Patent Publication Number: US-2019176983-A1

Title: Rapid aerial deployed drone

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application claims priority to and the benefit of U.S. Provisional Patent Application No. 62/578,262, entitled “Rapid Aerial Deployed Drone,” filed Oct. 27, 2017, the disclosure of which is incorporated herein by reference in its entirety. 
    
    
     BACKGROUND 
     Embodiments are described herein that relate to a propeller-driven unmanned aerial vehicle, or also known as a drone. 
     Typical known unmanned aerial vehicles include single and multiple propeller axes of rotation, with most current designs favoring a four-propeller axes design which are referred to as a quadcopter design. Such drones require sufficient space between the propellers and are, therefore, typically not efficient in form/space utilization. Some known drones are also uniquely configured for a single particular purpose. For example, a drone may be configured with a camera to capture images or perform observational and metric surveillance, while other drones may be configured to transport an object. 
     A need exists for a new and/or improved unmanned aerial vehicle that can provide multi-functionality, and be efficient in form/space utilization (e.g., compact) to provide for easier transport and storage. 
     SUMMARY 
     In some embodiments, an apparatus includes a fuselage and dual coaxial counter-rotating rotors in close proximity to one-another and sharing a common and aligned rotational axis. The rotors and motors are coupled to a bi-axial, servo controlled swash-plate assembly located in the fuselage. Each rotor is driven by a motor in a common aligned axis operatively coupled to a motor-shaft, enabling concentric and balanced torque to be achieved by the counter rotating rotors coupled to the motor shafts. The composite pitch angle of the propulsion section enables directional flight achieved by a vectoring of the propulsion section by bi-axial servos controlled electronically by a computer control system. The control system can have a computer-based controller, at least one accelerometer, at least one gyroscope, a wireless interface, ground sensing telemetric sensor(s) and a wireless transceiver. The on-board control system can receive commands from a remote flight control platform via the wireless transceiver, and determine a rotor speed and swash-plate pitch angles necessary to achieve the flight commands of the remote controller. Alternatively or in addition, some or all of the commands may be pre-programmed within a memory associated with the controller prior to operation of the apparatus. 
    
    
     
       BRIEF DESCRIPTION OF THE FIGURES 
         FIG. 1  is a schematic illustration of a rotorcraft, according to an embodiment. 
         FIG. 2A  is a schematic illustration of the rotorcraft of  FIG. 1  shown in a first configuration for use, and  FIG. 2B  is a schematic illustration of the rotorcraft of  FIG. 2A  shown in a second configuration for storage and transport. 
         FIG. 3  is a side view of a rotorcraft, according to another embodiment. 
         FIG. 4  is a side view of the rotorcraft of  FIG. 3  with portions of the interior of the rotorcraft visible showing interior components of the rotorcraft. 
         FIG. 5A  is an enlarged side view of the propulsion section and payload section of the rotorcraft of  FIG. 4 , showing some interior components of the rotorcraft. 
         FIG. 5B  is an enlarged side view of the power, optics and guidance section of the rotorcraft of  FIG. 4 , showing some interior components of the rotorcraft. 
         FIG. 6A  is a side view of a portion of a leg of the rotorcraft of  FIG. 3  illustrating an embodiment of the leg having a delivery catheter. 
         FIG. 6B  is a side view of a portion of a leg of the rotorcraft of  FIG. 3  illustrating an embodiment of the leg having a lighting device disposed within the landing foot. 
         FIG. 7  is a top view of the rotorcraft of  FIG. 3 . 
         FIG. 8  is a bottom view of the rotorcraft of  FIG. 3 . 
         FIG. 9  is a side view of a rotorcraft, according to another embodiment. 
         FIG. 10  is a side view of the rotorcraft of  FIG. 9  rotated ninety degrees relative to the side view of  FIG. 9 . 
         FIG. 11  is a top perspective view of the rotorcraft of  FIG. 9 . 
         FIG. 12  is a bottom perspective view of the rotorcraft of  FIG. 9 , with a portion of the bottom of the housing removed for illustration purposes. 
         FIG. 13  is a top view of the rotorcraft of  FIG. 9 . 
         FIG. 14  is a bottom view of the rotorcraft of  FIG. 9 . 
     
    
    
     DETAILED DESCRIPTION 
     Apparatus are described herein for an unmanned aerial vehicle, or rotorcraft, that includes a fuselage and dual coaxial counter-rotating rotors in close proximity to one-another and sharing a common and aligned rotational axis. The rotors and motors are coupled to a bi-axial, servo controlled swash-plate assembly located in the fuselage. Each rotor is driven by a motor in a common aligned axis operatively coupled to a motor-shaft, enabling concentric and balanced torque to be achieved by the counter rotating rotors coupled to the motor shafts. The composite pitch angle of the propulsion section enables directional flight achieved by a vectoring of the propulsion section by bi-axial servos controlled electronically by a computer control system. The control system can have a computer-based controller, at least one accelerometer, at least one gyroscope, a wireless interface, ground sensing telemetric sensor(s) and a wireless transceiver. The on-board control system can receive commands from a remote flight control platform via the wireless transceiver, and determine a rotor speed and swash-plate pitch angles necessary to achieve the flight commands of the remote controller. Alternatively or in addition, some or all of the commands may be pre-programmed within a memory associated with the controller prior to operation of the apparatus. 
