Hybrid fixed angle rotor unmanned aerial vehicle with vertical takeoff and landing capability

Abstract

The present disclosure relates to hybrid unmanned aerial vehicles (UAVs) with vertical takeoff and landing (VTOL) capabilities. In particular, the present disclosure relates to stable hybrid fixed- angle-rotor array UAVs with VTOL capabilities using both hover capabilities using rotors and cruising capabilities using fixed wings.

Description

Technical Field

[0001] This disclosure relates to hybrid unmanned aerial vehicles (UAVs) with vertical takeoff and landing (VTOL) capabilities. Specifically, the present invention relates to hybrid fixed-wing and rotary-wing UAVs with VTOL capabilities. Background Technology

[0002] Currently, UAVs are being developed to perform a wide range of specialized tasks, such as combat, surveillance, delivery, search and rescue operations, industrial surveying and inspection, construction, mining, storage, photogrammetry, aerial photography, cinematography and video, live broadcasting, news gathering, multispectral analysis, forest vegetation protection, biological plant protection, asset perimeter inspection, power line and pipeline inspection, interception of other UAVs, geodesy and mapping, etc.

[0003] Typically, these UAVs are developed as multi-purpose transport platforms to carry various goods and / or payloads. However, any specific application of a UAV depends on specific functional conditions and requirements, which in turn depend on the UAV's primary design (designed for X or DFX). Factors determining the DFX requirements of a UAV include flight duration, cruising altitude, payload type and weight, and hovering capability.

[0004] However, many types of UAV applications require horizontal cruise flight over considerable distances while also possessing VTOL capability. VTOL capability is especially important when a dedicated runway is unavailable, and such a runway is impractical due to the lack of clearly defined landing spaces, such as in urban environments, on ocean-going vessels, on drilling platforms, or in largely uneven terrain.

[0005] In this field, various structural types of convertible aircraft have been used in manned aviation, with different flight principles in different modes. In particular, the so-called "vertical takeoff and landing aircraft" is well-known, consisting of two rotor systems—lift and cruise—each operating in only one mode. The disadvantages of the above design are the relatively high weight of the propulsion unit and the degradation of aerodynamic characteristics due to the additional drag generated by the inactive rotor.

[0006] Similarly, the so-called "tilt rotor" is known to provide a variable flight mode for horizontal cruise flight by rotating (tilting) the rotor from a vertical position to a horizontal configuration. There are also known aircraft that provide variable flight modes by rotating wing components on which rotors are mounted.

[0007] The disadvantages of the aforementioned UAV structure are the instability of flight in transition mode, the structural complexity of the transmission system providing the rotating (tilting) rotor or wing components, and its high weight. The proportion of such structures is also small because as the mass-size characteristics increase, the pitch, roll, and torque of the rotor also increase, which must be structurally overcome relative to the vertical flight plane.

[0008] Similarly, there are known "tail-sitting" VTOLs, which have also been used in UAVs; however, in general, they have relatively small carrying capacity and are challenging to operate in high crosswind conditions during takeoff, landing, and hovering.

[0009] Therefore, the common drawbacks of the above design can be summarized as: a) instability of the aircraft flight when switching from vertical to horizontal cruise flight mode and returning, b) difficulty in balancing the aircraft's center of gravity, c) complexity of control, and d) low reliability.

[0010] An example of the aforementioned solution is disclosed in WO2015 / 115913A1 entitled “Multipurpose aircraft,” which has a twin-fuselage configuration with forward and aft structural member panels located between the fuselages. The forward structural member panel includes a cabin with compartments for storage and engines. The forward structural member panel is part of the fixed wing and helps to balance the aircraft's lift.

[0011] Furthermore, the “design of aircraft” of USD822579 includes a cabin with attached right and left wing control consoles, right and left longitudinal beams attached to the cabin via forward-projecting struts and connected together by airfoil elements aft of the cabin, motors with push rotors located aft of the cabin, each longitudinal beam including a row of four rotors for hovering mode, a vertical stabilizer behind the beams aft of the cabin, and landing gear. The disadvantage of the aircraft shown is the inclusion of two sets of rotors: one set of push rotors located aft of the cabin for providing horizontal cruise flight, and two rows of rotors on the left and right beams for providing hovering mode, thus increasing the aircraft's weight and reducing energy efficiency and range.

[0012] Similarly, US9296478B2, entitled "Aircraft having at least two aircraft fuselages and a structural member with arrangement with at least two wing sections that are not connected to each other," includes a structural member assembly having at least two unconnected wing sections and a second wing, wherein the connecting areas of the structural member assembly and the second wing are arranged to be offset relative to each other at least in the XZ plane of the aircraft's fixed coordinate system. The aircraft described in US9296478B2 is a full-size passenger aircraft providing horizontal cruise flight but without vertical takeoff and landing capabilities.

[0013] This seeks to address these and other shortcomings of existing technologies. Summary of the Invention

[0014] In various exemplary embodiments, hybrid unmanned aerial vehicles (UAVs) with vertical takeoff and landing (VTOL) capabilities are disclosed. Specifically, exemplary embodiments of hybrid fixed-wing and rotary-wing UAVs with VTOL capabilities for increased stability are provided.

[0015] In one exemplary embodiment, this document provides an unmanned aerial vehicle (UAV) system configured for vertical takeoff and landing (VTOL), comprising: an aircraft having: a pair of elongated, bow-shaped drivetrain members, each having a bottom end and a top end, and each defining a bottom inflection point, a middle inflection point, and a top inflection point; a fuselage; a structural member defining a longitudinal axis, the structural member having an upper surface and a bottom surface, a pair of lateral ends extending laterally from the fuselage and coupled to each elongated, bow-shaped drivetrain member at each lateral end; and a pair of second wings operably coupled to each elongated, bow-shaped drivetrain member. The component extends laterally from it, each second wing being operatively coupled to a structural member; a rear horizontally inverted airfoil having a top surface and a bottom surface spanning the gap between the pair of elongated bow-shaped drivetrain members, with lateral ends coupled to the pair of elongated bow-shaped drivetrain members at the top inflection point; and optionally, a stabilizing crossbar having a pair of lateral ends coupled to the respective elongated bow-shaped drivetrain member at the bottom inflection point, wherein each elongated drivetrain member further includes a first VTOL rotor extending from the bottom inflection point to the top and a second VTOL rotor extending from the elongated bow-shaped drivetrain member to the bottom between the intermediate inflection point and the top inflection point.

