in the shape, size, and configuration of the pivotable wing surfaces  20  including but not limited to the use of one or more of the following: control surfaces, fences, lift enhancing features, noise reducing features, spoilers, winglets, dihedral, anhedral, sweep, taper, cant angle, morphing geometry, two or three-axis articulation, vortex generators, etc.   Variations in the shape, size, and configuration of the rotor blades  16  including but not limited to the use of one or more of the following: reverse taper, control surfaces, fences, lift enhancing features, noise reducing features, spoilers, winglets, dihedral, anhedral, sweep, taper, cant angle, morphing geometry, two or three-axis articulation, vortex generators, etc.   Combinations of features of the cyclorotor assembly  18  and the rotor assembly  14  to form hybrid rotor assemblies.   Variations in the control systems and actuation systems of the rotor assembly  14 , rotor blades  16 , cyclorotor assembly  18 , and wing surfaces  20 .   Variations in the configuration of the spokes  22  of the cyclorotor assembly  18 , including but not limited to altering their shape, giving them an aerodynamic cross-section (with or without pitch control), supporting them with guy-wires and/or struts, etc.   Variations in the type of payloads accommodated including but not limited to deployable and non-deployable payloads such as food containers, camera pods, scientific instruments, spotlights, etc.   Variations in the configuration and articulation of the telescoping boom assembly  26  including but not limited to the use of various types of extensible structures (presently known and unknown), break-away features, and/or the addition of guy-wires and/or other such stabilizing features.   Variations in the integration of the telescoping boom assembly  26  with the body  12  including but not limited to using a portion of the telescoping boom assembly  26  as an integral component of the body  12  structure or other such synergistic arrangement.   Variations in the design and articulation of payload mounting provisions  27  attached to the telescoping boom assembly  26  including but not limited to the use of mechanized grappling claws, magnetic structures, custom payload adapters, etc.   Variations in the number, types, and combinations of motors and power supplies used to drive and power the aircraft  10 .   Implementation of any number of relevant aviation and robotics systems to provide, for example but not limited to, communication, situational awareness, health monitoring, guidance &amp; navigation, flight control, etc.       
 
       CONCLUSION AND SCOPE 
       [0050]    Accordingly the reader will see that at least one embodiment of the subject of the present disclosure provides an aircraft configuration versatilely suited for the aerial delivery and deployment of packages and payloads. 
         [0051]    While the above description contains much specificity, these details should not be construed as limitations in the scope of any embodiment, but as illustrative exemplifications of various embodiments thereof. Further still, it should be appreciated that various modifications may be made to the subject of the present disclosure without deviating from the spirit and scope of the appended claims.