     In some embodiments, an unmanned-aerial vehicle (UAV) or drone or rotorcraft is provided that is a battery-operated, portable hand-held or tube launched counter-rotational rotor driven, vector-directed semi-autonomous UAV, with a user configurable mission-based platform. The UAVs described herein provide a small form factor and concentric design, portability, rapid deployability and user-configurable format. For example, in some embodiments, a UAV described herein can provide lethal and non-lethal weaponization, which can have uses in military, utility, first-responder, security and law enforcement applications and uses in other service functions such as search and rescue, chemical detection, cellular communication node bridging, and other non-military tactical applications. 
     In some embodiments, a rotorcraft as described herein can be a modular assembly having coaxial counter-rotating rotors in close proximity to one-another and positioned in the fuselage of the rotorcraft. The counter-rotating rotors are coupled to a bi-axial, servo controlled swash-plate assembly. The counter-rotating rotors generate the forces necessary to lift the rotorcraft and maneuver it in the air by vectoring control being actioned by servo(s), and the pitch angle of the propulsion section enables vertical take-off and landing (VTOL), vertical climb, hovering and horizontal flight. The propulsion section also allows the ability to vertically descend at a fixed or variable rate of pitch and velocity by vectoring of the swash-plate assembly and adjusting of the lifting power by attenuation of rotor speed. 
     The rotorcrafts described herein can be constructed with, for example, various lightweight manufacturing materials, and electronic components. For example, in some embodiments, the rotorcrafts can be constructed with aircraft grade composite materials. The rotorcrafts can provide a modular design that allows for quick assembly and dis-assembly (e.g., in less than one minute). The modular design of the rotorcraft allows the rotorcraft to be easily equipped to perform multiple different functions and capabilities, such as, for example, capabilities for video, photography, entertainment, surveillance, both observational and metric, chemical detection, offensive and defensive military operations/policing and security missions. 
     In some embodiments, an apparatus includes a fuselage of an unmanned aircraft that includes a first section removably coupled to a second section, and a third section removably coupled to the second section such that the second section is disposed between the first section and the third section in a vertical direction. The first section includes a first rotor and a second rotor disposed at a non-zero spaced distance in the vertical direction from each other. The first rotor and the second rotor share a common and aligned rotational axis defined along a longitudinal centerline of the fuselage defined in the vertical direction. The second section is configured to contain a selected payload, and the third section includes a control system. A plurality of legs are coupled to the third section and serve as landing gear for the unmanned aircraft. 
     In some embodiments, an apparatus includes a fuselage of an unmanned aircraft that includes a housing having a length and a width. The length is defined in a vertical direction and the width is defined substantially perpendicular to the length. The fuselage including a housing, a first rotor coupled to the housing and a second rotor coupled to the housing and disposed at a non-zero spaced distance in the vertical direction from the first rotor. The first rotor and the second rotor are each configured to be moved between a first configuration in which the first rotor and the second rotor are disposed at substantially ninety degrees relative to an outer surface of the housing of the fuselage for use of the unmanned vehicle, and a second configuration in which the first rotor and the second rotor are disposed substantially parallel to a longitudinal centerline of the fuselage defined along the length of the fuselage for storage and transport of the unmanned vehicle. A plurality of legs coupled to the fuselage. The plurality of legs can each be moved between a first configuration in which the legs are extended for use as landing gear for the unmanned vehicle and a second configuration in which the plurality of legs are disposed at least partially within a portion of the housing for storage and transport of the unmanned vehicle. 
     In some embodiments, an apparatus includes a fuselage of an unmanned aircraft that includes a housing having a length and a width. The length is defined in a vertical direction and the width is defined substantially perpendicular to the length. A first rotor and a second rotor are each coupled to the housing and disposed at a non-zero spaced distance in the vertical direction from each other. The first rotor and the second rotor share a common and aligned rotational axis defined along a longitudinal centerline of the fuselage. A first motor is included within the housing and operatively coupled to the first rotor, and a second motor included within the housing and operatively coupled to the second rotor. The first motor and the second motor are each aligned with the first rotor and the second rotor along the longitudinal centerline of the fuselage. A power source is disposed within the housing and operatively coupled to the first motor and to the second motor. 
       FIGS. 1-2B  are schematic illustrations of an unmanned-aerial vehicle (UAV) (also referred to herein as “drone” or “rotorcraft”)  100 , according to an embodiment.  FIG. 1  is a schematic representation of the rotorcraft  100  illustrated in  FIGS. 2A and 2B . The rotorcraft  100  includes a fuselage  120  that can include multiple sections that can be releasably coupled together. For example, as shown in  FIG. 1-2B , the rotorcraft  100  includes a propulsion section  122 , a payload section  124  and a power, optics and guidance (POG) section  126 . The three sections  122 ,  124 , and  126  can each include a fuselage housing portion  133 ,  134  and  135 , respectively and can be coupled together via the housings  133 ,  134 ,  135  with a variety of different coupling methods, such as, for example, a threaded coupling, fasteners such as threaded fasteners (e.g., bolts, screws), snap-fit-release mechanisms, snapping lap-joints, overlapping compression joints, and the like. The coupling device/mechanism can be coupled to or incorporated with the housings  133 ,  134 ,  135 . The propulsion section  122  can include a tapered or cone shaped top housing portion  131  that can a separate component and releasable or fixedly coupled to the housing portion  133  or be integrally formed with the housing portion  133 . The releasable coupling of the three sections of the rotorcraft  100  allows for the payload section  124  to be easily removed from the propulsion section  122  and the POG section  126 , such that the payload within the payload section  124  can be replaced with different payloads configured for different uses, or supplementing one payload section (module) with another payload section module. Thus, the rotorcraft  100  can be easily reconfigured for different uses. 
