# US 9,038,941 B2 · Towable autogyro system having repositionable mast responsive to center of gratvity calculations

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- Number: US 9,038,941 B2
- Document ID: US9038941B2
- Status: Granted
- Kind: B2
- Application number: 13/732,852
- Filed: 2013-01-02
- Published: 2014-03-06
- Granted: 2015-05-26
- Earliest claimed: 2009-05-22
- Assignees: Heliplane, LLC
- Applicants: Heliplane, LLC
- Inventors: John William Morris; Charles Jarnot
- Web page: https://patentgrep.com/patent/US9038941B2

## CPC

- B64C 27/02: Gyroplanes
- B64D 3/00: Aircraft adaptations to facilitate towing or being towed
- B64U 10/11: Autogyros
- B64U 10/60: Tethered aircraft
- B64U 30/29: Constructional aspects of rotors or rotor supports; Arrangements thereof
- B64U 50/10: Propulsion (rotors specially adapted for rotorcraft or VTOL B64U30/20)
- B64U 2101/60: for transporting passengers; for transporting goods other than weapons
- B64U 2201/20: Remote controls
- 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
- B64U: UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR

## Abstract

An unmanned, towable aerovehicle is described and includes a container to hold cargo, an autogyro assembly connected to the container and to provide flight characteristics, and a controller to control operation the autogyro assembly for unmanned flight. The container includes a connection to connect to a powered aircraft to provide forward motive force to power the autogyro assembly. In an example, the autogyro assembly includes a mast extending from the container, a rotatable hub on an end of the mast, and a plurality of blades connected to the hub for rotation to provide lift to the vehicle. In an example, an electrical motor rotates the blades prior to lift off to assist in take off. The electrical motor does not have enough power to sustain flight of the vehicle.

## Claims

### Claim 1

An aerovehicle towed in flight by a towing aircraft, the aerovehicle comprising:
a flight body;
a plurality of weight sensors configured to sense weight of the towed aerovehicle;
an autogyro assembly connected to the flight body that includes a mast, a rotatable hub on an end of the mast, and a plurality of airfoil blades connected to the hub;
an actuator connected to the mast that is actuated to move the location of the mast relative to the flight body; and
a controller programmed to control operation of the autogyro assembly for unmanned flight, wherein the controller receives weight data sensed by the plurality of weight sensors, and actuates the actuator to change the location of the mast in response to the received weight data.

### Claim 2 (depends on 1)

The towed aerovehicle system of claim 1, wherein the actuator is configured to move the mast longitudinally, laterally, or both longitudinally and laterally.

### Claim 3 (depends on 1)

The aerovehicle system of claim 1, wherein the autogyro assembly comprises a motor to rotate the blades prior to lift off to assist in take off, and wherein the motor does not have enough power to power the aerovehicle through takeoff absent a further motive force.

### Claim 4 (depends on 3)

The aerovehicle system of claim 3, wherein the controller is programmed to sense forward motion of the aerovehicle to control the autogyro assembly.

### Claim 5 (depends on 4)

The aerovehicle system of claim 4, wherein the controller is programmed to receive a signal from the towing aircraft and to control the autogyro assembly using the received signal.

### Claim 6 (depends on 5)

The aerovehicle system of claim 5, wherein the controller is programmed to control the rotational speed of the hub.

### Claim 7 (depends on 1)

The aerovehicle system of claim 1, wherein the autogyro assembly comprises actuators to control angle of the plurality of airfoil blades, and wherein the controller controls the actuators.

### Claim 8 (depends on 1)

The aerovehicle system of claim 1, wherein the flight body comprises a container to hold cargo, a rear stabilizer, and an undercarriage to support the container when on the ground.

### Claim 9 (depends on 8)

The aerovehicle system of claim 8, wherein the undercarriage includes a trolley that contacts the ground to provide mobility and is removable from the container.

### Claim 10 (depends on 1)

The aerovehicle system of claim 1, wherein the controller is programmed to issue control signals to position airfoil blades for different stages of flight.

### Claim 11 (depends on 10)

The aerovehicle system of claim 10, wherein the controller is programmed to issue a takeoff control signal to set the airfoil blades for takeoff, wherein the angle of incidence of the airfoil blades is greater at takeoff than at flight.

### Claim 12 (depends on 11)

The aerovehicle system of claim 11, wherein the controller is programmed to issue a prerotation control signal to set the airfoil blades for pre-takeoff, wherein the angle of incidence of the airfoil blades is greater at takeoff and flight than at prerotation.

### Claim 13 (depends on 12)

The aerovehicle system of claim 12, wherein the controller is programmed to issue a landing control signal to set the airfoil blades for landing, wherein the angle of incidence of the airfoil blades is greatest at landing.

### Claim 14 (depends on 13)

The aerovehicle system of claim 13, wherein the controller is programmed to set the landing angle of incidence to 45 degrees or greater and set the flight angle of incidence to less 30 degrees.

### Claim 15 (depends on 2)

The towed aerovehicle of claim 2, wherein the controller is programmed to calculate a center of gravity of the towed aerovehicle based on the weight sensed by each of the plurality of weight sensors, and actuate the actuator to move the mast longitudinally, laterally, or both longitudinally and laterally towards the calculated center of gravity.

### Claim 16 (depends on 1)

The towed aerovehicle of claim 1, further including a plurality of legs used to support the aerovehicle when on the ground, wherein one of the plurality of weight sensors is affixed to each of the plurality of legs.

### Claim 17 (depends on 1)

The towed aerovehicle of claim 1, further including a an undercarriage that includes a frame, and a container supported by the frame, wherein the plurality of weight sensors are affixed to the container to detect deflection of the container on the frame.

### Claim 18

An aerovehicle towed in flight by a towing aircraft, the towed aerovehicle comprising:
a flight body;
an undercarriage that includes a plurality of legs for supporting the towed aerovehicle when on the ground;
a container supported by the undercarriage for receiving and securing cargo;
a plurality of weight sensors attached to the plurality of legs, respectively, to sense weight distribution of the towed aerovehicle;
an autogyro assembly connected to the flight body that includes a mast, a rotatable hub on an end of the mast, and a plurality of blades connected to the hub;
an actuator connected to the mast that is actuated to move the location of the mast relative to the flight body; and
a controller programmed to control operation of the autogyro assembly for unmanned flight, wherein the controller receives weight data sensed by the plurality of weight sensors, and actuates the actuator to change the location of the mast in response to the received weight data.

### Claim 19 (depends on 18)

The towed aerovehicle system of claim 18, wherein the actuator is configured to move the mast longitudinally, laterally, or both longitudinally and laterally.

### Claim 20 (depends on 19)

The towed aerovehicle of claim 19, wherein the controller is programmed to calculate a center of gravity of the towed aerovehicle based on the weight sensed by each of the plurality of weight sensors, and actuate the actuator to move the mast longitudinally, laterally, or both longitudinally and laterally towards the calculated center of gravity.

### Claim 21 (depends on 1)

The towed aerovehicle of claim 1, further including one of skis connected to the plurality of legs.