# US 10,870,495 B2 · Invertible aircraft

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- Number: US 10,870,495 B2
- Document ID: US10870495B2
- Status: Granted
- Kind: B2
- Application number: 16/449,457
- Filed: 2019-06-24
- Published: 2020-02-13
- Granted: 2020-12-22
- Earliest claimed: 2011-03-22
- Assignees: AeroVironment, Inc.
- Applicants: AeroVironment, Inc.
- Inventors: Matthew Todd Keennon; Karl Robert Klingebiel
- Web page: https://patentgrep.com/patent/US10870495B2

## CPC

- B64C 27/12: Rotor drives
- B64C 11/20: Constructional features
- B64C 11/32: mechanical
- B64C 27/04: Helicopters
- B64C 27/06: with single rotor
- B64C 27/473: Constructional features
- B64C 27/59: mechanical
- B64C 29/0033: {the propellers being tiltable relative to the fuselage}
- B64U 30/29: Constructional aspects of rotors or rotor supports; Arrangements thereof
- G05D 1/0038: {by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation (images analyzed by a computer and used for automatic navigation G05D1/0246)}
- G05D 1/005: {by providing the operator with signals other than visual, e.g. acoustic, haptic}
- B64C 2027/4733: {Rotor blades substantially made from particular materials}
- B64U 10/14: with four distinct rotor axes, e.g. quadcopters
- B64U 30/299: Rotor guards (ducted or shrouded rotors B64U30/26; guards used as ground propulsion B64U60/60)
- B64U 2101/31: for surveillance
- B64U 2101/70: for use inside enclosed spaces, e.g. in buildings or in vehicles
- B64U 2201/20: Remote controls
- B64C: AEROPLANES; HELICOPTERS
- B64U: UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

## Abstract

A rotorcraft including a fuselage, one or more motor-driven rotors for vertical flight, and a control system. The motors drive the one or more rotors in either of two directions of rotation to provide for flight in either an upright or an inverted orientation. An orientation sensor is used to control the primary direction of thrust, and operational instructions and gathered information are automatically adapted based on the orientation of the fuselage with respect to gravity. The rotors are configured with blades that invert to conform to the direction of rotation.

## Claims

### Claim 1

An aerial vehicle, comprising:
a body having a right-side-up orientation and an upside-down orientation with respect to gravity;
one or more thrusters providing thrust in a controllable direction of thrust with respect to the body; and
a control system programmed to control the direction of thrust with respect to the body in which the one or more thrusters provide thrust;
wherein the control system is programmed to reverse the direction of thrust with respect to the body when the orientation of the body with respect to gravity has switched between the right-side-up orientation and the upside-down orientation.

### Claim 2 (depends on 1)

The aerial vehicle of claim 1, and further comprising an orientation sensor sensing the orientation of the body with respect to gravity, wherein the control system is programmed to reverse the direction of thrust with respect to the body based on a signal from the orientation sensor.

### Claim 3 (depends on 1)

The aerial vehicle of claim 1, wherein the control system is programmed to coordinate the operation of the thrusters to accomplish controlled flight, and wherein the control system adapts the control system's coordination of the thrusters based on the direction of thrust with respect to the body.

### Claim 4 (depends on 1)

The aerial vehicle of claim 1, and further comprising a directional sensor sensing the external environment, wherein the control system adjusts a sensor signal from the directional sensor based on the direction of thrust with respect to the body.

### Claim 5 (depends on 4)

The aerial vehicle of claim 4, and further comprising a ground station depicting a video signal from the directional sensor, wherein the ground station displays the video signal in an orientation based on the orientation of the body with respect to gravity.

### Claim 6 (depends on 1)

The aerial vehicle of claim 1, and further comprising a surface-connection device affixing the aerial vehicle to a surface such that it hangs from the surface without rotor thruster activity to maintain the aerial vehicle's position.

### Claim 7

A method of controlling an aerial vehicle, the aerial vehicle including a body having a right-side-up orientation and an upside-down orientation with respect to gravity, and one or more thrusters providing thrust in a controllable direction of thrust with respect to the body, comprising:
controlling the direction of thrust with respect to the body in which the one or more thrusters provide thrust; and
reversing the direction of thrust with respect to the body when the orientation of the body with respect to gravity has switched between the right-side-up orientation and the upside-down orientation.

### Claim 8 (depends on 7)

The method of claim 7, the aerial vehicle including an orientation sensor sensing the orientation of the body with respect to gravity, wherein in the step of reversing, the direction of thrust is reversed based on a signal from the orientation sensor.

### Claim 9 (depends on 7)

The method of claim 7, and further comprising coordinating the operation of the thrusters to accomplish controlled flight, based on the direction of thrust with respect to the body.

### Claim 10 (depends on 7)

The method of claim 7, the aerial vehicle including a directional sensor sensing the external environment, and further comprising adjusting a sensor signal from the directional sensor based on the direction of thrust with respect to the body.

### Claim 11 (depends on 10)

The aerial vehicle of claim 10, the aerial vehicle including a ground station depicting a video signal from the directional sensor, and further comprising orienting the depiction of the video signal based on the orientation of the body with respect to gravity.

### Claim 12 (depends on 7)

The method of claim 7, the aerial vehicle including an aerial-vehicle-affixing surface-connection device, and further comprising affixing the aerial vehicle to a surface using the surface-connection device such that the aerial vehicle hangs from the surface without thruster activity.

### Claim 13

A method of controlling a rotorcraft, the rotorcraft including a fuselage defining a vertical dimension with respect to the fuselage, the fuselage having a right-side-up orientation and an upside-down orientation with respect to gravity, the rotorcraft including one or more rotors having vertically oriented axes of orientation with respect to the fuselage, and the rotorcraft including one or more motors connected to the one or more rotors, comprising:
controlling the speed with which the one or more motors drives the one or more rotors in rotor rotation to control the direction of thrust generated by the rotors; and
reversing the direction of thrust when the fuselage has switched between the right-side-up orientation and the upside-down orientation.

### Claim 14 (depends on 13)

The method of claim 13, the rotorcraft including an orientation sensor sensing the orientation of the body with respect to gravity, wherein in the step of reversing, the direction of thrust is reversed based on a signal from the orientation sensor.

### Claim 15 (depends on 13)

The method of claim 13, and further comprising coordinating the operation of the thrusters to accomplish controlled flight, based on the direction of thrust with respect to the body.

### Claim 16 (depends on 13)

The method of claim 13, the rotorcraft including a directional sensor sensing the external environment, and further comprising adjusting a sensor signal from the directional sensor based on the direction of thrust with respect to the body.

### Claim 17 (depends on 16)

The rotorcraft of claim 16, the rotorcraft including a ground station depicting a video signal from the directional sensor, and further comprising orienting the depiction of the video signal based on the orientation of the body with respect to gravity.

### Claim 18 (depends on 13)

The rotorcraft of claim 13, each rotor of the rotorcraft having a plurality of blades that rotate, wherein the rotor rotates in either of two directions, and wherein each blade of the plurality of blades produces equal thrust in either direction of rotation at a given rotational speed.

### Claim 19 (depends on 18)

The rotorcraft of claim 18, each blade of the plurality of blades extending along a longitudinal blade axis, wherein each blade has 2-fold rotational symmetry around that blade's longitudinal axis.

### Claim 20 (depends on 18)

The rotorcraft of claim 18, at least one blade of the plurality of blades including rigid sections at a leading edge and a trailing edge, and a flexible section intermediate the rigid sections, wherein the flexible section is adequately flexible to change in aerodynamic shape when the direction of rotor rotation reverses.