An aerial vehicle may be equipped with propellers having reconfigurable geometries. Such propellers may have blade tips or other features that may be adjusted or reconfigured while the aerial vehicle is operating, on any basis. Propellers having reconfigurable blade tips joined to blade roots may ca
An aerial vehicle may be equipped with propellers having reconfigurable geometries. Such propellers may have blade tips or other features that may be adjusted or reconfigured while the aerial vehicle is operating, on any basis. Propellers having reconfigurable blade tips joined to blade roots may cause the blade tips to be aligned with the blade roots, or substantially perpendicular to the blade roots, e.g., in order to counter adverse effects of tip vortices, or at any intervening angle. The propellers may be reconfigured at predetermined times during operation of an aerial vehicle, or upon sensing one or more operational characteristics or environmental conditions, as may be desired or required.
대표청구항▼
1. An unmanned aerial vehicle comprising: a frame;a first motor mounted to the frame;a first propeller coupled to the first motor; wherein the first propeller comprises a first blade root, a first blade tip, a second blade root, a second blade tip and a first hub rotatably coupled to the first motor
1. An unmanned aerial vehicle comprising: a frame;a first motor mounted to the frame;a first propeller coupled to the first motor; wherein the first propeller comprises a first blade root, a first blade tip, a second blade root, a second blade tip and a first hub rotatably coupled to the first motor,wherein the first blade root has a first proximal end mounted to the first hub and a first distal end pivotably joined to the first blade tip by a first hinge, andwherein the second blade root has a second proximal end mounted to the first hub and a second distal end pivotably joined to the second blade tip by a second hinge;a second motor mounted to the frame; anda second propeller coupled to the second motor, wherein the second propeller comprises a third blade root, a third blade tip, a fourth blade root, a fourth blade tip and a second hub rotatably coupled to the second motor,wherein the third blade root has a third proximal end mounted to the second hub and a third distal end pivotably joined to the third blade tip by a third hinge, andwherein the fourth blade root has a fourth proximal end mounted to the second hub and a fourth distal end pivotably joined to the fourth blade tip by a fourth hinge; andat least one computer processor in communication with at least one of the first motor, the first propeller, the second motor or the second propeller,wherein the at least one computer processor is configured to at least: cause the first blade tip to be provided at a first cant angle with respect to the first blade root prior to a first time;cause the second blade tip to be oriented at the first cant angle with respect to the second blade root prior to the first time;cause the third blade tip to be provided at the first cant angle with respect to the third blade root prior to the first time;cause the fourth blade tip to be oriented at the first cant angle with respect to the fourth blade root prior to the first time;initiate a first operation of the first motor at the first time;initiate a second operation of the second motor at the first time;cause the first blade tip to rotate about the first hinge to a second cant angle with respect to the first blade root at a second time, wherein the second time follows the first time;cause the second blade tip to rotate about the second hinge to the second cant angle with respect to the second blade root at the second time;cause the third blade tip to rotate about the third hinge to the second cant angle with respect to the third blade root at the second time; andcause the fourth blade tip to rotate about the fourth hinge to the second cant angle with respect to the fourth blade root at the second time. 2. The unmanned aerial vehicle of claim 1, wherein the first cant angle is approximately zero degrees; and wherein the second cant angle is approximately ninety degrees. 3. The unmanned aerial vehicle of claim 1, wherein the unmanned aerial vehicle further comprises at least one sensor,wherein the at least one computer processor is in communication with the at least one sensor, andwherein the at least one computer processor is further configured to at least:capture information by the at least one sensor prior to the second time;determine an attribute of the unmanned aerial vehicle prior to the second time based at least in part on the information captured by the at least one sensor, andin response to determining the attribute of the unmanned aerial vehicle prior to the second time, cause the first blade tip to rotate about the first hinge to a second cant angle with respect to the first blade root at a second time;cause the second blade tip to rotate about the second hinge to the second cant angle with respect to the second blade root at the second time;cause the third blade tip to rotate about the third hinge to the second cant angle with respect to the third blade root at the second time; andcause the fourth blade tip to rotate about the fourth hinge to the second cant angle with respect to the fourth blade root at the second time,wherein the attribute of the unmanned aerial vehicle is at least one of:a position, a speed, an acceleration, a rate of climb, a rate of descent, a turn rate, a temperature, a radiated sound, a barometric pressure, a weather event, a wind speed or a wind direction. 4. The unmanned aerial vehicle of claim 1, wherein the at least one computer processor is further configured to at least: predict, prior to the second time, an attribute of the aerial vehicle at the second time using at least one machine learning algorithm; andselect the second cant angle based at least in part on the predicted attribute of the aerial vehicle at the second time,wherein the attribute of the unmanned aerial vehicle is at least one of:a position, a speed, an acceleration, a rate of climb, a rate of descent, a turn rate, a temperature, a radiated sound, a barometric pressure, a weather event, a wind speed or a wind direction. 