[0016] In another exemplary embodiment, this document provides an autonomous VTOL UAV, comprising: a first autopilot module that transmits and receives UAV rotor control signals; a second autopilot module that receives fixed-wing control signals; an integrator module; and an onboard central processing module (CPM) that communicates with the first autopilot module, the second autopilot module, and the integrator module. The CPM includes at least one processor and also communicates with a non-transitory memory device storing a set of executable instructions thereon, the instructions being configured to, when executed, cause at least one processor to automatically: transmit and receive rotor control signals; receive fixed-wing control signals; calculate control signals applied to the VTOL UAV using the integrator module; and apply the calculated control signals to the VTOL UAV rotor control.

[0017] These and other features of systems, methods, and procedures for hybrid fixed and rotary-wing UAVs with VTOL capability will become apparent from the following detailed description when read in conjunction with the accompanying drawings and examples, which are exemplary and not limiting. Attached Figure Description

[0018] To better understand the systems, methods, and procedures for hybrid fixed and rotary-wing UAVs with VTOL capability, reference is made to the accompanying examples and figures regarding exemplary implementations, wherein:

[0019] Figure 1A A top perspective view of an exemplary implementation of a UAV with VTOL capability is shown. Figure 1B It shows its bottom perspective view;

[0020] Figure 2 One of a pair of transmission components is shown;

[0021] Figure 3A A top perspective view of a structural component element is shown. Figure 3B The magnified portion is shown;

[0022] Figure 4A The image shows a top perspective view of the UAV's fuselage components. Figure 4B A bottom perspective view is shown. Figure 4C The cockpit section of the fuselage is shown, without any covering components;

[0023] Figure 5A The inverted airfoil of the UAV is shown. Figure 5B It shows along Figure 5A The YZ cross section intercepted by line CC;

[0024] Figure 6A A side view of the UAV in horizontal cruise flight mode is shown. Figure 6B The UAV hovered during vertical landing and takeoff; and

[0025] Figure 7 A top perspective view of another exemplary embodiment of a UAV with VTOL capability is shown, without... Figure 1A The stabilizer bar and autopilot radiator are shown. Detailed Implementation

[0026] This document provides exemplary implementations of systems, methods, and procedures for hybrid fixed-wing and rotary-wing UAVs with VTOL capability. In some exemplary implementations, the disclosed hybrid fixed-wing and rotary-wing UAVs with VTOL capability offer improved controllability with seamless transitions between hovering and level cruise flight modes. The seamless transition between hovering and level cruise flight modes is achieved, for example, by rotors mounted in two arrays with a fixed angle of deflection, one forward rotor array mounted upward (top) and the next rear rotor array mounted downward (bottom), with the UAV's center of gravity located at the intersection of the rotor shaft diagonals. The location of the UAV's center of gravity and the value of the rotor deflection angle are determined by the equations provided herein.

[0027] like Figure 1A , 1B As illustrated in the exemplary embodiments, a canard assembly with a first rotor array and a rear horizontal stabilizer (in other words, an inverted airfoil) with a second rotor (rotor) array influence two reaction thrust components, such that the lift area of ​​the canard assembly is greater than the lift generated by the lift area of ​​the rear horizontal stabilizer, forming a self-stabilizing aerodynamic system. In the illustrated configuration, the UAV's control increases nose pitch while reducing downthrow by employing a functional elevator with a dedicated actuator (rear rotor array). In the context of this disclosure, the term "rotor" is used to include rotors, propellers, and any other suitable rotating blades or blade-like structures that exert forces on a vehicle through interaction with the surrounding medium (air or fluid). The multi-rotor UAV 10 may include multiple subsystems, such as avionics subsystems, generator subsystems, and one or more electronic speed controller (ESC) drive motors that drive one or more rotors (e.g., propellers). In some exemplary embodiments, the drive motors may be "coupled" to the rotors / propellers. That is, the drive motors are adapted to a structure capable of being coupled to the rotors / propellers.

[0028] Therefore, a hybrid UAV with VTOL capability is provided, having two separate longitudinal drive elements, at least one front horizontal wing assembly, a rear horizontal stabilizer, a multi-rotor propulsion unit, and a fuselage for payload and other equipment. In some exemplary embodiments, the front wing assembly comprises left and right separate wing portions without a central wing portion, mounted on the outer sides of the longitudinal drive elements. Furthermore, the longitudinal drive elements are optionally interconnected by at least one lateral crossbar reinforcement.

[0029] In the context of this disclosure, the term "lateral stiffener" or "stabilizing crossbar" refers to a rod, bar, or beam, or a structure operable to provide lateral stiffness to the canard assembly. This element may be included optionally, and its inclusion will depend on predetermined factors such as payload weight, anticipated atmospheric conditions, etc. Figure 1B As shown, the dimensions of the bow-shaped, outwardly flared V-shaped crossbar ensure that the apex of the V-shaped stabilizer is located directly below the UAV's center of gravity, thus providing additional stability to the UAV. Similarly, in the context of this disclosure, the term "longitudinal element" or "slender bow-shaped drivetrain component" refers to a load-bearing element operable to provide structural stiffness and for mounting equipment or for use with a tail fin. The term "drivetrain" refers to the mechanical and electrical components that interconnect the rotor mounted on the slender bow-shaped drivetrain component with the power source.