     The three inter-locking sections  122 ,  124 ,  126  of the fuselage  120  can be spline-contoured substantially cylindrically shaped sections serving as discrete modules or sections (e.g., the propulsion section  122 , the payload section  124  and the POG section  126 ). In some embodiments, the outer surface of the housings  133 ,  134 ,  135  of the fuselage  120  can include faceted geometric surface patterns, such as, for example, rectangular or triangular shaped faceted surface sections. In other embodiments, the outer surface of the fuselage may include other types of surface patterns or lack any such patterns. In this embodiment, the faceted geometry of the spline-shaped cylindrical fuselage  120  can provide a radar absorbing material (RAM) glazed finish to help disguise the rotorcraft from radar detection, and 3D printed embedded electrical circuitry. In some embodiments, the outer surface of the fuselage  120  can be smooth or substantially smooth. 
     The payload section  124  serves as both a mechanical coupler of the POG and propulsion sections and is an interchangeable platform designed to house a variety of different payloads, such as, but not limited to: an aerosol cartridge, micro-explosive ordnance, electronic communications hardware, chemical, bio-chemical detection sensors, pharmaceutical lancets or small-parcel capsule. In some embodiments, the payload within the payload section  124  can be an electronically controlled gas-pressurized aerosol cartridge. In some embodiments, the payload can include a micro-explosive ordinance, for example, a Dense Inert Metal Explosive (DIME). In such an embodiment, the shell or outer fuselage housing  134  of the payload section  124  can be a weakened-plane faceted geometry made of metal, plastic and or other light-weight industrial materials. Thus, when subjected to the explosive internal forces from the integrated micro-explosive, the housing of the payload section  124  disintegrates into a shaped fragmentation munition of programmable force by selection of explosive compound and payload shell configuration. This action is potentially lethal and obliterates the rotorcraft  100  upon use. 
     The propulsion section  122  of the rotorcraft  100  can include counter-rotating rotors (also referred to as “propellers”)  130  and  132  coupled to the fuselage in close proximity to each other and at a top or forward end portion of the fuselage  120 . The two rotors  130 ,  132  are coupled to a bi-axial, servo controlled swash-plate assembly and share a common and aligned rotational axis (not shown in  FIGS. 1-2B ). The swash-plate assembly can be a known standard device within a rotor assembly of a helicopter or other like aerial machine and can be used to adjust the angle of the rotor blades in response to external commands (e.g., from a flight control program or pilot). In some embodiments, the rotors  130 ,  132  can be foldable. In other words, the rotors  130 ,  132  can be moved to a first configuration in which the rotors  130 ,  132  are extended radially outward from the fuselage  120  (e.g., disposed at a substantially  90  degree angle relative to a longitudinal axis of the fuselage  120  for use of the rotorcraft  100  as shown in  FIG. 2A . The rotors  130 ,  132  can be moved, or automatically descend, to a second configuration in which the rotors  130 ,  132  are positioned downward to a position substantially parallel to the longitudinal axis of the fuselage  120  as shown in  FIG. 2B . In the second configuration, the rotorcraft  100  can have a smaller form factor for transport, storage and repowering of the rotorcraft  100 . Each rotor  130 ,  132  includes or is coupled to a motor and in one embodiment can be disposed in a common aligned axis. Such alignment enables concentric and balanced torque to be achieved by means of the counter rotating rotors attached to the motor shafts. The motors can be, for example, an electric motor. In other embodiments, in a rotorcraft  100  having, for example, a larger form factor, can be powered by, for example, electricity, fuel cells, air-battery, liquid fuel, solid fuel, etc. 
     The composite pitch angle of the propulsion section enables directional flight and is achieved by a vectoring of the propulsion section by bi-axial servos controlled electronically by a computer control-system  142 . The control-system  142  can have a computer-based controller, at least one accelerometer, at least one gyroscope, a wireless interface, ground sensing telemetric sensor(s) and a wireless transceiver. In some embodiments, the control system  142  may utilize an open source software architecture comprised of, for example, the Px4 Flight Stack or the APM Flight Stack as known in the art and incorporated herein by reference. The control system  142  can receive commands from a remote flight control platform through the wireless transceiver (not shown in  FIGS. 1-2B ), and determine the rotor speed and swash-plate pitch angles necessary to achieve the flight commands received from a remote controller (not shown). Alternatively, some or all of the commands may be pre-programmed within a memory associated with the on-board control system  142  prior to operation of the rotorcraft  100 . 