5. The unmanned aerial vehicle of claim 1, wherein the at least one computer processor is further configured to at least: determine the first cant angle based at least in part on a first orientation of the first blade about a rotational axis defined by the first motor at the first time; anddetermine the second cant angle based at least in part on a second orientation of the first blade about the rotational axis at the second time. 6. A method to operate an aerial vehicle, the method comprising: initiating an operation of a first motor of the aerial vehicle having a first propeller coupled thereto at a first time by at least one computer processor, wherein the first propeller comprises a first blade root having a first proximal end coupled to the first motor and a first distal end pivotably coupled to a first blade tip by a first hinged connection, and wherein the first blade tip is at a first cant angle with respect to the first blade root at the first time;selecting a second cant angle for the first propeller by the at least one computer processor; andcausing the first blade tip to rotate about the first hinged connection from the first cant angle with respect to the first blade root to the second cant angle with respect to the first blade root at a second time by the at least one computer processor,wherein the second cant angle is selected based at least in part on an angular orientation of the first propeller about an axis defined by the first motor during the operation of the first motor at the second time. 7. The method of claim 6, further comprising: initiating an operation of a second motor of the aerial vehicle having a second propeller coupled thereto at the first time by the at least one computer processor, wherein the second propeller comprises a second blade root having a second proximal end coupled to the second motor and a second distal end pivotably coupled to a second blade tip by a second hinged connection, and wherein the second blade tip is at the first cant angle with respect to the second blade root at the first time; andcausing the second blade tip to rotate about the second hinged connection from the first cant angle with respect to the second blade root to the second cant angle with respect to the second blade root at the second time by the at least one computer processor. 8. The method of claim 7, wherein the first propeller further comprises a third blade root having a third proximal end coupled to the first motor and a third distal end coupled to a third blade tip by a third hinged connection, and wherein the third blade tip is at the first cant angle with respect to the third blade root at the first time. 9. The method of claim 8, further comprising: causing the third blade tip to rotate about the third hinged connection from the first cant angle with respect to the third blade root to the second cant angle with respect to the third blade root at the second time by the at least one computer processor. 10. The method of claim 6, wherein the first blade root further comprises a first operator within a first airfoil of the first blade root for causing the first blade tip to rotate about the first hinged connection, and wherein the first blade tip is caused to rotate about the first hinged connection from the first cant angle with respect to the first blade root to the second cant angle with respect to the first blade root by the first operator. 11. A method to overate an aerial vehicle, the method comprising: initiating an operation of a first motor of the aerial vehicle having a first propeller coupled thereto at a first time by at least one computer processor, wherein the first propeller comprises a first blade root having a first proximal end coupled to the first motor and a first distal end pivotably coupled to a first blade tip by a first hinged connection, and wherein the first blade tip is at a first cant angle with respect to the first blade root at the first time;determining at least one attribute of the aerial vehicle prior to a second time using at least one sensor;selecting a second cant angle for the first propeller by the at least one computer processor, wherein the second cant angle is selected based at least in part on the at least one attribute of the aerial vehicle; andcausing the first blade tip to rotate about the first hinged connection from the first cant angle with respect to the first blade root to the second cant angle with respect to the first blade root at a second time by the at least one computer processor. 12. The method of claim 11, wherein the at least one attribute of the aerial vehicle comprises at least one of: a position of the aerial vehicle;an altitude of the aerial vehicle;a speed of the aerial vehicle;an acceleration of the aerial vehicle;a rate of climb of the aerial vehicle;a rate of descent of the aerial vehicle;a turn rate of the aerial vehicle;a sound pressure level or a frequency of a noise radiated from the aerial vehicle; oran angular velocity of the first motor. 13. The method of claim 11, wherein the at least one attribute of the aerial vehicle comprises at least one of: an atmospheric temperature in a vicinity of the aerial vehicle;a barometric pressure in the vicinity of the aerial vehicle;a weather event in the vicinity of the aerial vehicle;a level of cloud coverage in the vicinity of the aerial vehicle;a level of sunshine in the vicinity of the aerial vehicle; anda surface condition in the vicinity of the aerial vehicle. 14. The method of claim 11, wherein the at least one sensor comprises at least one of: an accelerometer; an air monitoring sensor; an altimeter; an attitude indicator; a barometer; a compass; a depth gauge; a Global Positioning System receiver; a gyroscope; a hygrometer; an imaging device; an infrared sensor; a magnetic anomaly detector; a microphone; a piezoelectric sensor; a radiation sensor; a tachometer; a thermometer; or a vibration sensor. 