Patent Publication Number: US-11655026-B2

Title: Self-enclosed air vehicle

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application is a continuation of U.S. patent application Ser. No. 16/836,207, filed on Mar. 31, 2020, which is a continuation of U.S. patent application Ser. No. 16/269,716, filed on Feb. 7, 2019, now U.S. Pat. No. 10,625,857, which is a continuation of U.S. patent application Ser. No. 16/014,766, filed on Jun. 21, 2018, now U.S. Pat. No. 10,259,579, which is a continuation of U.S. patent application Ser. No. 14/973,466, filed on Dec. 17, 2015, now U.S. Pat. No. 10,011,354, which claims priority to U.S. Provisional Pat. App. Ser. No. 62/093,968, filed on Dec. 18, 2014, the entire contents of each of these applications are incorporated by reference herein. 
    
    
     TECHNICAL FIELD 
     The present disclosure relates generally to automated air vehicles, such as drones, and particularly to unmanned multirotor air vehicles capable of automated and/or manual enclosure in order to protect vital components. 
     BACKGROUND 
     Unmanned air vehicles, often referred to as drones, have become more and more common in recent years. However, these drones can be unsightly and unwieldy, with many protrusions for, for example, holding propellers. Such designs can be difficult to manually transport, and/or can leave vital components exposed to the elements and thus the possibility of damage. 
     SUMMARY 
     The present disclosure provides vehicles capable of automated and/or manual articulated movement between an enclosed configuration and an open, or flight, configuration. 
     One embodiment of a vehicle according to the present disclosure can include a body with an outer shell and a motor arm cavity, and a motor arm movably attached to the body. The motor arm can include a motor and an outer surface, and can be moved such that when said unmanned air vehicle is in an enclosed position, the motor is within the cavity. 
     One embodiment of a drone according to the present disclosure can include a main body with an outer shell and one or more pin receptacles, and a foldable motor arm including one or more contact pins. When the motor arm is in an open position, the contact pins can electrically connect to the pin receptacles. 
     One embodiment of an unmanned air vehicle according to the present disclosure can be configured for articulated movement between an open flight configuration, and an enclosed configuration wherein one or more motor arms, propellers, and landing gear are enclosed within an outer shell. 
     These and other further features and advantages of the disclosure would be apparent to those skilled in the art from the following detailed description, taken together with the accompanying drawings, in which: 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG.  1    is a perspective view of a vehicle in an enclosed configuration according to one embodiment of the present disclosure; 
         FIG.  2    is a perspective view of a vehicle in an open configuration according to one embodiment of the present disclosure; 
         FIG.  3 A  is a perspective view of a vehicle with a motor arm partially open according to one embodiment of the present disclosure; 
         FIG.  3 B  is a perspective view of a vehicle with motor arms closed and a motor access panel open according to one embodiment of the present disclosure; 
         FIG.  3 C  is a perspective view of a vehicle with the motor arm access panel closed according to one embodiment of the present disclosure; 
         FIG.  4    is a bottom perspective view of a vehicle with propellers stored in a propeller cavity according to one embodiment of the present disclosure; 
         FIG.  5    is a partially exploded perspective view of a vehicle with the battery removed according to one embodiment of the present disclosure; 
         FIG.  6 A  is a perspective view of a cylindrical vehicle in an enclosed configuration according to one embodiment of the present disclosure; 
         FIG.  6 B  is a perspective view of a cylindrical vehicle in an open configuration according to one embodiment of the present disclosure; 
         FIG.  6 C  is a partially exploded perspective view of a cylindrical vehicle with cavities exposed according to one embodiment of the present disclosure; 
         FIG.  7 A  is a perspective view of a spherical embodiment of a vehicle in an enclosed configuration according to one embodiment of the present disclosure; 
         FIG.  7 B  is a perspective view of a spherical embodiment of a vehicle in an open configuration according to one embodiment of the present disclosure; 
         FIG.  8 A  is a perspective view of a cylindrical embodiment of a vehicle according to one embodiment of the present disclosure attached to a backpack; 
         FIG.  8 B  is a perspective view of a cylindrical embodiment of a vehicle according to one embodiment of the present disclosure; 
         FIG.  9 A  is a perspective view of a vehicle with a motor arm removed according to one embodiment of the present disclosure; 
         FIG.  9 B  is a perspective view of a motor arm according to one embodiment of the present disclosure; 
         FIG.  10 A  is a perspective view of a vehicle with a removable controller according to one embodiment of the present disclosure; and 
         FIG.  10 B  is a perspective view of a vehicle with a removable controller detached according to one embodiment of the present disclosure. 
