# US 11,027,840 B2 · Autonomous self-stabilizing aerial system and method

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- Number: US 11,027,840 B2
- Document ID: US11027840B2
- Status: Granted
- Kind: B2
- Application number: 16/108,466
- Filed: 2018-08-22
- Published: 2019-02-28
- Granted: 2021-06-08
- Earliest claimed: 2017-08-29
- Assignees: Hangzhou Zero Zero Technology Co., Ltd.
- Applicants: Hangzhou Zero Zero Technology Co., Ltd.
- Inventors: Lei Zhang; Zhaozhe Wang; Chenhui Qian; Xiang Li; Tong Zhang
- Web page: https://patentgrep.com/patent/US11027840B2

## CPC

- B64C 17/02: by gravity or inertia-actuated apparatus
- B64C 11/28: Collapsible or foldable blades
- B64C 11/48: Units of two or more coaxial propellers
- B64C 27/14: Direct drive between power plant and rotor hub
- B64C 27/50: Blades foldable to facilitate stowage of aircraft
- B64C 27/52: Tilting of rotor bodily relative to fuselage (of see-saw type construction B64C27/43)
- B64U 10/13: Flying platforms
- B64U 30/20: Rotors; Rotor supports
- G05D 1/0094: {involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target}
- G05D 1/0816: {to ensure stability}
- G05D 1/101: {specially adapted for aircraft}
- B64U 10/10: Rotorcrafts
- B64U 50/32: generated by fuel cells
- B64U 2101/30: for imaging, photography or videography
- 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

An aerial system includes a body, a propeller coupled to the body, and a motor coupled to the propeller. The motor is configured to rotate the propeller in a first direction, wherein an other portion of the aerial system rotates in an opposing second direction. The other portion of the aerial system that rotation in the opposing second direction may be the body or a second propeller. The aerial system also includes a processing system configured to control the motor to cause the aerial system to hover in a substantially fixed pose, and a camera configured to obtain images of an environment proximate the aerial system while the aerial system is hovering.

## Claims

### Claim 1

An aerial system, comprising:
a body;
a propeller coupled to the body;
a motor coupled to the propeller, the motor configured to rotate the propeller in a first direction, wherein the motor is further configured to rotate another portion of the aerial system in an opposing second direction;
a processing system configured to control the motor tocause the aerial system to hover in a substantially fixed pose;
a camera configured to obtain images of an environment proximate the aerial system while the aerial system is hovering; and
a tilt mechanism being controllable by the processing system, the tilt mechanism being disposed inside the body,
wherein the tilt mechanism includes a mass, a motor and a shaft, the mass being coupled to the motor by the shaft and being coupled to the body at a pivot point,
wherein the processing system is configured to rotate the motor to position the mass at a desired location, and
wherein the mass is pivoted to change a center of gravity of the body to tilt the body together with the propeller coupled to the body at a desired angle relative to a center of gravity of the aerial system.

### Claim 2 (depends on 1)

The aerial system, as set forth in claim 1, wherein the aerial system further comprises an activation interface coupled to the processing system, the processing system being configured to initiate operation of the aerial system in response to activation of the activation interface.

### Claim 3 (depends on 1)

The aerial system, as set forth in claim 1, wherein the propeller includes a plurality of propeller blades, wherein the propeller blades are movable between a folded position and an extended position.

### Claim 4 (depends on 1)

The aerial system, as set forth in claim 1, further comprising a stationery frame coupled to the body and positioned to surround an outer edge of the propeller.

### Claim 5 (depends on 1)

The aerial system, as set forth in claim 1, wherein the other portion of the aerial system is the body.

### Claim 6 (depends on 5)

The aerial system, as set forth in claim 5, wherein the activation interface includes a sensor for detecting a rotational force or speed imparted to the body by a user, wherein the activation interface is activated as a function of the detected rotational force or speed.

### Claim 7 (depends on 6)

The aerial system, as set forth in claim 6, wherein the activation interface is activated if the detected rotational force or speed exceeds a threshold.

### Claim 8 (depends on 1)

The aerial system, as set forth in claim 1, wherein the body is encased in a housing, the housing being cylindrical and extending in a direction away from the propeller, wherein the propeller is mounted at a first end of the housing, the housing tapers inwardly at the first end.

### Claim 9 (depends on 8)

The aerial system, as set forth in claim 8, wherein the housing includes a second end, further comprising at least one camera mounted on the housing at the second end.

### Claim 10 (depends on 8)

The aerial system, as set forth in claim 8, wherein the housing includes a second end, further comprising first and second cameras mounted on the housing at opposite sides of the second end.

### Claim 11 (depends on 1)

The aerial system, as set forth in claim 1, further comprising a second propeller, wherein the other portion of the aerial system includes the second propeller.

### Claim 12 (depends on 11)

The aerial system, as set forth in claim 11, wherein the second propeller is driven by the motor.

### Claim 13 (depends on 11)

The aerial system, as set forth in claim 11, further comprising a second motor coupled to the second propeller, wherein the second propeller is driven by the second motor.

### Claim 14 (depends on 11)

The aerial system, as set forth in claim 11, including a first stabilizer coupled to the first propeller and a second stabilizer coupled to the second propeller, wherein the first and second stabilizers rotate with the first and second propellers respectively, and act to reduce torque induced to the body by motion of the respective propeller.

### Claim 15 (depends on 11)

The aerial system, as set forth in claim 11, wherein the propeller includes a first plurality of propeller blades and the second propeller includes a second plurality of propeller blades, wherein the first and second plurality of propeller blades are movable between a folded position and an extended position.