[0030] In the context of this disclosure, the term "operable" means that a system and / or device and / or program, or an element or step, is fully functional, reasonably sized, suitable, and calibrated, including elements for and meeting applicable operability requirements to perform said function when activated, coupled, implemented, started, influenced, realized, or when an executable program is executed by at least one processor associated with the system and / or device. Regarding systems and circuits, the term "operable" means that a system and / or circuit is fully functional and calibrated, including logic, having the necessary hardware and firmware, and circuitry, and meeting applicable operability requirements to perform said function when executed by at least one processor.

[0031] In another exemplary embodiment, the multi-rotor propulsion unit includes at least four rotors (interchangeable with rotors). The rotors may be located in at least two arrays, with a first array located in front of the forewing assembly and a second array located in front of the horizontal stabilizer. The rotors are mounted on a longitudinal drivetrain element and have a fixed deflection angle β. 110 ,β 120 Furthermore, there is a predetermined gap between the leading edge of the foreplane assembly and the low-pressure area below the rear horizontal stabilizer. The rotation axis of the first rotor array is upward, and the rotation axis of the second rotor array is downward.

[0032] In addition, the UAV includes a rear horizontal stabilizer (or a rear horizontally inverted airfoil), which includes a spoiler, and optionally, in some exemplary embodiments, includes an elevator with a drive mechanism. The spoiler is inverted and operable to generate downward aerodynamic forces (downward thrust). Furthermore, the size of the air gap between the airfoil and the rotor tip is adapted to minimize the deformation of the airflow generated by the rotor, as well as the airflow above and below the fixed wing assembly and the rear horizontally inverted airfoil.

[0033] As further illustrated, for example in Figure 6B During vertical takeoff and landing, the UAV's center of gravity is positioned directly below the intersection of the diagonals drawn through the rotation axes of the rotors in each slender, bow-shaped transmission component. Although no pyramid is formed, this creates two intersecting thrust components on each side of the fuselage, which are used to stabilize the UAV in VTOL mode.

[0034] like Figure 6A , 6B As shown, the fixed deflection angle of the rotor is operable to provide flight stability during hovering and level cruise flight of the UAV. The stability provided by the disclosed UAV system is determined using the following equation:

[0035]

[0036] in:

[0037] -P 1v ,P 2v —These are the vertical thrust components of the front rotors 110 and 110' and the rear rotors 120 and 120';

[0038] -L1,L2—Lever arms located between the vertical thrust component axis and the center of gravity (COG);

[0039] -β 110 ,β 120 — Generates normal rotor thrust P 1n ,P 2n The estimated value of the rotor design deflection angle, and

[0040] -k—Design coefficient

[0041] As indicated, during hovering mode, stability is provided by the convergence of the thrust vectors of the front rotors 110, 110' and the rear rotors 120, 120' at the intersection above the UAV, while the UAV's COG lies below the intersection. Figure 6B As shown.

[0042] In some exemplary embodiments, the fuselage also includes an autopilot system and a cockpit, for example for mounting imaging module equipment or for storing another payload.

[0043] It is conceivable that the disclosed UAV could be scaled up to become a manned aircraft capable of transporting personnel, passengers, crew, and payloads.

[0044] The components and devices disclosed herein can be more fully understood by referring to the accompanying drawings. These drawings (also referred to herein as “Figures”) are merely schematic representations for the convenience and simplicity of illustrating this disclosure and are therefore not intended to indicate the relative size and dimensions of the devices or their components, their relative size relationships, and / or define or limit the scope of the exemplary embodiments. Although specific terms are used in the description below for clarity, these terms are intended to refer only to the specific structures chosen for use in illustrating the exemplary embodiments in the drawings and are not intended to define or limit the scope of this disclosure relative to the remainder of the specification. In the drawings and the description below, it should be understood that the same reference numerals denote components with the same function. Similarly, cross-sections are represented on an orthogonal coordinate system with XYZ axes, where the Y-axis represents front-back, the X-axis represents left-right, and the Z-axis represents up-down.

[0045] Now go to Figure 1A-5B The diagram illustrates an unmanned aerial vehicle (UAV) system configured for vertical takeoff and landing (VTOL), comprising: an aircraft 10 including: a pair of elongated, bow-shaped drivetrain members 100, 100', each having a bottom end 101, 101' thereto, with which a base pad 1010, 1010' optionally coupled, and a top end 102, 102', each defining a bottom inflection point 1001 (see, for example, [reference needed]). Figure 2 ), intermediate inflection point 1002 and top inflection point 1003; fuselage 200; structural member 300, which defines the longitudinal axis X L (See, for example) Figure 3A , 3B The fuselage 200 has an upper surface 3003 and a bottom surface 3004. A pair of lateral end caps 3001, 3002 are connected to lateral portions 3006, 3007 extending laterally from the fuselage 200, and are respectively connected at each lateral end cap 3001, 3002 to each elongated bow-shaped drivetrain member 100, 100'. A pair of second wings 400, 400' are also shown, operably connected to and extending laterally from each elongated bow-shaped drivetrain member 100, 100'. Each second wing 400, 400' is operably connected to the structural member 300 via, for example, at least one tube 319A, 329A, operable to connect components through holes 1009A, 1009A', defined in an opening 1008 (1008') in each elongated bow-shaped drivetrain member 100, 100' (see, for example, [reference needed]). Figure 2 For example, it can be used for wiring.