     The POG section  126  includes three flexible legs  128  positioned in  120  degree radial increments about the fuselage  120  and extending radially outward and downwardly from the fuselage  120 . In some embodiments, the legs  128  extend downwardly from the fuselage  120  approximately ⅓ of a total length of the fuselage  120  from the POG section. The legs  128  can provide a variety of purposes and functions. For example, the legs  128  can serve as the landing gear, and can also include other components such as, for example, integrated navigation lights, an antenna (e.g., a communications antenna), and provide an aerosol delivery catheter. For example, the delivery catheter can be defined by the leg  128  itself or can be provided by another component disposed within or coupled to one or more legs  128 . In some embodiments, the legs  128  can be formed with semi-rigid engineered plastic, flexible metal cable, carbon fiber, fiberglass and other industrial tubing products. An interchangeable landing shoe can be located at the base of each leg to serve as a surface foot. In some embodiments, the landing shoe (not shown in  FIGS. 1, 2A-2B ) on at least one leg  128  can provide illumination. For example, the landing shoe can be illuminated by a light emitting diode (LED) or fiber optic cable, enabling the leg(s)  128  to serve as a navigation light or other illuminated visual marker. The LED or fiber-optic cable lead can be connected to a control board, which can receive various commands from a wireless remote controller and transmit those commands to the various electronic components of the rotorcraft  100 , including the led navigation light and other illuminated visual marker functions. The landing shoe can be of various shapes and terminal function for mission specific purposes and varied geological conditions. 
     The control board can provide for flight controls, GPS/navigation and guidance of the rotorcraft  100 . For example, the rotorcraft  100  can include GPS/navigation guidance system that provides for first-person-view (FPV) capabilities that allow the rotorcraft  100  to be piloted by conventional radiofrequency (RF) and/or digital signal via WIFI or satellite. 
     In some embodiments, one or more legs  128  can encase a spark-firing electrode that can run the length of the leg  128  and be connected to the control board, which as discussed above can receive various commands from the wireless remote controller and transmit those commands to the electrode. In some embodiments, a leg  128  can define a catheter lumen, or encase a catheter that can be used to convey material from an aerosol gas cartridge in the payload section  124  by means of pressurized aerosol being released by an electronically controlled valve discharging various gas elements from the gas cartridge. 
     The POG section  126  can also include a power source, speaker(s), a motorized digital camera, light emitting diode (e.g., LED ring), integrated microphone(s), and/or various sensors. The power source can be, for example, a battery, providing for portability of the rotorcraft  100 . However, in other embodiments power sources other than batteries may be utilized. In some embodiments, the POG section includes a motorized digital camera (not shown in  FIGS. 1-2B ) with, for example, visual (photographic and video), radiometric thermal imaging, and aerial mapping capabilities. The camera can be disposed on a multi-axis gimbal with an integrated stabilizing device and be operatively coupled to the control board for control and operation. A portion of the fuselage  120  disposed at a bottom portion of the POG section  126  can be formed with a clear polycarbonate lens to allow for images to be taken by the camera through the fuselage  120 . In some embodiments, the camera can be, for example, a hi-resolution digital camera on multi-axis gimble for tilt and panning capabilities. 
     In some embodiments, the POG section  126  includes a speaker or speakers such as, for example, digital micro-electromechanical-speakers (MEMS). Speakers can be used, for example, to provide audio capabilities such as providing an audible emergency notification and instruction, disruptive and or destructive audio engagement in hostile theaters of conflict or benign music or recorded material playback. In some embodiments, the POG section  126  includes a microphone or microphones with built-in noise canceling DSP (Digital Signal Processor) positioned about the circumference of the rotorcraft  100  for remote audio monitoring and at source communication. 
     In some embodiments, the POG section includes bio-aerosol detection and infra-red sensors positioned about the circumference of the rotorcraft  100 . In some embodiments, the POG section  126  can include ultra-sound sensors for altitude/attitude control. 
     The legs  128  can also be retractable or repositionable to a location within the fuselage for storage and transport. For example, as shown in  FIG. 2A , the legs  128  can be in a first configuration in which the legs are extended for use of the rotorcraft  100 , and can be moved to a second configuration in which the legs  228  are disposed fully or substantially within the fuselage  120 , as shown in  FIG. 2B , for storage and transport. The folding propeller blades (e.g., rotors  130 ,  132 ), and retractable landing gear (e.g., legs  128 ), provide for a compact small form factor configuration for storage and transport of the rotorcraft  100 . For example, the rotorcraft together with a storage/launch tube with integrated charger (not shown) can have an overall outer length between, for example, about 16 inches and about 20 inches, and an outer diameter between, for example, about 3 inches and about 4 inches, and can in some embodiments, weigh about less than 5 pounds. Thus, the size of the rotorcraft  100  and charger allows for them to be stored within a package, such as a backpack, suitcase, shoulder bag or small travel bag. 
