# US 10,370,089 B2 · Weight-shifting coaxial helicopter > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,370,089 B2 - Document ID: US10370089B2 - Status: Granted - Kind: B2 - Application number: 15/085,540 - Filed: 2016-03-30 - Published: 2017-10-05 - Granted: 2019-08-06 - Earliest claimed: 2016-03-30 - Assignees: Lockheed Martin Corporation - Applicants: Lockheed Martin Corporation - Inventors: Dustin Eli Gamble - Web page: https://patentgrep.com/patent/US10370089B2 ## CPC - B64C 17/04: by pendular bodies - B64C 11/28: Collapsible or foldable blades - B64C 25/34: wheeled type, e.g. multi-wheeled bogies - B64C 25/66: Convertible alighting gear; Combinations of different kinds of ground or like engaging elements - B64C 27/14: Direct drive between power plant and rotor hub - B64C 27/52: Tilting of rotor bodily relative to fuselage (of see-saw type construction B64C27/43) - B64U 10/17: Helicopters (flying platforms B64U10/13) - B64U 30/24: Coaxial rotors - B64U 30/293: Foldable or collapsible rotors or rotor supports - B64U 40/20: for in-flight adjustment of the base configuration - B64C 2025/325: {specially adapted for helicopters} - B64U 50/19: using electrically powered motors - B64U 50/23: with each propulsion means having an individual motor - B64U 50/32: generated by fuel cells - B64U 60/10: specially adapted for use on water - B64U 60/40: foldable or retractable - B64U 60/50: with landing legs - B64U 60/70: Movable wings, rotor supports or shrouds acting as ground-engaging elements - B64U 80/70: in containers (B64U80/60 takes precedence) - B64C: AEROPLANES; HELICOPTERS - B64U: UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR ## Abstract A helicopter includes a propulsion system, gimbal assembly, and a controller. The propulsion system includes a first rotor assembly and a second rotor assembly. The first rotor assembly comprises a first motor coupled to a first rotor and the second rotor assembly comprises a second motor coupled to a second rotor. The second rotor is coaxial to the first rotor and is configured to be counter-rotating to the first rotor. The gimbal assembly couples a fuselage of the helicopter to the propulsion system. The controller is communicably coupled to the gimbal assembly and is configured to provide instructions to the gimbal assembly in order to weight-shift the fuselage of the helicopter, thereby controlling movements of the helicopter. ## Claims ### Claim 1 An unmanned helicopter comprising: a propulsion system comprising: a first rotor assembly comprising a first motor coupled to a first rotor, the first rotor comprising a plurality of first fixed-pitch blades; and a second rotor assembly comprising a second motor coupled to a second rotor, the second rotor comprising a plurality of second fixed-pitch blades, the second rotor being coaxial to the first rotor, the second rotor configured to be counter-rotating to the first rotor; a fuselage comprising: a power source; and a controller; and a housing for securing a gimbal assembly, the gimbal assembly comprising: a first gimbal motor configured to control pitch of the unmanned helicopter; and a second gimbal motor configured to control roll of the unmanned helicopter; wherein: the housing comprises a first portion and a second portion, the first portion being coupled to the propulsion system and the second portion being coupled to the fuselage; and the housing separates the first gimbal motor from the second gimbal motor; wherein the controller is communicably coupled to the first and second gimbal motors and is configured to provide instructions to the first and second gimbal motors in order to weight-shift the fuselage of the unmanned helicopter, thereby controlling pitch and roll movements of the unmanned helicopter. ### Claim 2 (depends on 1) The unmanned helicopter of claim 1, wherein the fuselage comprises a tubular body formed from a plurality of separable modular components arranged in a stacked assembly. ### Claim 3 (depends on 2) The unmanned helicopter of claim 2, wherein one of the plurality of separable modular components comprises: a payload module; or a landing module configured to support the unmanned helicopter in a generally vertical orientation. ### Claim 4 (depends on 3) The unmanned helicopter of claim 3, wherein the payload module comprises a camera system. ### Claim 5 (depends on 1) The unmanned helicopter of claim 1, wherein each of the plurality of first and second fixed-pitch blades is coupled to a hub of its respective rotor via a hinge mechanism that is configured to allow each of the fixed-pitch blades to pivot into a position parallel to the fuselage. ### Claim 6 (depends on 5) The unmanned helicopter of claim 5, wherein centrifugal force is used to pivot the plurality of first and second fixed-pitch blades into a position that is perpendicular to the fuselage. ### Claim 7 (depends on 1) The unmanned helicopter of claim 1, wherein the first rotor assembly is coupled to the gimbal assembly using a fixed, non-rotating shaft that passes through the second motor assembly. ### Claim 8 (depends on 1) The unmanned helicopter of claim 1, wherein the unmanned helicopter further comprises a wing, the wing coupled to an exterior portion of the fuselage, the wing configured to increase the unmanned helicopter's speed of travel or flight duration. ### Claim 9 (depends on 3) The unmanned helicopter of claim 3, wherein the landing module comprises one of: a self-balancing module comprising an elastic polymeric base; a magnetic base module comprising one of a material that produces a magnetic field or material that is attracted to a magnetic field, the magnetic base module configured to couple to a surface comprising one of a material that produces a magnetic field or material that is attracted to a magnetic field; a grapple module comprising a clasp, the clasp configured to enclose around a cable, thereby allowing the unmanned helicopter to hang in suspension from the cable; a spike module comprising an elongated piece of material terminating in a point, the spike module configured