[0046] UAV10 also includes a rear horizontally inverted airfoil 500 having a leading edge 5003 and a trailing edge 5004, a top surface 5001 and a bottom surface 5002 spanning the gap between the pair of elongated bow-shaped drivetrain members 100, 100', and lateral ends 5005, 5005' connecting to the pair of elongated bow-shaped drivetrain members 100, 100' at or near the top inflection point 1003 (see, for example). Figure 1B Mounting pad 1006). An optional stabilizing crossbar 130 is also shown, which has a pair of lateral ends 1300, 1300' (see, for example, the mounting pad 1006). Figure 1A and 1B The pair of lateral ends 1300, 1300' are connected at or near the bottom inflection point 1001 to corresponding elongated bow-shaped drivetrain components 100, 100', wherein each elongated drivetrain component 100, 100' further includes a first VTOL rotor 110, 110' extending from the bottom inflection point 1001, 1001' towards the top and a second VTOL rotor 120, 120' extending from the elongated bow-shaped drivetrain component 100, 100' towards the bottom between the intermediate inflection points 1002, 1002' and the top inflection points 1003, 1003'. Figure 7 As shown, in some cases, the stabilizing crossbar 130 is not integrated into the system, thus reducing the weight of the UAV (and thus increasing its range).

[0047] In addition, such as Figure 2 As shown, each elongated bow-shaped drivetrain component 100, 100' also includes a dorsal vertical stabilizer (vertical airfoil) 105, 105' extending from the middle inflection point 1002, 1002' towards the dorsal side to the top inflection point 1003, 1003', and a ventral horizontal stabilizer 106, 106' disposed between the top inflection point 1003, 1003' and the top points 102, 102'. Furthermore, as... Figure 2 As shown, each elongated bow-shaped drivetrain component 100, 100' further includes support components 103, 103' having bottom ends 1031, 1031' (e.g., pads) extending from the intermediate inflection point 1002, 1002' towards the bottom, operable to form horizontal base surfaces 101, 101', 103', 103 during horizontal cruise flight, and horizontal planes 103, 102, 102', 103' during vertical takeoff and landing (see, for example, see...). Figure 6B The slender, bow-shaped transmission components 100 and 100' can be an integral, lightweight, hollow main structure made of, for example, polypropylene, ABS plastic, or carbon fiber / Kevlar composite material.

[0048] As further shown, rotors 110, 110', 120, 120' deflect at a predetermined angle β 110 ,β 120The configuration is such that, during takeoff, although the projected diagonals of planes 103, 102, 102', 103' formed by the rotation axes of each rotor 110, 120, 110', 120' intersect perpendicularly with the UAV's center of gravity, the projections of these planes intersect. In an exemplary embodiment, β 120 It could be, for example, between approximately 45° and approximately 47°, while β 110 The first VTOL rotors 110, 110' and the second VTOL rotors 120, 120' can each be deflected by a predetermined angle β deviating from the vertical direction, between approximately 41° and approximately 43°. 110 ,β 120 Extending from the slender, bow-shaped transmission components 100, 100', the second VTOL rotors 120, 120' deflect at an angle β greater than that of the first VTOL rotors 110, 110'. 110 Larger deflection angle β 120 Extending from the slender, bow-shaped drivetrain component. Furthermore, depending on various parameters such as VTOL height, payload weight, atmospheric conditions, etc., the rotor blade can be replaced, for example, with a diameter of approximately 25.4 cm and a step of approximately 11.4 cm in one exemplary embodiment, with a diameter of approximately 28 cm and a step of approximately 11.4 cm. Figure 2 As further shown, each rotor 110, 110', 120, 120' is mounted on a corresponding mounting pad 1004, 1005, 1004', 1005'.

[0049] Now go to Figure 2-3B The diagram shows a structural member 300 (with an aerodynamic profile) having lateral end caps 3001, 3002, a leading edge 3008 and a trailing edge 3009 further defining a central region 310 and a pair of sides 3006, 3007 that taper away from the central region 310, while the upper surface 3100 of the central region 310 further defines a front portion 3101 and a rear portion 3102, the rear portion 3102 further defining an opening 3103 operable to accommodate equipment and communicate with the fuselage cover 210 (see, for example, [reference needed]). Figure 4A ).like Figure 3A As shown, the front part 3101 and the rear part 3102 extend above the upper surface 3003 of the structural member 300, forming a predetermined topology. Figure 3B The diagram also shows a hole 3105, operable to provide access to structural member 300 for connecting various components, such as pressure sensors, etc. (311, see, for example, see...) Figure 1A For example, the downward-looking lidar 350 (see, for example, see...) Figure 1B ).

[0050] like Figure 2 , 3AAs further shown in 3B, each end cap 3001, 3002 is operable to receive tubes 319A, 319B, 329A, 329B, which, in some exemplary embodiments, are sized, structured, and constructed to connect second wings 400, 400' via holes 1009A, 1009B, 1009A', 1009B'. Similarly, holes 1011A, 1011B, 1011A', 1011B' are configured to receive retainers 321A, 321B, 322A, 322B (e.g., screws, pawls) to connect structural member 300 to each elongated transmission member 100, 100'. As further shown, each end cap 3001, 3002 also defines an opening 3021, 3022 configured to allow passage, for example, wiring, between the second wings 400, 400' and the fuselage 200.

[0051] Now go to Figures 4A-4C The figure shows a fuselage 200, including a bottom open cover member 210 and a cockpit 220, which together form a cabin. As shown, the bottom open cover member 210, having a front end 2101 and a rear end 2102, includes a nose 211, a canopy 212, and a back 213, which together define a lip 2105 that forms an opening sized to accommodate a central region 310 topology formed by the front and rear portions 3101 and 3102 of a structural member 300 between the cover member 210 and the cockpit 220. The cockpit 220 includes a rear open tail portion 2202 that forms a compartment 2205 operable to accommodate a power unit 260; and a top open front portion 2206 that forms a payload compartment. The tail portion 2205 is separated from the front portion 2206 by a bulkhead 2207 (not shown).