       FIGS. 3-8  illustrate an unmanned-aerial vehicle (UAV) (also referred to herein as “drone” or “rotorcraft”)  200 , according to another embodiment. The rotorcraft  200  includes a fuselage  220  that can include multiple sections that can be releasably coupled together. As shown, for example, in  FIGS. 3 and 4 , in this embodiment, the rotorcraft  200  includes a propulsion section  222 , a payload section  224  and a power, optics and guidance (POG) section  226 . As described above for rotorcraft  100 , the propulsion section  222  includes a housing portion  233 , the payload section includes a housing portion  234  and the POG section  226  includes a housing portion  235 . The housing portions  233 ,  234  and  235  can be releasably coupled together, for example, at joints  237  and  239  to couple the sections  222 ,  224  and  226  together. The three sections  222 ,  224 ,  226  can be coupled together with a variety of different coupling methods, such as, for example, a threaded coupling, fasteners such as threaded fasteners (e.g., bolts, screws), snap-fit-release mechanisms, snapping lap-joints, overlapping compression joints, etc. The coupling device/mechanisms can be coupled to or incorporated with the housings  233 ,  234 ,  235 . The propulsion section  222  can include a tapered or cone shaped top housing portion  231  that can a separate component and releasable or fixedly coupled to the housing portion  233  or be integrally formed with the housing portion  233 . The releasable coupling of the three sections of the rotorcraft  200  allows for the payload section  224  to be easily removed from the propulsion section  222  and the POG section  226 , such that the payload within the payload section  224  can be replaced with different payloads configured for different uses, or supplementing one payload section (module) with another payload module. Thus, the rotorcraft  200  can be easily reconfigured for different uses. 
     The three inter-locking sections  222 ,  224 ,  226  of the fuselage  220  can be spline-contoured substantially cylindrically shaped sections serving as discrete modules or sections (e.g., the propulsion section  222 , the payload section  224  and the POG section  226 ). The outer surface  225  of housings  133 ,  134 ,  135  of the fuselage  220  can include faceted geometric surface patterns or be smooth. The faceted geometry of the spline-shaped cylindrical fuselage  220  can provide a radar absorbing material (RAM) glazed finish to help disguise the rotorcraft from radar detection, and 3D printed embedded electrical circuitry. In this embodiment, the outer surface  225  of the fuselage  220  includes faceted surface patterns, which are rectangular shaped. The fuselage  220  can have a length L 1  measured from a first end to a second end of the fuselage  220 , and a width W defined perpendicular to the length, as shown in  FIG. 4 . As shown in  FIG. 4 , the length L 1  is defined in a vertical direction and the width W is defined in a horizontal direction. As also shown in  FIG. 4 , the width W of the fuselage  220  can vary. In other embodiments, the width W may not vary. The rotorcraft  200 , including the fuselage and the legs (discussed below) when in a ready-to-use configuration can have a length L 2 , as shown in  FIG. 3 . In some embodiments, the length L 1  can be, for example, between about 15 inches and about 17 inches, and the length L 2  can be, for example, between about 12 inches and about 15 inches. In some embodiments, the length L 1  can be, for example, at or about 16 inches, and the length L 2  can be, for example, at or about 13 inches. 
     The propulsion section  222  of the rotorcraft  200  includes counter-rotating rotors (also referred to as “propellers”)  230  and  232  coupled to the fuselage  220  in close proximity to each other and at a top or forward end portion of the fuselage  220 . The two rotors  230 ,  232  share a common and aligned rotational axis A-A (see  FIG. 3 ), which is the longitudinal center axis of the fuselage  220 . In one embodiment, the rotors  230 ,  232  are each coupled to a motor  236  (see  FIG. 4 ) and disposed in a common aligned axis (e.g., axis A-A) within an interior region or volume of the propulsion section  222 . The rotors  230 ,  232  can also be coupled to a bi-axial, servo controlled swash-plate assembly  238  and share a common and aligned rotational axis (e.g., axis A-A) within an interior region or volume of the propulsion section  222 . As described above for rotors  130 ,  132 , the rotors  230 ,  232  can be foldable. In other words, the rotors  230 ,  232  can be moved to a first configuration in which the rotors  230 ,  232  are extended radially outward from the fuselage  220  (e.g., disposed at a substantially  90  degree angle relative to a longitudinal axis of the fuselage  220 ) and locked in place for use of the rotorcraft  200 , as shown in  FIGS. 3-5, 7 and 8 . The rotors  230 ,  232  can be moved to a second configuration in which the rotors  230 ,  232  are folded downward to a position substantially parallel to the longitudinal axis of the fuselage  220  (not shown), as described above for rotors  130 ,  132 . For example, the rotors  232  and  234  can be hingedly coupled within the propulsion section  222  to provide for movement of the rotors  232 ,  234  between the first and second configurations. 
     The payload section  224  serves as both a mechanical coupler of the POG section  226  and the propulsion section  222 , and can provide for interchangeability of a variety of different payloads, such as, but not limited to: an aerosol cartridge, micro-explosive ordnance, or small-parcel capsule as described above for rotorcraft  100 . The payload section  224  can include a payload  240  that can be removably interchangeable as described above. As shown in  FIGS. 3 and 4 , the payload  240  in this embodiment includes an electronically triggered gas-pressured aerosol cartridge. The payload  240  can be operatively coupled to the system controller (described below) and coupled to a catheter disposed within a leg of the rotorcraft  200  as described in more detail below. 
     An on-board radio frequency (RF) transceiver system  242  is provided within the (POG) section  226 , as shown in  FIGS. 3-5 . The composite pitch angle of the propulsion section  222  enables directional flight and is achieved by a vectoring of the propulsion section  222  by bi-axial servos controlled electronically by a flight-control-system  244 . The flight-control-system  244  can include, for example, a computer-based controller, at least one accelerometer, at least one gyroscope, a wireless digital interface, and a wireless digital transceiver. The control system  244  can receive commands from a remote flight control platform through a wireless transceiver within the flight-control system and determine the rotor speed and swash-plate pitch angles necessary to achieve the flight commands received from a remote controller (not shown). Alternatively, some or all of the commands may be pre-programmed within a memory associated with the control system  244  prior to operation of the rotorcraft  200 . 
