# US 12,110,106 B2 · Aerial vehicle with differential control mechanisms

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- Number: US 12,110,106 B2
- Document ID: US12110106B2
- Status: Granted
- Kind: B2
- Application number: 16/949,414
- Filed: 2020-10-28
- Published: 2021-04-29
- Granted: 2024-10-08
- Earliest claimed: 2019-10-28
- Assignees: Joby Aero, Inc.
- Applicants: Joby Aero, Inc.
- Inventors: Thomas Akers; Peter Kalogiannis; Mark Moore; Robert Alan McDonald; Ian Andreas Villa
- Web page: https://patentgrep.com/patent/US12110106B2

## CPC

- B64C 29/0033: {the propellers being tiltable relative to the fuselage}
- B64C 3/385: {Variable incidence wings}
- B64C 27/52: Tilting of rotor bodily relative to fuselage (of see-saw type construction B64C27/43)
- B64C 29/02: having its flight directional axis vertical when grounded
- B64U 10/20: Vertical take-off and landing [VTOL] aircraft (flying platforms B64U10/13; helicopters B64U10/17)
- B64U 50/19: using electrically powered motors
- B64U 10/25: Fixed-wing aircraft (VTOL aircraft B64U10/20)
- B64U 30/20: Rotors; Rotor supports
- B64U 30/297: Tilting rotors
- B64C: AEROPLANES; HELICOPTERS
- B64U: UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR

## Abstract

An aerial vehicle may have a fuselage, a first wing member, and a second wing member. The fuselage may have a nose end and a tail end. The first wing member may extend from the fuselage and comprise a first drive motor coupled to the first rotor. The second wing member may also extend from the fuselage substantially opposite the first wing member and may comprise a second drive motor coupled to a second rotor. A first motor may be coupled to rotate the first wing member and the first rotor about a first axis substantially perpendicular to a fuselage axis extending from the nose end to the tail end. A second motor may be coupled to rotate the second wing member and the second rotor about a second axis substantially perpendicular to the fuselage axis. A controller circuit may be configured to differentially actuate the first motor and the second motor.

## Claims

### Claim 1

An aerial vehicle comprising:
a fuselage having:
a nose end, and
a tail end;
a first wing member extending from the fuselage in a first direction, the first wing member comprising:
a first drive motor coupled to a first rotor,
a second drive motor coupled to a second rotor, and
a third drive motor coupled to a third rotor,
wherein, in a second direction perpendicular to the first direction, the first wing member and the third drive motor are positioned between the first drive motor and the second drive motor;
a second wing member extending from the fuselage substantially opposite the first wing member;
a first wing rotation motor coupled to rotate the first wing member about a first axis substantially perpendicular to a fuselage axis extending from the nose end to the tail end;
a second wing rotation motor coupled to rotate the second wing member about a second axis substantially perpendicular to the fuselage axis; and
a controller circuit configured to;
differentially actuate the first motor and the second motor;
detect a rotation failure of the second wing member based on one or more sensors that generate a signal based on a position of the second wing member; and
responsive to the detecting of the failure, determine a combination of rotor speeds for the first, second, and third rotors and rotation positions for the first wing member that brings about a desired thrust vector and/or moment of torque for the aerial vehicle.

### Claim 2 (depends on 1)

The aerial vehicle of claim 1, wherein the controller circuit is further configured to rotate the first wing member and the second wing member to generate a thrust vector towards the nose end of the fuselage while the fuselage axis is substantially parallel to a horizon.

### Claim 3 (depends on 1)

The aerial vehicle of claim 1, wherein the controller circuit is further configured to:
operate the aerial vehicle in a first control mode when the aerial vehicle is above a threshold altitude; and
operate the aerial vehicle in a second control mode when the aerial vehicle is below the threshold altitude, wherein the first wing rotation motor and the second wing rotation motor are maintained at a substantially constant revolution rate in the second control mode.

### Claim 4 (depends on 1)

The aerial vehicle of claim 1, wherein the second wing member extends from the fuselage in a third direction, and wherein the second wing member comprises:
a fourth drive motor coupled to a fourth rotor;
a fifth drive motor coupled to a fifth rotor; and
a sixth drive motor coupled to a sixth rotor;
wherein, in a fourth direction perpendicular to the third direction, the second wing member and the sixth drive motor are positioned between the third drive motor and the fourth drive motor.

### Claim 5 (depends on 4)

The aerial vehicle of claim 4, wherein the controller circuit is further configured to:
energize the first drive motor and the fourth drive motor to maintain the first rotor and the fourth rotor at a constant revolution rate; and
energize the first wing rotation motor or the second wing rotation motor to generate a thrust vector that changes an attitude of the aerial vehicle.

### Claim 6 (depends on 1)

The aerial vehicle of claim 1 wherein the controller circuit is further configured to:
determine the position of the second wing member based on a current position of the second wing rotation motor.

### Claim 7 (depends on 1)

The aerial vehicle of claim 1, wherein the controller circuit is further configured to energize the first wing rotation motor or the second wing rotation motor to generate a vertical thrust vector with the fuselage axis not parallel to a horizon.

### Claim 8 (depends on 1)

The aerial vehicle of claim 1, further comprising a stationary tail coupled to the fuselage.

### Claim 9

An aerial vehicle comprising:
a fuselage having:
a nose end, and
a tail end;
a first wing member extending from the fuselage in a first direction, the first wing member comprising:
a first drive motor coupled to a first rotor,
a second drive motor coupled to a second rotor, and
a third drive motor coupled to a third rotor,
wherein, in a second direction perpendicular to the first direction, the first wing member and the third drive motor are positioned between the first drive motor and the second drive motor;
a second wing member extending from the fuselage substantially opposite the first wing member;
a first wing rotation motor coupled to rotate the first wing member about a first axis substantially perpendicular to a fuselage axis extending from the nose end to the tail end;
a second wing rotation motor coupled to rotate the second wing member about a second axis substantially perpendicular to the fuselage axis; and
a controller circuit configured to differentially actuate the first wing rotation motor and the second wing rotation motor,
wherein the first wing member is coupled to the first wing rotation motor by bevel gears configured with a gear ratio such that expected aerodynamic forces on the first wing member do not cause the first wing member to rotate absent input from the first wing rotation motor.