[0052] Figure 4B The image also shows an optional opening 221, which can be used to enable the imaging module 700 to observe the ground. Figure 4B The diagram also shows a device 222 for connecting the cockpit 220, having a bottom surface 2204, to the lateral stabilizer bar 130 (see, for example, see...). Figure 1A The connecting device can be any suitable device, such as a screw, rod, pawl, zipper, etc. Figure 4CThe image further illustrates that, in some exemplary embodiments, the cockpit 220, having a front end 2201, a rear end 2202, a bottom surface 2204, and a top surface 2203 with sidewalls 2208, is configured to have an upper deck 228 and a lower deck 229 separated by steps 2285. The open front portion 2206 at the top also shows a payload 240 (here, a camera clamp, but could be another payload type), and in some exemplary embodiments, a power unit release lever 226 and a modem 227 are operable to communicate with a ground control station. The lower deck 229 also shows an autopilot module 230, to which a cooling radiator 250 is coupled, as is a coupling device 2291i, operable to couple the cockpit 220 to the central portion 310 of structural member 300. A charging port 2601 and wiring 2600 to the power unit 260 are also shown, such as a clasp 223. The autopilot 230 provides autonomous flight capability. In some other exemplary embodiments, the UAV can be remotely controlled, and the heat sink 250 will become unnecessary, such as Figure 7 As further shown in the text.

[0053] Now go to Figure 5A , 5B The figure illustrates a rear horizontally inverted airfoil 500 with a negative angle of attack between approximately -1.0° and -5.0°, for example, between approximately -2° and approximately -3°. As shown, in some exemplary embodiments, the wingspan (S) 500 ) and chord length (Ch 500 The ratio between ) can be used to improve the stability of the UAV and can depend on, for example, design parameters such as the length of the rotor blades (to prevent flow distortion), maintaining optimal air gap, and the fixed wing assembly consisting of structural member 300 and second wings 400, 400' and their wingspan.

[0054] In an exemplary embodiment, the disclosed UAV is used as an autonomous UAV with VTOL capability. Therefore, an autonomous VTOL UAV 10 is provided herein, comprising: a first autopilot module that transmits and receives (in other words, is operable to send and receive) UAV rotor control signals; a second autopilot module that receives fixed-wing control signals; an integrator module; and an onboard central processing module (CPM) communicating with the first autopilot module, the second autopilot module, and the integrator module. The CPM includes at least one processor and also communicates with a non-transitory memory device storing a set of executable instructions configured to, when executed, cause at least one processor to automatically: transmit and receive rotor control signals; receive fixed-wing control signals; calculate control signals applicable to the VTOL UAV using the integrator module; and apply the calculated control signals to the VTOL UAV rotor control. Therefore, the VTOL UAV includes: a pair of elongated, bow-shaped drivetrain components 100, 100', each having a bottom end 101, 101' and a top end 102, 102', and each defining a bottom inflection point 1001, 1001', a middle inflection point 1002, 1002' and a top inflection point 1003, 1003'; a fuselage 200; and a structural member 300 defining a longitudinal axis X. L It has an upper surface 3006 and a bottom surface 3007. A pair of lateral ends 3001, 3002 extend laterally from the fuselage 200 and are respectively connected to each elongated bow-shaped drivetrain component 100, 100' at each lateral end 3001, 3002. A pair of second wings 400, 400' are operably connected to each elongated bow-shaped drivetrain component 100, 100' and extend laterally therefrom. Each second wing 400, 400' is operably connected to the longitudinal axis X of the structural component 300. L (e.g., via a pair of tubes operably accommodated in holes 1009A, 1009B and 1009A', 1009B' (see, for example) Figure 2 )). A rear horizontal inverted airfoil 500, having a top surface 5001 and a bottom surface 5002, spans the gap between a pair of elongated bow-shaped drivetrain members 100, 100'. Lateral ends 5005, 5005' are connected to the pair of elongated bow-shaped drivetrain members 100, 100' at a mounting 1006 at a top inflection point 1003. The structural member 300 and a pair of second wings 400, 400' together (having tubes 321A, 321B, 321A', 321B', 322A, 322B, 322A', 322B' [not shown]) connect each second wing 400, 400' through holes 1009A, 1009B and 1009A', 1009B' defined in the elongated bow-shaped members 100, 100', for example, through openings 1008 defined in the elongated bow-shaped members 100, 100' [see, for example, see...]. Figure 2The fixed-wing assembly is connected to structural member 300 to form a fixed-wing assembly, making the fixed-wing assembly and the rear horizontally inverted airfoil 500 operable to transmit multiple control signals. In some exemplary embodiments, the multiple fixed-wing assembly control signals include at least one of, for example, pressure, temperature, wind speed above the fixed wing, pitch angle, roll angle, and yaw angle, some of which can be transmitted using antennas 141, 142. Depending on the mission, the UAV 10 may further optionally include a stabilizing crossbar 130 having a pair of lateral ends 1300, 1300' connected at a bottom bend 1001 to corresponding elongated bow-shaped drivetrain members 100, 100' (see, for example, [link to relevant documentation]). Figure 2 , 1007), wherein each elongated drivetrain component 100, 100' further includes a first VTOL rotor 110, 110' extending from the bottom inflection point 1001, 1001' to the top and a second VTOL rotor 120, 120' extending from the elongated bow-shaped drivetrain component 100, 100' to the bottom between the intermediate inflection point 1002, 1002' and the top inflection point 1003, 1003', the first rotor 110, 110' and the second rotor 120, 120' being operable to transmit and receive a plurality of rotor control signals, the plurality of rotor control signals including at least one of the following: pressure, temperature, ground speed, revolutions per minute (RPM) and altitude.

[0055] The optional stabilizer bar 130 is depicted with antennas 141, 142 connected thereto, operable to send signals to the autopilot as needed (see, for example, [link to documentation]). Figure 4C ,230).

[0056] The UAV system disclosed herein can be a computerized system, also including a central processing module (CPM); a display module; and a user interface module. The display module may include display elements, which can include any type of element used as a display. A typical example is a liquid crystal display (LCD). For example, an LCD includes transparent electrode plates arranged on each side of the liquid crystal. However, there are many other forms of displays, such as OLED displays and bistable displays. New display technologies are constantly evolving. Therefore, the term "display" should be interpreted broadly and should not be associated with a single display technology. Furthermore, the display module may be mounted on a printed circuit board (PCB) of an electronic device, arranged within a protective housing, and protected from damage by a glass or plastic plate arranged on the display elements and attached to the housing.

