# US 10,481,616 B2 · Vertical takeoff and landing (VTOL) unmanned aerial vehicle (UAV) > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,481,616 B2 - Document ID: US10481616B2 - Status: Granted - Kind: B2 - Application number: 16/034,856 - Filed: 2018-07-13 - Published: 2018-11-15 - Granted: 2019-11-19 - Earliest claimed: 2014-05-08 - Assignees: Northrop Grumman Systems Corporation - Applicants: Northrop Grumman Systems Corporation - Inventors: Son F. Creasman - Web page: https://patentgrep.com/patent/US10481616B2 ## CPC - G05D 1/102: {specially adapted for vertical take-off of aircraft} - B64C 3/546: {by foldable elements} - B64C 9/00: Adjustable control surfaces or members, e.g. rudders (trimming stabilising surfaces B64C5/10) - B64C 11/48: Units of two or more coaxial propellers - B64C 25/04: Arrangement or disposition on aircraft - B64C 29/02: having its flight directional axis vertical when grounded - B64F 1/007: {Helicopter portable landing pads} - B64U 30/12: Variable or detachable wings, e.g. wings with adjustable sweep - B64U 30/20: Rotors; Rotor supports - B64U 60/70: Movable wings, rotor supports or shrouds acting as ground-engaging elements - G05D 1/0011: {associated with a remote control arrangement} - B64U 10/20: Vertical take-off and landing [VTOL] aircraft (flying platforms B64U10/13; helicopters B64U10/17) - B64U 2201/20: Remote controls - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - B64C: AEROPLANES; HELICOPTERS - B64F: GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR - B64U: UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR ## Abstract One example embodiment includes a vertical takeoff and landing (VTOL) unmanned aerial vehicle (UAV). The VTOL UAV includes a flight control system configured to provide avionic control of the VTOL UAV in a hover mode and in a level-flight mode. The VTOL UAV also includes a body encapsulating an engine and the flight control system. The VTOL UAV further includes a propeller disk coupled to the engine and configured to provide vertical thrust in the hover mode and to provide horizontal thrust for flight during the level-flight mode. ## Claims ### Claim 1 A vertical takeoff and landing (VTOL) unmanned aerial vehicle (UAV) comprising: a flight control system configured to provide avionic control of the VTOL UAV in a hover mode and in a level-flight mode; a body encapsulating an engine and the flight control system, the body being configured as a flying-wing; a plurality of retractable wings that are each configured to fold toward a first side of the body to accommodate placement of a payload on a second side of the body that is opposite the first side of the body; and a propeller disk coupled to the engine and configured to provide vertical thrust in the hover mode and to provide horizontal thrust for flight during the level-flight mode, the propeller disk comprising a pair of contra-rotating propellers axially fixed along a central axis of the body. ### Claim 2 (depends on 1) The vehicle of claim 1, further comprising a first control flap and a second control flap that are each coupled to the body and are respectively offset equally and oppositely with respect to a central axis of the body and substantially entirely within a propeller wash of the propeller disk that is defined by a diameter of the propeller disk, the first and second control flaps being controlled by the flight control system to provide rotation and lateral motion control of the VTOL UAV during the hover mode. ### Claim 3 (depends on 1) The vehicle of claim 1, further comprising a plurality of retractable wings coupled to the body, the plurality of retractable wings being in a retracted state in at least a portion of the hover mode and in an extended state in the level-flight mode to provide aerodynamic lift in the level-flight mode. ### Claim 4 (depends on 3) The vehicle of claim 3, wherein the plurality of retractable wings each comprise a control flap configured to provide avionic directional control in the level-flight mode. ### Claim 5 (depends on 1) The vehicle of claim 1, wherein the flight control system comprises: a communications transceiver configured to transmit and receive communications signals via an antenna; a control input/output (I/O) system configured to transmit and receive I/O signals to control input and output components associated with the VTOL UAV; and a processor configured to implement mission objectives based on the communications signals and the I/O signals. ### Claim 6 (depends on 5) The vehicle of claim 5, further comprising a memory configured to store at least one of a mission protocol and autonomous control parameters, such that the VTOL UAV is activated to takeoff, perform the mission objectives, and land, respectively, in an autonomous manner based on the at least one of the stored mission protocol and the autonomous control parameters. ### Claim 7 (depends on 5) The vehicle of claim 5, wherein the communications signals comprise flight control signals that are transmitted from an external control station and are received by the communication transceiver, such that the VTOL UAV is configured to takeoff, perform the mission objectives, and land, respectively, based on the received flight control signals. ### Claim 8 (depends on 1) The vehicle of claim 1, wherein the flying-wing arrangement is collapsible, wherein the propeller disk is located on a fore-section of the body, and wherein the body comprises landing posts on an aft-section of the body, wherein the flight control system is configured to takeoff and land the VTOL UAV in the hover mode and to implement mission objectives in the level-flight mode. ### Claim 9 A method for controlling a vertical takeoff and landing (VTOL) unmanned aerial vehicle (UAV), the method