# US 12,325,542 B2 · UAV with protective outer cage > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,325,542 B2 - Document ID: US12325542B2 - Status: Granted - Kind: B2 - Application number: 17/280,165 - Filed: 2019-09-22 - Published: 2021-11-04 - Granted: 2025-06-10 - Earliest claimed: 2018-09-26 - Assignees: Flyability SA - Applicants: Flyability SA - Inventors: Guglielmo Milan - Web page: https://patentgrep.com/patent/US12325542B2 ## CPC - B64U 30/299: Rotor guards (ducted or shrouded rotors B64U30/26; guards used as ground propulsion B64U60/60) - B64C 1/08: Geodetic or other open-frame structures - B64C 27/20: Rotorcraft characterised by having shrouded rotors, e.g. flying platforms - B64C 39/024: {of the remote controlled vehicle type, i.e. RPV} - B64D 45/00: Aircraft indicators or protectors not otherwise provided for - B64D 47/08: Arrangements of cameras - B64U 10/13: Flying platforms - B64U 20/30: for safety, e.g. with frangible components (rotor guards B64U30/299) - B64U 30/20: Rotors; Rotor supports - B64U 50/19: using electrically powered motors - B64U 10/14: with four distinct rotor axes, e.g. quadcopters - B64U 20/87: Mounting of imaging devices, e.g. mounting of gimbals - B64U 2101/30: for imaging, photography or videography - B64U 2101/31: for surveillance - B64U 2201/10: autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS] - B64U: UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR - B64C: AEROPLANES; HELICOPTERS - B64D: EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT ## Abstract An unmanned aerial vehicle comprising an outer protective cage, a propulsion system mounted inside the outer protective cage, a sensor support system fixed on the outer protective cage and a sensor system coupled to the sensor support system. The sensor system is coupled to the sensor support system via a load-limiting coupling mechanism that comprises a spring coupling exerting an elastic bias against the sensor system towards a normal operating position, the sensor system being retractable into the outer protective cage against the elastic bias of the spring coupling upon collision with an external object. ## Claims ### Claim 1 Unmanned aerial vehicle (UAV) capable of hovering flight, the UAV comprising: an elastically deformable outer protective cage, a propulsion system mounted inside the outer protective cage, a sensor support system indirectly coupled to the propulsion system via a portion of the outer protective cage, wherein the sensor support system comprises a cage frame member coupled to the outer protective cage, and a sensor system coupled to the sensor support system and configured to project through the cage frame member, wherein the sensor system is coupled to the sensor support system via a passive coupling mechanism without motorized actuation that comprises a spring coupling exerting an elastic bias against the sensor system towards an operating position, the sensor system being retractable into the outer protective cage against the elastic bias of the spring coupling upon collision with an external object, and wherein the coupling mechanism further comprises a load limited releasable rigid coupling providing a stable rigid positioning of the sensor system in said operating position, the rigid coupling being releasable upon exercise of a collision force greater than a predetermined threshold. ### Claim 2 (depends on 1) UAV according to claim 1, wherein the load limited releasable rigid coupling comprises a magnetic coupling. ### Claim 3 (depends on 1) UAV according to claim 1, wherein the sensor system is pivotally mounted to the sensor support system. ### Claim 4 (depends on 1) UAV according to claim 1, wherein the cage frame member is shaped to replace a frame module shape of the protective outer cage. ### Claim 5 (depends on 1) UAV according to claim 1, wherein the cage frame member is shaped in the shape of a pentagon. ### Claim 6 (depends on 1) UAV according to claim 1, wherein the outer protective cage comprises beams connected together to form triangular frame shapes, the triangular frame shapes arranged in frame modules having an outer pentagon shape. ### Claim 7 (depends on 1) UAV according to claim 1, wherein the spring coupling comprises a beam plate spring rigidly attached to, or integrally formed with, the cage frame member, the beam plate spring being generally rigid in a direction essentially parallel to a plane of the cage frame member and flexible in an orthogonal direction thereto. ### Claim 8 (depends on 7) UAV according to claim 7, wherein the beam plate spring is formed of a composite material in an essentially planar sheet form, for instance of a carbon fiber, glass fiber or other fiber material embedded in a resin, such as an epoxy resin. ### Claim 9 (depends on 1) UAV according to claim 1, wherein the spring coupling comprises a traction spring. ### Claim 10 (depends on 1) UAV according to claim 1, wherein the spring coupling comprises an elastic arm attached at one end to the cage frame member and at the other end to the sensor system, the elastic arm capable of elastically bending and twisting. ### Claim 11 (depends on 10) UAV according claim 10 wherein the elastic arm is made of an elastomeric material. ### Claim 12 (depends on 1) UAV according to claim 1, wherein the sensor system comprises an image capture device for capturing moving or still images. ### Claim 13 (depends on 1) UAV according to claim 1, wherein the sensor system further comprises a lighting system. ### Claim 14 (depends on 1) UAV according to claim 1, wherein the sensor system comprises a sensor guard that extends beyond a front face of the sensor system. ### Claim 15 (depends on 1) UAV according to claim 1, wherein the sensor system is coupled to the sensor support system using a plurality of springs. ### Claim 16 (depends on 1) UAV according to claim 1, wherein the cage frame member is spring mounted to the outer protective cage using a plurality of springs.