[0057] The term "communication" (and its derivatives, such as "communication" between a first component and a second component) and its grammatical variations are used to indicate a structural, functional, mechanical, electrical, optical, or fluid relationship, or any combination thereof, between two or more components or elements. Thus, the fact that a component is referred to as communicating with a second component does not preclude the possibility that additional components may exist between and / or be operatively associated with or joined to the first and second components. Furthermore, the term "electronic communication" means that one or more components of the multi-mode optoelectronic observation and targeting system described herein with cross-platform integration capabilities are in wired or wireless communication or internet communication, enabling the exchange of electronic signals and information between the components.

[0058] Similarly, the term "module" is understood to include tangible entities, i.e., physically constructed, specifically configured (e.g., hardwired) or temporarily (e.g., provisionally) configured (e.g., programmed) entities, that operate or perform some or all of any of the operations described herein in a particular manner. Consider the example of modules being provisionally configured, where each module does not need to be instantiated at any given time. For example, in the case where modules include general-purpose hardware processors configured using software, the general-purpose hardware processors can be configured as different modules at different times. The software can accordingly configure the hardware processors, for example, constituting a particular module at one time and different modules at different times. In one embodiment, the electronic control unit of the disclosed and claimed system is an electronic control module (ECM).

[0059] As used herein, the term "computer-readable medium" refers not only in its ordinary sense but also to any medium that participates in providing instructions to a processor for execution. Such media can take many forms, including but not limited to non-volatile and volatile media. Non-volatile media can be, for example, optical discs or magnetic disks, such as storage devices. Volatile media include dynamic memory, such as main memory.

[0060] The memory device used in the methods, programs, and systems described herein can be any of various types of storage devices or storage apparatuses. The term "storage device" is intended to include mounting media such as CD-ROMs, floppy disks, or magnetic tape devices; computer system memory or random access memory such as DRAM, DDR RAM, SRAM, EDO RAM, Rambus RAM, etc.; or non-volatile memory such as magnetic media, such as hard disk drives, optical storage, or ROM, EPROM, flash memory, etc. Storage devices may also include other types of memory or combinations thereof. Furthermore, the storage medium may reside in a first computer executing the program (e.g., a UAV onboard CPM), and / or may reside in a different second computer [or a microcontroller, such as a ground control unit] connected to the first computer via a network (e.g., a cellular network, satellite, wireless network, or a combination thereof (mesh network)). In the latter case, the second computer may further provide program instructions to the first computer for execution. The term "storage device" may also include two or more storage devices that may reside in different locations, such as in different computers connected via a network.

[0061] As used herein, the term "comprising" and its derivatives are intended as open-ended terms that specify the presence of the stated features, elements, components, groups, wholes, and / or steps, but do not exclude the presence of other unstated features, elements, components, groups, wholes, and / or steps. The foregoing also applies to words with similar meanings, such as the terms "comprising," "having," and their derivatives.

[0062] The terms “a,” “an,” and “the” are not intended to limit quantity and should be interpreted to cover both the singular and plural unless otherwise stated herein or clearly contradicted by the context. The suffix “(multiple)” as used herein is intended to include both the singular and plural forms of the term it modifies, thereby including one or more of the term (e.g., stack (multiple) includes one or more stacks). References throughout the specification to “an exemplary embodiment,” “another exemplary embodiment,” “an exemplary embodiment,” etc., when they appear, mean that a particular element (e.g., feature, structure, and / or characteristic) described in connection with that exemplary embodiment is included in at least one exemplary embodiment described herein and may or may not appear in other exemplary embodiments. Furthermore, it should be understood that the described elements can be combined in any suitable manner in the various exemplary embodiments.

[0063] Unless otherwise stated, it is obvious from the discussion that, throughout the discussion of this specification, terms such as “processing,” “loading,” “communication,” “detection,” “calculation,” “determination,” “analysis,” and “application” refer to the operation and / or process of a computer or computing system or similar electronic computing device, which manipulates and / or transforms data represented in a physical form.

[0064] For the purposes of this invention, directional or positional terms such as "top," "bottom," "upper," "lower," "side," "front," "front part," "forward," "rear," "rear part," "back," "tail," "above," "below," "left," "right," "horizontal," "vertical," "upward," "downward," "outer," "inner," "external," "internal," "middle," etc., are merely for the convenience of describing various embodiments of the invention. For example, the orientation of the embodiments shown in Figures 1-6 can be reversed or flipped, rotated 90 degrees in any direction, etc.