comprising: activating an engine to rotate a propeller disk to provide vertical thrust in a hover mode of the VTOL UAV corresponding to a substantially vertical orientation of the VTOL UAV, the propeller disk comprising a pair of contra rotating propellers axially fixed to a fore section of and along a central axis of a body of the VTOL UAV, the body being arranged as a flying-wing; extending a plurality of wings from the body at a first predetermined altitude in the hover mode, wherein extending the plurality of wings comprises unfolding the plurality of wings from a first side of the body to accommodate placement of a payload on a second side of the body that is opposite the first side of the body; changing an orientation of the VTOL UAV from the substantially vertical orientation to a substantially horizontal orientation at a second predetermined altitude that is greater than the first predetermined altitude via at least one of engine speed and control flaps that are coupled to the body and respectively offset equally and oppositely with respect to a central axis of the body substantially entirely within a propeller wash of the propeller disk that is defined by a diameter of the propeller disk; and controlling the engine to rotate the propeller disk to provide horizontal thrust in a level-flight mode of the VTOL UAV corresponding to the substantially horizontal orientation of the VTOL UAV. ### Claim 10 (depends on 9) The method of claim 9, further comprising accessing at least one of mission protocol and autonomous control parameters from a memory, such that the VTOL UAV is activated to perform the takeoff procedure, to perform mission objectives, and to land, respectively, in an autonomous manner based on the accessed at least one of the mission protocol and the autonomous control parameters. ### Claim 11 (depends on 9) The method of claim 9, further comprising receiving flight control signals via a communications transceiver, the flight control signals being transmitted from an external control station, such that the VTOL UAV is configured to perform the takeoff procedure, to perform mission objectives, and to land, respectively, based on the received flight control signals. ### Claim 12 (depends on 9) The method of claim 9, further comprising: changing an orientation of the VTOL UAV from the substantially horizontal orientation to the substantially vertical orientation; decreasing the engine speed to switch from the level-flight mode to the hover mode with a decreasing altitude; retracting the plurality of wings to the body at the first predetermined altitude in the hover mode; and landing the VTOL UAV on a landing pad via landing posts on an aft-section of the body opposite the propeller disk. ### Claim 13 (depends on 9) The method of claim 9, further comprising controlling the control flaps to provide at least one of rotation about a central axis of the body of the VTOL UAV and lateral motion of the body of the unmanned VTOL in a direction that is orthogonal with respect to the central axis. ### Claim 14 A vertical takeoff and landing (VTOL) unmanned aerial vehicle (UAV) comprising: a flight control system configured to provide avionic control of the VTOL UAV in a hover mode for takeoff and landing procedures of the VTOL UAV and in a level-flight mode for a mission procedure of the VTOL UAV; a body encapsulating an engine and the flight control system and comprising a plurality of retractable wings being configured in a flying-wing configuration, the plurality of retractable wings being in a retracted state in the hover mode and in an extended state in the level-flight mode to provide aerodynamic lift in the level-flight mode, wherein the retracted state comprises the plurality of wings folded toward a first side of the body to accommodate placement of a payload on a second side of the body that is opposite the first side of the body; and a propeller disk comprising a pair of contra-rotating propellers coupled to the engine and being axially-fixed along a central axis of the body, the pair of contra-rotating propellers being configured to provide vertical thrust in the hover mode and to provide horizontal thrust for flight during the level-flight mode. ### Claim 15 (depends on 14) The vehicle of claim 14, further comprising a first control flap and a second control flap that are each coupled to the body and are respectively offset equally and oppositely with respect to a central axis of the body and substantially entirely within a propeller wash of the propeller disk that is defined by a diameter of the propeller disk, the first and second control flaps being controlled by the flight control system to provide rotation and lateral motion control of the VTOL UAV during the hover mode. ### Claim 16 (depends on 14) The vehicle of claim 14, wherein the plurality of retractable wings are provided in a retracted state in at least a portion of the hover mode and in an extended state in the level-flight mode to provide aerodynamic lift in the level-flight mode, wherein the body comprises landing posts on an aft-section of the body. ### Claim 17 (depends on 14) The vehicle of claim 14, wherein the plurality of retractable wings each comprise a control flap configured to provide avionic directional control in the level-flight mode. ### Claim 18 (depends on 14) The vehicle of claim 14, wherein the flight control system comprises: a communications transceiver configured to transmit and receive communications signals via an antenna; a control input/output (I/O) system configured to transmit and receive I/O signals to control input and output components associated with the VTOL UAV; and a processor configured to implement mission objectives based on the communications signals and the I/O signals.