     The POG section  226  includes three flexible legs  228  positioned in  120  degree radial increments about the fuselage  220  and extending radially outward and downwardly from the fuselage  220 . In some embodiments, the legs  228  extend downwardly from the fuselage  220  approximately ⅓ of a total length of the fuselage  220  from the POG section. The legs  228  can provide a variety of purposes and functions. For example, the legs  228  can serve as the landing gear, and can also include other components such as, for example, integrated navigation lights, an antenna (e.g., a communications antenna), and provide an aerosol delivery catheter. For example, a delivery catheter or lumen  223  can be defined by the leg  228  itself (as shown in  FIG. 6A ) or can be provided by another component disposed within or coupled to one or more legs  228 . The lumen  223  can be in fluid communication with, for example, and opening in the landing foot to allow for delivery of a payload (e.g., an aerosol) as desired. In some embodiments, the legs  228  can be formed with, for example, semi-rigid engineered plastic, flexible metal cable, carbon fiber, fiberglass and/or other industrial tubing products. An interchangeable landing shoe  229  can be located at the base of each leg to serve as a surface foot. In some embodiments, the landing shoe  229  on at least one leg  228  can provide illumination. For example, the landing shoe  229  can be illuminated by a light emitting diode (LED) (see  243  in  FIG. 6B ) or fiber optic cable, enabling the leg(s)  228  to serve as a navigation light or other illuminated visual marker. The LED or fiber-optic cable lead (see  245  in  FIG. 6B ) can be connected to a control board, which can receive various commands from a wireless remote controller and transmit those commands to the various electronic components of the rotorcraft  200 , including the led navigation light and other illuminated visual marker functions. The landing shoe  229  can be of various shapes and terminal function for mission specific purposes and varied geological conditions. 
     The control system  244  can include a control board that can provide for flight controls, GPS control, navigation and guidance of the rotorcraft  200 . For example, the rotorcraft  200  can include a GPS/navigation guidance system that provides for first-person-view (FPV) capabilities that allow the rotorcraft  200  to be piloted by conventional radiofrequency (RF) and/or digital signal via WIFI or satellite. 
     In some embodiments, one or more legs  228  can encase wires that can run the length of the leg  228  and be connected to a spark-firing electrode that would take the position of the landing shoe  229 . The wires can be connected to the control board, which as discussed above can receive various commands from the wireless remote controller and transmit those commands to the electrode. 
     The POG section  226  can also include a power source  246 , speaker(s), a motorized digital camera, light emitting diode(s) (e.g., LED ring  255  shown in, for example,  FIG. 8 ), integrated microphone(s), and/or various sensors. In some embodiments, the power source can be a battery to provide for portability of the rotorcraft  200 . In some embodiments, the POG section includes a motorized digital camera  248  (shown in  FIGS. 3, 4, 6, and 8 ) with, for example, visual (photographic and video), radiometric thermal imaging, and aerial mapping capabilities. The camera  248  can be disposed on a multi-axis gimbal with an integrated stabilizing device and be operatively coupled to the control board for control and operation. A portion  254  of the fuselage  220  disposed at a bottom portion of the POG section  226  can be formed of a clear polycarbonate material providing a clear protective cover to allow for clear imaging by the camera. In some embodiments, the camera  248  can be, for example, a hi-resolution digital camera on multi-axis gimble for tilt and panning capabilities. 
     In some embodiments, the POG section  226  includes a speaker or speakers (not shown), such as, for example, digital micro-electromechanical-speakers (MEMS). Speakers can be used, for example, to provide audio capabilities such as providing an audible emergency notification and instruction, disruptive and or destructive audio engagement in hostile theaters of conflict or benign music or recorded material playback. In some embodiments, the POG section  226  includes a microphone or microphones  250  (e.g., see  FIGS. 4 and 6 ). The microphones  250  can be disposed about the circumference of the rotorcraft  200 . In some embodiments, the microphones  250  can include a hyper-directional microphone with built-in noise canceling DSP (Digital Signal Processor) for remote audio monitoring and at source communication. 
     The POG section  226  can also include one or more of various types of sensors  252 , such as, for example, chemical detection and infra-red sensors housed within and located about POG section  226  ( FIG. 6 ). In some embodiments, the POG section  226  can include ultra-sound sensors for altitude/attitude control. The sensors  252  can also be disposed about the circumference of the rotorcraft  200 . As described for rotorcraft  100 , the legs  228  can also be retractable to a location within the fuselage or folded inward towards the fuselage  220  for storage and transport. For example, as shown in  FIGS. 3, 4 and 6 , the legs  228  can be in a first configuration in which the legs  228  are extended for use of the rotorcraft  200 , and can be moved to a second configuration (not shown) in which the legs  228  are disposed fully or substantially within the fuselage  220  (not shown) for storage and transport. For example, the legs  228  can be retracted into POG section  226  of the fuselage  220  through openings  227  defined in the fuselage  220 . 