[0065] Therefore, in an exemplary embodiment, an unmanned aerial vehicle (UAV) system configured for vertical takeoff and landing (VTOL) is provided herein, comprising: an aircraft including: a pair of elongated, bow-shaped drivetrain members, each having a bottom end and a top end, and each defining a bottom inflection point, a middle inflection point, and a top inflection point; a fuselage; a structural member defining a longitudinal axis, the structural member having an upper surface and a bottom surface, a pair of lateral ends extending laterally from the fuselage and coupled at each lateral end to each elongated, bow-shaped drivetrain member; a pair of second wings operably coupled to and extending laterally therefrom each elongated, bow-shaped drivetrain member; and a rear horizontally inverted... An airfoil having a top surface and a bottom surface spanning the gap between the pair of elongated bow-shaped drivetrain members, with lateral ends connected to the pair of elongated bow-shaped drivetrain members at a top inflection point; and optionally, a stabilizing crossbar having a pair of lateral ends connected to the respective elongated bow-shaped drivetrain member at a bottom inflection point, wherein each elongated drivetrain member further includes a first VTOL rotor extending from the bottom inflection point to the top and a second VTOL rotor extending from the elongated bow-shaped drivetrain member to the bottom between the intermediate inflection point and the top inflection point, wherein (i) each elongated bow-shaped drivetrain member further includes a dorsal vertical stabilizer extending from the intermediate inflection point to the top inflection point, and a top-mounted vertical stabilizer. (ii) The ventral horizontal stabilizer between the inflection point and the top also includes a support member extending from the intermediate inflection point to the bottom, operable to form a horizontal base surface, wherein (iii) the first VTOL rotor and the second VTOL rotor each extend from the elongated bow-shaped drivetrain member with a predetermined deflection angle deviating from the vertical direction, and wherein the second VTOL rotor extends from the elongated bow-shaped drivetrain member with a deflection angle greater than that of the first VTOL rotor, wherein (iv) the structural member further defines a central region and a pair of sides that taper away from the central region (in other words, become narrower with distance), wherein (v) the upper surface of the central region further defines a front portion and The rear section further defines an opening, wherein (vi) the fuselage includes: a bottom open cover member; and a cockpit (both forming the cabin), (vii) the bottom open cover member includes a nose, a canopy, and a back, which together define a lip, and wherein the lip forms an opening sized to accommodate a structural member between the bottom open cover member and the cockpit, (viii) the cockpit includes: a rear open tail section forming a compartment operable to accommodate a power unit; a top open front section forming a payload compartment, the tail section being separated from the front section by a bulkhead, and wherein (ix) the rear horizontally inverted wing has a negative angle of attack between -1° and -5°.

[0066] In another exemplary embodiment, an autonomous VTOL UAV is provided, comprising: a first autopilot module that transmits and receives (in other words, operable to send and receive) UAV rotor control signals; a second autopilot module that receives fixed-wing control signals; an integrator module; and an onboard central processing module (CPM) communicating with the first autopilot module, the second autopilot module, and the integrator module, the CPM including at least one processor and also communicating with a non-transitory memory device storing a set of executable instructions configured to, when executed, cause at least one processor to automatically: transmit and receive rotor control signals; receive fixed-wing control signals; calculate control signals applied to the VTOL UAV using the integrator module; and apply the calculated control signals to the VTOL UAV rotor control, wherein (x)VTOL The UAV includes: a pair of elongated, bow-shaped drivetrain members, each having a bottom end and a top end, and each defining a bottom inflection point, a middle inflection point, and a top inflection point; a fuselage; a structural member defining a longitudinal axis, the structural member having an upper surface and a bottom surface, a pair of lateral ends extending laterally from the fuselage and coupled at each lateral end to each elongated, bow-shaped drivetrain member; a pair of second wings operably coupled to and extending laterally from each elongated, bow-shaped drivetrain member, each second wing also operably coupled to the structural member; and a rear horizontally inverted airfoil. The device comprises a top surface and a bottom surface spanning the gap between the pair of elongated, bow-shaped drivetrain members, with lateral ends connected to the pair of elongated, bow-shaped drivetrain members at the top inflection point. A structural member, a pair of second wings, and a rear horizontally inverted airfoil form a fixed wing, which is operable to transmit multiple control signals. Optionally, a stabilizing crossbar has a pair of lateral ends connected to the respective elongated, bow-shaped drivetrain member at the bottom inflection point, wherein each elongated drivetrain member further includes a first VTOL rotor extending from the bottom inflection point to the top and a... A second VTOL rotor extending from the elongated bow-shaped drivetrain member to the bottom between the intermediate inflection point and the top inflection point, the first and second rotors being operable to transmit and receive multiple rotor control signals, wherein (xi) each elongated bow-shaped drivetrain member further (optionally) includes a dorsal vertical stabilizer extending from the intermediate inflection point to the top inflection point, and (optionally) a ventral horizontal stabilizer disposed between the top inflection point and the top, (xii) and a support member extending from the intermediate inflection point to the bottom, operable to form a horizontal base (tail) surface, wherein (xiii) the first and second VTOL rotors each extend from the elongated bow-shaped drivetrain member with a predetermined deflection angle deviating from the vertical direction, and wherein the second VTOL rotor extends from the elongated bow-shaped drivetrain member at a larger angle than the first VTOL rotor, and wherein the multiple rotor control signals include at least one of the following: pressure, temperature, ground speed, revolutions per minute (RPM), and altitude, wherein (xiv) the structural member further defines a central region and a pair of lateral regions that taper away from the central region;The upper surface of the central region further defines a forward and a rear portion, the rear portion further defining an opening; multiple fixed-wing control signals include at least one of the following: pressure, temperature, wind speed above the fixed wing, pitch angle, roll angle, and yaw angle, wherein (xv) the fuselage includes: a bottom open cover member; and a cockpit, (xvi) the bottom open cover member includes a nose, a canopy, and a back, which together define a lip, and wherein the lip forms an opening sized to accommodate a structural member between the bottom open cover member and the cockpit, (xvii) the cockpit includes: a rear open tail portion forming a compartment operable to accommodate a power unit, the compartment having an upper deck surface; autopilot elements including a first autopilot module, a second autopilot module, an integrator module, a communication module, and a navigation module; and a top open forward portion forming a payload compartment, the tail portion being separated from the forward portion by a bulkhead, and wherein (xviii) the aft horizontal inverted airfoil has a negative angle of attack between -1° and -5°.

[0067] While the present invention has been described in detail with reference to specific exemplary embodiments, it will be apparent to those skilled in the art that various changes and modifications can be made without departing from the spirit and scope of the invention. Therefore, this disclosure is intended to cover modifications and variations of the invention, provided they fall within the scope of the appended claims and their equivalents.