     
    
    
     DETAILED DESCRIPTION 
     The present disclosure is directed toward unmanned vehicles, such as unmanned flying vehicles such as drones, which are movable in an articulated manner between an enclosed position and an open position. In the enclosed configuration, the major flight components of the vehicle can be protected by an outer shell, and/or all protrusions of the vehicle can be withdrawn such that the vehicle takes on a compact geometric shape such as a rectangular prism, cube, sphere, cylinder, and other shapes known in the art. In the open configuration, vehicles according to the present disclosure can operate like other similar unmanned vehicles and drones which do not have enclosed and open configurations. 
     Some embodiments of the present disclosure can include clips or other mechanisms for attachment to other devices, such as a backpack. Embodiments of the present disclosure can also include a remote controller removably attached to the vehicle, such as a remote controller only, removable when the vehicle is in an open or flight configuration. Some other embodiments of vehicles according to the present disclosure can include motor arms which become electrically connected to the remainder of the vehicle when the vehicle is in the open or flight configuration, and/or motor arms which are interchangeable. Many different embodiments are possible. 
     It is understood that when an element is referred to as being “on” another element, it can be directly on the other element or intervening elements may also be present. Furthermore, relative terms such as “inner”, “outer”, “upper”, “top”, “above”, “lower”, “bottom”, “beneath”, “below”, and similar terms, may be used herein to describe a relationship of one element to another. Terms such as “higher”, “lower”, “wider”, “narrower”, “raise”, “lower”, and similar terms, may be used herein to describe relative relationships. It is understood that these terms are intended to encompass all relationships which could be reasonably conveyed by their use. 
     Although the terms first, second, etc., may be used herein to describe various steps, elements, components, regions and/or sections, these steps, elements, components, regions, and/or sections should not be limited by these terms. These terms are only used to distinguish one step, element, component, region, or section from another. Thus, unless expressly stated otherwise, a first step, element, component, region, or section discussed below could be termed a second step, element, component, region, or section without departing from the teachings of the present disclosure. 
     Some embodiments of a vehicle according to the present disclosure are shown in  FIGS.  1 - 10 B . Different embodiments of such vehicles can comprise any combination of: (a) an unmanned air vehicle with two configurations, being open (or flight) and enclosed, (b) an articulating movement, (c) a protective and compact self-storage method, (d) a concealed design, (e) an integrated clip or clip attachment point, (f) a wire-less and/or interchangeable articulating motor arm  30 , and (g) a removable and/or snap-in controller  80 . Although the present disclosure will be described in detail with reference to certain preferred configurations thereof, other versions are possible. Therefore, the spirit and scope of the disclosure should not be limited to the versions described herein. 
     In the particular embodiments shown in  FIGS.  1 - 5   , the vehicle  10  comprises a main body  20 , one or more motor arms  30 , one or more propellers  39 , landing gear  50 , battery  60 , sensors, electronics, payload  70 , and/or any other variations of these components known in the art. The vehicle  10  can be movable in an articulated manner, which can allow the vehicle  10  to transition from a compact, enclosed configuration for, e.g., protection and/or transport by a person or other mechanism, to an open configuration for, e.g., flight. This movement can be automated and/or manual. In one embodiment, once in the closed position the components capable of articulated movement become locked in position so as to prevent unintended manual movement. 