     The folding propeller blades (e.g., rotors  230 ,  232 ), and retractable landing gear (e.g., legs  228 ), provide for a compact configuration for storage and transport of the rotorcraft  100  as described above for rotorcraft  100 . 
       FIGS. 9-13  illustrate an unmanned-aerial vehicle (UAV) (also referred to herein as “drone” or “rotorcraft”)  300 , according to another embodiment. The rotorcraft  300  can be constructed substantially the same as or similar to the rotorcrafts  100  and  200  described above and be used for the same or similar functions. Thus, some features and components of the rotorcraft  300  are not described below. For example, the rotorcraft  300  includes a fuselage  320  that includes three sections that are releasably couplable. More specifically, the rotorcraft  300  includes a propulsion section  322 , a payload section  324  and a power, optics and guidance (POG) section  326 . As described above for rotorcrafts  100  and  200 , the propulsion section  322  includes a housing portion  333 , the payload section includes a housing portion  334  and the POG section  326  includes a housing portion  335 . The housing portions  333 ,  334  and  335  can be releasably coupled together, for example, at joints  337  and  339  to couple the sections  322 ,  324  and  326  together. The three sections can be coupled together with a variety of different coupling methods, such as, for example, a threaded coupling, fasteners such as threaded fasteners (e.g., bolts, screws), etc. as described above for previous embodiments. The propulsion section  322  can include a tapered or cone shaped top housing portion  331  that can a separate component and releasable or fixedly coupled to the housing portion  333  or be integrally formed with the housing portion  333 . As described above, the releasable coupling of the three sections of the rotorcraft  300  allows for the payload section  324  to be easily removed from the propulsion section  322  and the POG section  326 , to for example, change a payload within the payload section  324 . 
     The three inter-locking sections of the fuselage  320  can be spline-contoured substantially cylindrically shaped sections serving as discrete modules or sections (e.g., the propulsion section  322 , the payload section  324  and the POG section  326 ). In this embodiment, the outer surface  325  of the fuselage  320  includes faceted surface patterns, which are diamond and/or triangular shaped. As described for previous embodiments, the faceted geometry of the spline-shaped cylindrical fuselage  320  can provide a radar absorbing glazed finish and 3D printed embedded electrical circuitry. The fuselage  320  can have a length L 1  measured from a first end to a second end of the fuselage  320  and a width W defined perpendicular to the length L 1 , and the rotorcraft  300 , including the fuselage  320  and the legs (discussed below) when in a ready-to-use configuration can have a length L 2 , as shown in  FIG. 9 . As shown in  FIG. 9 , the length L 1  is defined in a vertical direction and the width W is defined in a horizontal direction. As also shown in  FIG. 9 , the width W of the fuselage  320  can vary. In other embodiments, the width W may not vary. In some embodiments, the length L 1  can be, for example, between about 15 inches and about 17 inches, and the length L 2  can be, for example, between about 12 inches and about 15 inches. In some embodiments, the length L 1  can be, for example, 1 foot, 3 3/16 inches, and the length L 2  can be, for example, 1 foot, 53/64 inches. 
     The propulsion section  322 , the payload section  324  and the POG section  326  can include the same or similar components as described above for rotorcrafts  100  and  200 , and therefore, some details are not described with respect to  FIGS. 9-13 . 
     The propulsion section  322  of the rotorcraft  300  includes counter-rotating rotors (also referred to as “propellers”)  330  and  332  coupled to the fuselage  320  in close proximity to each other and at a top or forward end portion of the fuselage  320 . The two rotors  330 ,  332  share a common and aligned rotational axis A-A (see  FIG. 9 ), which is the longitudinal center axis of the fuselage  320 . Each rotor  330 ,  332  includes or is coupled to a motor (not shown) disposed in a common aligned axis (e.g., axis A-A) within an interior region of the propulsion section  322 . The rotors  330 ,  332  are coupled to the motors with a motor-shaft that enables concentric and balanced torque during operation. The motors are coupled to a bi-axial, servo controlled swash-plate assembly (not shown) also positioned within the fuselage  320 . As described above for rotors  230 ,  232 , the rotors  330 ,  332  can be foldable in the same manner as described above. 
     The payload section  324  serves as both a mechanical coupler of the POG and propulsion sections and can provide for interchangeability of a variety of different payloads, such as, but not limited to: an aerosol cartridge, micro-explosive ordnance, or small-parcel capsule as described above for rotorcrafts  100  and  200 . The payload section  324  can include a payload (not shown) that can be removably interchangeable as described above 
     A computer control system (not shown) is also provided that can include, for example, a computer-based controller, at least one accelerometer, at least one gyroscope, a wireless interface, and a wireless transceiver. The control system can receive commands from a remote flight control platform through a wireless transceiver within the control system, and determine the rotor speed and swash-plate pitch angles necessary to achieve the flight commands received from a remote controller (not shown). Alternatively or in addition, some or all of the commands may be pre-programmed within a memory associated with the controller prior to operation of the rotorcraft  300 . 