Claims

1. An unmanned aerial vehicle (UAV) system configured for vertical takeoff and landing (VTOL), comprising: The aircraft includes: a. A pair of elongated bow-shaped drivetrain components, each having a bottom end and a top end, and each defining a bottom inflection point, a middle inflection point and a top inflection point, wherein each elongated drivetrain component further includes a first VTOL rotor extending from the bottom inflection point to the top and a second VTOL rotor extending from the elongated bow-shaped drivetrain component to the bottom between the middle inflection point and the top inflection point; b. Fuselage; c. A structural member defining a longitudinal axis, the structural member having an upper surface and a bottom surface, a pair of lateral ends extending laterally from the fuselage and connected at each lateral end to each elongated bow-shaped transmission component; d. A pair of fixed wings, operably coupled to each slender, bow-shaped transmission component and extending laterally therefrom; e. A rear horizontal inverted airfoil having a top surface and a bottom surface spanning the gap between the pair of slender bow-shaped drivetrain members, with lateral ends connected to the pair of slender bow-shaped drivetrain members at the top inflection point.

2. The UAV system according to claim 1, wherein, Each elongated bow-shaped drivetrain component also includes a dorsal vertical stabilizer extending from the intermediate inflection point to the top inflection point, and a ventral horizontal stabilizer disposed between the top inflection point and the top.

3. The UAV system according to claim 2, wherein, Each elongated, bow-shaped transmission component also includes a support member extending from the central inflection point to the bottom, operable to form a horizontal base surface.

4. The UAV system according to claim 3, wherein, The first VTOL rotor and the second VTOL rotor each extend from the elongated bow-shaped drivetrain member with a predetermined deflection angle deviating from the vertical direction, and wherein the second VTOL rotor extends from the elongated bow-shaped drivetrain member with a deflection angle greater than that of the first VTOL rotor.

5. The UAV system according to claim 1, wherein, The structural member also defines a central region and a pair of sides that taper away from the central region.

6. The UAV system according to claim 5, wherein, The upper surface of the central region further defines a front and a rear portion, the rear portion further defining an opening.

7. The UAV system according to claim 1, wherein, The fuselage includes: a. A bottom-open covering component; and b. Cabin.

8. The UAV system according to claim 7, wherein, The bottom open cover includes a nose, a canopy, and a back, which together define a lip, wherein the lip forms an opening sized to accommodate a structural member between the bottom open cover and the cabin.

9. The UAV system according to claim 8, wherein, The cockpit includes: a. The rear is open, forming a compartment operable to accommodate the power unit; b. The front section is open at the top, forming a payload compartment, and the rear section is separated from the front section by a bulkhead.

10. The UAV system according to claim 1, wherein, The rear horizontal inverted airfoil has a negative angle of attack, between -1° and -5°.

11. The UAV system according to claim 1, further comprising: a. The first autonomous driving module, which transmits and receives UAV rotor control signals; b. The second autopilot module, which receives control signals from the fixed-wing aircraft; c. Integrator module; and d. An onboard central processing module (CPM) communicating with a first autopilot module, a second autopilot module, and an integrator module, the onboard central processing module including at least one processor and also communicating with a non-transitory memory device storing a set of executable instructions configured to cause at least one processor to automatically: i. Sending and receiving rotor control signals; ii. Receive fixed-wing control signals; iii. Use an integrator module to calculate the control signals applied to the VTOL UAV; and iv. Apply the calculated control signal to the rotor control of the VTOL UAV.

12. The UAV system according to claim 11, wherein, The structural member and the pair of fixed wings form a fixed wing assembly, the fixed wing assembly and the rear horizontal inverted airfoil are operable to transmit multiple control signals, and wherein the first VTOL rotor and the second VTOL rotor are operable to transmit and receive multiple rotor control signals.

13. The UAV system according to claim 12, wherein, Each elongated bow-shaped drivetrain component also includes a dorsal vertical stabilizer extending from the intermediate inflection point to the top inflection point, and a ventral horizontal stabilizer disposed between the top inflection point and the top.

14. The UAV system according to claim 13, wherein, Each elongated, bow-shaped transmission component also includes a support member extending from the central inflection point to the bottom, operable to form a horizontal base surface.

15. The UAV system according to claim 14, wherein, The first VTOL rotor and the second VTOL rotor each extend from the elongated bow-shaped drivetrain member at a predetermined deflection angle deviating from the vertical direction, and wherein the second VTOL rotor extends from the elongated bow-shaped drivetrain member at a larger angle than the first VTOL rotor, and wherein the plurality of rotor control signals include at least one of the following: pressure, temperature, ground speed, revolutions per minute (RPM), and altitude.

16. The UAV system according to claim 12, wherein: a. The structural member further defines a central region and a pair of lateral regions that gradually taper away from the central region; b. The upper surface of the central region further defines a front and a rear portion, the rear portion of which further defines an opening; c. Multiple fixed-wing control signals include at least one of the following: pressure, temperature, wind speed above the fixed wing, pitch angle, roll angle, and yaw angle.

17. The UAV system according to claim 12, wherein, The fuselage includes: a. A bottom-open covering component; and b. Cabin.

18. The UAV system according to claim 17, wherein, The bottom open cover includes a nose, a canopy, and a back, which together define a lip, wherein the lip forms an opening sized to accommodate a structural member between the bottom open cover and the cabin.

19. The UAV system according to claim 18, wherein, The cockpit includes: a. An open stern section forms an operable compartment for housing the power unit, the compartment having an upper deck surface; b. Automated driving components, including a first automated driving module, a second automated driving module, an integrator module, a communication module, and a navigation module; and c. The front is open at the top, forming a payload compartment, and the rear is separated from the front by a bulkhead.

20. The UAV system according to claim 1, wherein, The aircraft also includes a stabilizing crossbar with a pair of lateral ends that are connected at the bottom inflection point to a corresponding slender, bow-shaped transmission component.

21. The UAV system according to claim 1, wherein, During vertical takeoff and landing, the center of gravity (COG) of the UAV is directly below the intersection of the projected diagonal lines drawn through the rotation axes of the first and second VTOL rotors in each elongated bow-shaped drivetrain component.

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