     In one embodiment, while in an open or flight configuration as shown in  FIG.  2   , a number of motor arms  30  can be extended outward from the main body  20 . The vehicle  10  can then take off, such as taking off vertically; hovering; and/or flying in any direction via user control, autonomously, or by other means known in the art. When in an open configuration, the motor arms  30  and/or other moveable components of the vehicle  10  can be locked in place, such as with a locking mechanism  35 . Different embodiments of the vehicle  10  may include a payload  70 , such as a camera that can be used for aerial image capture. 
     In one embodiment, while in the enclosed configuration, flight components and features such as motors  34 , propellers  39 , electronics, landing gear  50 , and payload  70  are fully enclosed within the main body  20  of the vehicle  10 , and thus protected from external objects that can cause damage. This protection can be provided by an integrated and continuous or near-continuous outer shell  91 . In one embodiment of such a configuration, no flight components or features protrude from the continuous outer shell  91  and these components/features are therefore protected from external damage. While in this enclosed configuration, the vehicle  10  is capable of storing all needed components for flight within the vehicle  10  dimensions itself, unlike prior art devices which require a carrying case to externally store these items for protection and portability. 
     In one embodiment, the vehicle  10  can transition from an open configuration (e.g., flight configuration) to the enclosed configuration, or from an enclosed configuration to an open configuration, through the use of an articulating movement or other type of movement which can allow protruding flight components such as motor arms  30 , propellers  39 , landing gear  50 , and/or payload  70  to fold or otherwise move into the main body  20 . This folding or other style of movement can be accomplished without the use of tools, allowing for a quick and easy transition from the open configuration to the enclosed configuration and vice versa. This transition may be accomplished manually by the user and/or automatically using actuators, and can lock and/or secure components in place using one or more locking mechanisms such as the locking mechanisms  35  seen in  FIG.  9 A . 
     Embodiments of the present invention provide for a compact design definition that enables effective protection and storage of the flight components and features from foreign objects, such as debris or water. This can be achieved through the use of a continuous, near-continuous, and/or protective outer shell  91  which is partially or entirely part of the vehicle  10  itself. 
     The outer shell  91  may be a plastic, metal, composite, other material known in the art, and/or any combination thereof. The outer shell  91  can serve as a layer between foreign objects and flight components and features. This outer shell  91  may be part of the vehicle  10  itself or a separate, removable cap  92 , which can contour to the outer shell  91  of the vehicle  10  when attached. Contouring to the outer shell  91  of the vehicle may mean that the outer surfaces of the joining pieces are substantially continuous and/or flush at any seam lines such as the seam line  93 , covering any substantial gaps or protrusions. In one embodiment, the removable cap  92  may be used to protect the payload  70  and/or other components during storage, but removed for flight. This method differs from prior art devices, which require a separate protective carrying case where the inner surfaces of the carrying case contour to the outer surfaces on the vehicle  10 . 
     In one embodiment, the main body  20  can contain cavities, and flight components and/or features can be stored partially or entirely within these cavities. When in the enclosed configuration, the flight components or features may be protected by access panels or by features or surfaces on the moveable flight components that contour to the shape of the main body, providing for a continuous outer shell  91 . For example, as shown in  FIGS.  1  and  2   , motors  34  (shown in  FIG.  2   ) can be stored in motor arm cavities  94  (shown in  FIG.  2   ) such that the outer surface over the motor arm cavities  94  is relatively flush and/or continuous with the remainder of the shell  91  (as shown in  FIG.  1   ). 
     In one embodiment, the moveable components of the vehicle include motor arms  30 , propellers  39 , and battery  60 , with an integrated camera as the payload  70 . It is understood that different embodiments can include any combination of these and/or additional features, such as landing gear. In the specific configuration shown in  FIGS.  1 - 5   , cavities exist in the main body  20  for storage and protection of the motor arms  30 , propellers  39 , and battery  60 . 