to pierce through a landing surface; a float module configured to have buoyant properties, thereby allowing the unmanned helicopter to float upon contact with a liquid surface; a cup holder module configured to couple with a landing container, the container having a funnel shape; a folding legs module comprising at least two landing legs, the landing legs configured to pivot from a position that is parallel to the fuselage to a position that stabilizes the unmanned helicopter in an upright position; a vacuum module comprising a deformable material having a concave shape, the vacuum module configured to couple to a surface using the force of air pressure; or a self-balancing wheel module comprising one or more wheels. ### Claim 10 (depends on 1) The unmanned helicopter of claim 1, wherein the amount of first fixed-pitch blades is different than the amount of second fixed-pitch blades. ### Claim 11 (depends on 1) The unmanned helicopter of claim 1, wherein the angle of the first fixed-pitch blades is different than the angle of the second fixed-pitch blades. ### Claim 12 A helicopter comprising: a propulsion system comprising: a first rotor assembly comprising a first motor coupled to a first rotor; and a second rotor assembly comprising a second motor coupled to a second rotor, the second rotor being coaxial to the first rotor, the second rotor configured to be counter-rotating to the first rotor; a housing for securing a gimbal assembly and for coupling a fuselage of the helicopter to the propulsion system, wherein: the housing comprises a first portion and a second portion; the first portion is coupled to the second rotor assembly and the second portion is coupled to the fuselage; the housing separates the first gimbal motor form the second gimbal motor; and a controller communicably coupled to the gimbal assembly and configured to provide instructions to the gimbal assembly in order to weight-shift the fuselage of the helicopter, thereby controlling movements of the helicopter. ### Claim 13 (depends on 12) The helicopter of claim 12, wherein the first rotor assembly is coupled to the gimbal assembly using a fixed, non-rotating shaft that passes through the second motor assembly. ### Claim 14 (depends on 12) The helicopter of claim 12, wherein the first rotor assembly further comprises a plurality of first fixed-pitch blades and the second rotor assembly further comprises a plurality of second fixed-pitch blades, the plurality of first and second fixed-pitch blades being coupled to a hub of its respective rotor via a hinge mechanism configured to allow each of the fixed-pitch blades to pivot. ### Claim 15 A helicopter comprising: a gimbal assembly; a first rotor assembly mechanically coupled to the gimbal assembly, the first rotor assembly comprising a first rotor; a second rotor assembly mechanically coupled to the gimbal assembly, the second rotor assembly comprising a second rotor configured to be counter-rotating to the first rotor; a fuselage mechanically coupled to the gimbal assembly by a housing; and a controller configured to provide instructions to the gimbal assembly in order to weight-shift the fuselage of the helicopter, thereby controlling movements of the helicopter; wherein: the housing comprises a first portion and a second portion, the first portion being coupled to the second rotor assembly and the second portion being coupled to the fuselage; and the housing separates the first gimbal motor from the second gimbal motor. ### Claim 16 (depends on 15) The helicopter of claim 15, wherein the first rotor assembly is coupled to the gimbal assembly using a fixed, non-rotating shaft that passes through the second motor assembly. ### Claim 17 (depends on 15) The helicopter of claim 15, wherein the helicopter further comprises a wing, the wing coupled to an exterior portion of the fuselage, the wing configured to increase the helicopter's speed of travel or flight duration. ### Claim 18 (depends on 15) The helicopter of claim 15, wherein the first rotor assembly further comprises a plurality of first fixed-pitch blades and the second rotor assembly further comprises a plurality of second fixed-pitch blades, the amount of first fixed-pitch blades being different than the amount of second fixed-pitch blades. ### Claim 19 (depends on 15) The helicopter of claim 15, wherein the fuselage comprises a tubular body formed from a plurality of separable modular components arranged in a stacked assembly, the plurality of separable modular components comprising: a payload module; or a landing module configured to support the helicopter in a generally vertical orientation. ### Claim 20 (depends on 19) The helicopter of claim 19, wherein the landing module comprises one of: a self-balancing module comprising an elastic polymeric base; a magnetic base module comprising one of a material that produces a magnetic field or material that is attracted to a magnetic field, the magnetic base module configured to couple to a surface comprising one of a material that produces a magnetic field or material that is attracted to a magnetic field; a grapple module comprising a clasp, the clasp configured to enclose around a cable, thereby allowing the helicopter to hang in suspension from the cable; a spike module comprising an elongated piece of material terminating in a point, the spike module configured to pierce through a landing surface; a float module configured to have buoyant properties, thereby allowing the helicopter to float upon contact with a liquid surface; a cup holder module configured to couple with a landing container, the container having a funnel shape; a folding legs module comprising at least two landing legs, the landing legs configured to pivot from a position that is parallel to the fuselage to a position that stabilizes the helicopter in an upright position; a vacuum module comprising a deformable material having a concave shape, the vacuum module configured to couple to a surface using the force of air pressure; or a self-balancing wheel module comprising one or more wheels.