15. A method to operate an aerial vehicle, the method comprising: defining a model for predicting at least one attribute of the aerial vehicle according to at least one machine learning algorithm by at least one computer processor;providing historical data regarding operations of aerial vehicles to the model as inputs by the at least one computer processor;receiving at least one output from the model;initiating an operation of a first motor of the aerial vehicle having a first propeller coupled thereto at a first time by the at least one computer processor, wherein the first propeller comprises a first blade root having a first proximal end coupled to the first motor and a first distal end pivotably coupled to a first blade tip by a first hinged connection, and wherein the first blade tip is at a first cant angle with respect to the first blade root at the first time:predicting, prior to a second time, at least one attribute of the aerial vehicle at the second time according to the model by the at least one computer processor based at least in part on the at least one output;selecting a second cant angle for the first propeller by the at least one computer processor, wherein the second cant angle is selected based at least in part on the predicted at least one attribute of the aerial vehicle at the second time; andcausing the first blade tip to rotate about the first hinged connection from the first cant angle with respect to the first blade root to the second cant angle with respect to the first blade root at the second time by the at least one computer processor. 16. A method to operate an aerial vehicle, the method comprising: receiving information regarding a transit plan for the aerial vehicle, wherein the transit plan identifies at least one of a location of an origin, a location of a destination or a location of an intervening waypoint between the origin and the destination;initiating an operation of a first motor of the aerial vehicle having a first propeller coupled thereto at a first time by at least one computer processor, wherein the first propeller comprises a first blade root having a first proximal end coupled to the first motor and a first distal end pivotably coupled to a first blade tip by a first hinged connection, and wherein the first blade tip is at a first cant angle with respect to the first blade root at the first time;selecting a second cant angle for the first propeller by the at least one computer processor, wherein the second cant angle is selected based at least in part on the transit plan for the aerial vehicle; andcausing the first blade tip to rotate about the first hinged connection from the first cant angle with respect to the first blade root to the second cant angle with respect to the first blade root at a second time by the at least one computer processor. 17. A method to overate an aerial vehicle, the method comprising: initiating an operation of a first motor of the aerial vehicle having a first propeller coupled thereto at a first time by at least one computer processor, wherein the first propeller comprises a first blade root having a first proximal end coupled to the first motor and a first distal end pivotably coupled to a first blade tip by a first hinged connection, and wherein the first blade tip is at a first cant angle with respect to the first blade root at the first time;changing at least one of an altitude, a course or a speed of the aerial vehicle prior to a second time;selecting a second cant angle for the first propeller by the at least one computer processor, wherein the second cant angle is selected based at least in part on the change in the at least one of the altitude, the course or the speed of the aerial vehicle prior to the second time; andcausing the first blade tip to rotate about the first hinged connection from the first cant angle with respect to the first blade root to the second cant angle with respect to the first blade root at the second time by the at least one computer processor. 18. A propeller comprising: a hub adapted for mounting to a rotatable mast of a motor;a first blade having a first blade tip and a first blade root defining a first airfoil, wherein the first blade tip is pivotably joined to a distal end of the first blade root by a first hinge provided at a first radial distance from the hub, and wherein a proximal end of the first blade root is mounted about the hub; anda second blade having a second blade tip and a second blade root defining a second airfoil, wherein the second blade tip is pivotably joined to a distal end of the second blade root by a second hinge provided at the first radial distance from the hub, and wherein a proximal end of the second blade root is mounted about the hub,wherein the first blade tip is provided at a first cant angle with respect to the first blade root,wherein the first blade root comprises a first mechanical operator configured to vary the first cant angle within the first airfoil based at least in part on an angular orientation of the propeller about an axis defined by the rotatable mast,wherein the second blade tip provided at a second cant angle with respect to the second blade root, andwherein the second blade root comprises a second mechanical operator configured to vary the second cant angle within the second airfoil based at least in part on the angular orientation of the propeller about the axis defined by the rotatable mast.
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이 특허에 인용된 특허 (3)
Charles Bruce D. ; Hassan Ahmed A. ; Tadghighi Hormoz ; JanakiRam Ram D. ; Sankar Lakshmi N., Blade vortex interaction noise reduction techniques for a rotorcraft.
Eiichi Nakasato JP; Noriaki Katayama JP; Tetsuya Hori JP; Asao Kakinuma JP, Flap hinge mechanism, method for manufacturing the same, and flap hinge apparatus.
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