     The motor arm  30  may consist of a rotation joint  31 , support arm  32 , motor mount  33 , and/or motor  34 . The motor arm  30  and motor  34  may be folded into the motor arm cavity  94  in the main body  20  when the vehicle  10  is in an enclosed configuration, and the outer facing surfaces  36  of the motor arms  30  can contour to the shape of the main body  20  providing for a continuous outer shell  91  to be formed. Thus, the motor arm  30  can be substantially flush with the main body  20 , reducing or eliminating irregular or sharp protrusions that can easily become broken or damaged during actions such as transportation or storage of the vehicle  10 . The motor arm cavity  94  may also contain a motor access panel  95  which can allow for any exposed part of the motor arm  30 , motor  34 , or motor arm cavity  94  to be further covered; therefore, protection from foreign objects, debris, or water and a continuous outer shell  91  can be achieved. 
     The propellers  39  may be removed from the motors  34  using a quick-adapting method such as threading, snapping, or latching, and stored within a propeller cavity  96  in the main body  20 . The propeller cavity  96  allows for all propellers  39  used for flight to be stored within the main body  20  and covered, such as by a propeller access panel  97 . This propeller access panel  97  can contour to the main body  20  as described above with other elements. In other embodiments, the propeller  39  can remain attached to the motor  34  when the vehicle  10  is in enclosure mode, such as by folding so as to fit within a motor arm cavity such as the motor arm cavities  94 . 
     The battery  60  may be interchangeable such that when removed, there exists a battery cavity  98 . The battery  60  itself may be protected with its own outer wall  91   a , and when inserted into the battery cavity  98 , the outer wall  91   a  can contour to the outer shell  91  of the vehicle  10 , allowing for a continuous outer shell to be achieved. The battery cavity  98  may also contain an access panel that closes over the battery  60 , protecting the battery cavity  98  and/or battery  60  from foreign objects and debris. 
     The electronics may be enclosed within the vehicle  10 , which can provide for protection from foreign objects, debris, water, etc. 
     Vehicle cavities in general, and with regard to the embodiment shown the motor arm cavity  94 , propeller cavity  96 , and battery cavity  98 , may also be used as a method of floatation for the vehicle  10  as a whole. By preventing water from entering the cavities, the air within the cavities creates a positive buoyancy for the vehicle  10 , which can allow the vehicle  10  to float. 
     In some embodiments where a landing gear  50  exists, such as that shown in  FIGS.  10 A and  10 B , the landing gear  50  may be folded up and into, or otherwise moved into, a landing gear cavity in the main body  20  in a similar fashion as the motor arms  30 . The landing gear  50  may also be integrated into the motor arm  30  and articulate as one and store in a combination motor arm and landing gear cavity. 
     Due to the method of articulation and the protective and continuous outer shell  91 , the vehicle  10  may be indistinguishable as a multirotor drone, thus having a concealed design. When in the enclosed configuration, the vehicle  10  may resemble a box, cylinder, disk, sphere, triangle, or other shape and have no identifiable protrusions of the flight components or features, such as motors  34  and propellers  39 , as seen with multirotors and drones currently known in the art. For example,  FIGS.  6 A- 6 C  show one embodiment of a substantially cylindrical vehicle  10   a  with many, components similar to or the same as those shown in the embodiment of  FIGS.  1 - 5   .  FIGS.  7 A and  7 B  show one embodiment of a substantially spherical vehicle  10   b  with many components similar to or the same as those shown in the embodiment of  FIGS.  1 - 5   . 
     In one embodiment of the present invention shown in  FIGS.  8 A and  8 B , the vehicle  10  contains a number of integrated clips  27  or clip attachment points  25 , which allow the vehicle  10  to attach onto objects for quick and convenient transportation or storage. When an integrated clip  27  exists, it may be located on the main body  20  of the vehicle  10  and allow the vehicle  10  to be easily attached to another object such as the backpack  101  shown in  FIG.  8 A , a belt, a bracelet, a keychain, or any other object capable of clip-style attachment. 