     The POG section  326  includes three flexible legs  328  positioned in  120  degree radial increments about the fuselage  320  and extending radially outward and downwardly from the fuselage  320 . The legs  328  can be constructed and configured in the same or similar manner as described above for previous embodiments. For example, the legs can be retractable into the fuselage  320  through openings  327  defined in the fuselage  320 . As described above, the legs  328  serve as the landing gear, and can also include other components such as, for example, integrated navigation lights, an antenna (e.g., a communications antenna), and provide an aerosol delivery catheter. Each of the legs  228  includes a landing shoe  329  located at the base of each leg  328  to serve as a surface foot. In some embodiments, the landing shoe  329  on at least one leg  328  can provide a light for illumination. The light can be connected to a control board (not shown) within the POG section  326 , which can receive various commands from a wireless remote controller and transmit those commands to the various electronic components of the rotorcraft  300 , including the led navigation light. The control board can provide for flight controls, GPS control, navigation and guidance of the rotorcraft  300 , as described for previous embodiments. 
     The POG section  326  can also include a power source (not shown), a camera  348 , microphone(s), speakers, lights (e.g., LED ring  355  shown in, for example,  FIGS. 11 and 13 ) and/or various sensors such as bio-aerosol detection and infra-red sensors (each not shown) as described for previous embodiments. A portion  354  of the fuselage  320  disposed at a bottom portion of the POG section  326  is formed with a clear polycarbonate lens to allow for images to be taken by the camera  348  through the fuselage  320 . 
     As described above, the rotorcrafts (e.g.,  100 ,  200 ,  300 ) described herein can be used for various purposes and provide various functions. For example, a rotorcraft can include various components such as sensors, lights, cameras, speakers, microphones, etc. The disclosed rotorcraft can be configured with various types of payloads. For example: an aerosol cartridge, explosives, micro-explosive ordinance, electronic communications hardware, chemical, bio-chemical detection sensors, pharmaceutical lancets or small-parcel capsule. A rotorcraft as described herein can be used for such tasks as surveillance and information collection (e.g., photographs, video, audio), audio functions such as audio emergency alarms or signaling, disruptive auditory engagement, disruptive aviary operations (crop protection and management), rescue operations (e.g., search capabilities), security (e.g., gas agent dispensing), law enforcement, fire-fighting management, pesticide delivery in micro-farming environments, offensive and defensive military operations, etc. 
     One example type of use of a rotorcraft (e.g.,  100 ,  200 ,  300 ) described herein includes a law enforcement situational awareness application. In one such example application, a law enforcement officer working at night may come upon a vehicle pulled over to the side of the road where there may be little ambient light from which to view the occupants of the vehicle. In such a case, the officer can position his/her vehicle at a safe distance from the stopped vehicle, and deploy a rotorcraft as described herein. The officer can use an application provided on, for example, a phone, vehicle computer, tablet, etc. and bring up a 50 meter by 50 meter GPS map of the immediate area onscreen, while also sending the same information to dispatch. The officer draws a flight path with his or her finger on the tablet device, presses the launch button and the rotorcraft takes flight, in the direction of the vehicle. The rotorcraft can be piloted to circle the vehicle lighting up the area with integrated LED lights as described herein. The rotorcraft integrated speaker can be used to sound an alarm, waking a sleeping occupant. The information obtained by the rotorcraft can be sent from the rotorcraft and received back at the officer&#39;s tablet and dispatch, equipping the team with valuable situational data for tactical assessment, and response. Thus, the rotorcraft can be used to empower the officer with critical information, while lowering the event risk profile. 
     Another example law enforcement application includes a situation where law enforcement and protestors are at a face-off and the situation has escalated to where, for example, shields, batons, and make-shift weapons may be at issue. A typical crowd-control tactic is the use of incendiary type CS Tear Gas canisters launched or thrown indiscriminately into the crowd to disperse them. While effective, this tactic can increase the risk to all, raises liability, and further elevate situational aggression. In lieu of using such a tactic, a rotorcraft as described herein can be deployed with non-lethal auditory sirens to extend front-line force by the use of “disruptive auditory engagement” using high decibel speakers to irritate and disorient the individual or crowd for the purposes of disruption and disbanding of the crowd. Another example of crowd control by the rotorcraft is the disbursement of defensive non-lethal aerosol (CS tear-gas, pepper-spray and other chemical-control agents) through the pressurized aerosol delivery system. The rotorcraft can also record (e.g., photographs, video, audio recordings) the event for later evaluation by law-enforcement for possible post-event suspect apprehension. 
     The foregoing description has been presented for purposes of illustration and description, and is not intended to be exhaustive or to limit the invention to the precise form disclosed. The descriptions were selected to explain the principles of the invention and their practical application to enable others skilled in the art to utilize the invention in various embodiments and various modifications as are suited to the particular use contemplated. 
     While various embodiments have been described above, it should be understood that they have been presented by way of example only, and not limitation. Where schematics and/or embodiments described above indicate certain components arranged in certain orientations or positions, the arrangement of components may be modified. While the embodiments have been particularly shown and described, it will be understood that various changes in form and details may be made. Any portion of the apparatus and/or methods described herein may be combined in any combination, except mutually exclusive combinations. The embodiments described herein can include various combinations and/or sub-combinations of the functions, components, and/or features of the different embodiments described. 
     Where methods described above indicate certain events occurring in certain order, the ordering of certain events may be modified. Additionally, certain of the events may be performed concurrently in a parallel process when possible, as well as performed sequentially as described above.