     The integrated clips  27  and clip attachment points  25  may also be used to attach a strap  105  or rope so the vehicle  10  itself can be carried like a backpack  101  or satchel, with one such embodiment shown in  FIG.  8 B . In one embodiment, the vehicle  10  includes one integrated clip  27  and one clip attachment point  25 , although other embodiments can have more than one clip and/or clip attachment point. The integrated clip  27  can attach onto a loop in the strap  105 , while the clip attachment point  25  can use a separate, external clip  106  to attach the strap  105  to the vehicle  10 . This describes one embodiment, however other embodiments exist where objects are attached to the vehicle  10  using similar methods known in the art. 
     In one embodiment, the vehicle  10  contains a wire-less and/or interchangeable motor arm design. In embodiments with interchangeable motor arms such as that shown in  FIGS.  9 A and  9 B , any of the motor arms  30  may be easily replaced in the event that it becomes damaged. Easy replacement can be facilitated by an electrical connection from the main body  20  to the motor  34  and motor arm  30  which does not include wires, but still allows for full articulation of the motor arm  30 . 
     Conductive contact pins  41  may be disposed on the motor arm  30 . In one embodiment, the pins can make contact with conductive receptacles  42  on the main body  20 . When the motor arm  30  is rotated out of the flight position, the connection can be interrupted such that no power runs to the motor arm  30 . This connection may provide electrical power to the motor  34  and any other electrical components on the motor arm  30 , such as light emitting diodes or sensors. Since the electrical connection can be interrupted when in the enclosed configuration and completed while in the flight configuration, these contact pins  41  may also be used as a switch to enable and disable power from reaching the motor arm  30 . In other embodiments, electrical contact between the main body and motor arm is not interrupted based on vehicle configuration. 
     In some embodiments where spring loaded conductive contact pins  41  are used, the electrical connection is used as both an electrical connection and a locking mechanism  35  for the arm by using conductive detent receptacles  42  that can catch the pin ends. This describes one embodiment, however, other embodiments exist where other electrical connection methods known in the art are used. 
     The contact pins  41  can include locking mechanisms  35 , such as on their ends. Locking mechanisms  35  can lock the contact pins  41  into the conductive receptacles  42  of the main body  20 , or otherwise lock the contact pins  41  to the main body  20 . Other locking mechanisms, including locking mechanisms attached to, part of, or separate from the contact pins  41 , are possible. 
     The described method allows for a motor arm  30  to be inserted into a motor arm socket  22  without having to plug in a connector using a device such as a wire harness. This describes one embodiment, however, other embodiments exist where the motor arm  30  slides outward or otherwise opens, rather than rotating from the main body  20 , to make an electrical contact. 
     The described method of electrical connection using conductive contact pins  41  and detent receptacles  42  may also be used on other movable components that may require electrical power. In one embodiment, the landing gear  50  contains sensors which receive power through contact pins and/or detent receptacles while in the flight position, and disconnect when in the enclosed position. Other embodiments with a constant electrical connection are possible. 
     In one embodiment, the vehicle  10  can be controlled using a remote controller  80 . In some such embodiments the controller  80  attaches to the vehicle  10  when in the enclosed configuration and detaches for use when the vehicle  10  is in the flight configuration. Thus, the vehicle  10 , and its accessories, can remain as compact as possible while in the enclosed configuration. The remote controller  80  may contour to the shape of the vehicle  10 , aligning to the main body  20  and/or outer shell  91  as previously described. 
     In one embodiment the controller  80  can be attached to the bottom of the vehicle  10 , such as in-between the landing gear  50 . The controller  80  can conform to the shape of the main body  20  and landing gear  50 , such that both the landing gear  50  and the controller  80  nest together such that when the vehicle  10  and controller  80  are attached together, there are no sharp or discontinuous protrusions from the vehicle  10 . This describes one embodiment, however, other embodiments exist where the controller  80  attaches in other manners. 
     As would be understood by one of skill in the art, the devices described above can include many different materials, including but not limited to semi-rigid and/or rigid polymers and/or metals or similar materials. 
     Although the present disclosure has been described in detail with reference to certain preferred configurations thereof, other versions are possible. Therefore, the spirit and scope of the disclosure should not be limited to the versions described above.