Multicopter

Abstract

In a multicopter foldable between a stowed configuration and an operational state, the multicopter comprises a hub configured to receive one or more payloads and a battery, and two or more flight arms extending substantially horizontally when in the operational state, each flight arm comprising a main arm each extending from the hub at a main arm pivot connection and two cross arms extending from the main arm at a cross arm pivot connection, the main arm pivot connections configured to allow each of the plurality of main arms to pivot toward one another to a stowed configuration in which each of the plurality of cross arms is substantially parallel to one another about a vertical axis, the cross arm pivot connections configured to allow each of the plurality of cross arms to rotate toward the main arm to a stowed configuration in which each of the plurality of cross arms is substantially parallel to one another, the multicopter further comprising: (i) a hinged connection from an intersection region between the main arm and the cross arm of each flight arm; or (ii) landing gear pivotally extending from the hub, the landing gear being configured to fold relative to the primary arms such that the landing gear is substantially parallel to the flight arms when the landing gear is in a stowed or operational stowed configuration, and the landing gear has a "V" shape when the landing gear is in a deployed configuration; (iii) a notional polyhedron defined by the flight arms when in a stowed configuration, the notional polyhedron having a volume sufficient to accommodate one or more payloads, one or more communication devices, and at least partially accommodate a battery, when present; or (iv) a stowed volume that is less than 10% of the volume of the multicopter when in an operational state; or (v) two or more payloads each extending from a battery, a hub, a cross arm at a connection region of the cross arm to the primary arm, or the primary arm; or (vi) a combination of any two or more of (i)-(v).

Description

[Technical field]

[0001] The present disclosure relates generally to multicopter drones, and more particularly, to multicopter drones with efficient folding and / or sensor placement. [Background technology]

[0002] Multicopters are used because of their convenience of vertical take-off and landing, and their hovering capabilities, but they have limited flight time and lift capabilities compared to fixed-wing aircraft.

[0003] Longer flight times and higher lift capabilities in turn require, by the laws of physics, larger dimensions of multicopters, since larger rotors, corresponding to a larger wingspan of a fixed wing, generate more lift, which allows the multicopter to carry larger batteries and heavier payloads.

[0004] However, large multicopters have limited portability. They are more difficult and more expensive to transport. Poor portability has led to a decrease in the use of large multicopters in practical situations.

[0005] The best folding designs in the industry to date can generally reduce the folded volume of a multicopter to about one-fifth of its original unfolded volume. A 1:5 shrinkage ratio is still far below practical requirements. As an example, using the best designs currently available, a quadcopter with a rotor of about 71 cm (28 inches) has a folded volume that is 2.5 times the folded volume of a carry-on, which is still too large and inconvenient for daily transportation and use.

[0006] As an example, the dimensions and shrink ratios of the most well-known commercially available multicopters are shown in Table 1. [Table 1]

[0007] The formula for calculating the autogenous shrinkage rate is as follows:

number

[0008] Patent document 1 (China Patent Application No. 206125436) of Changsha Tohkoh Agricultural Science and Technology Co., Ltd. reports a foldable UAV in which the arms fold against a fixed landing gear, leading to inefficient folding.

[0009] Patent document 2 (China Patent Application No. 110816836) by Shenyang Xuanfei Aviation Technology Co., Ltd. also reports a foldable UAV in which the arms fold against a fixed landing gear, leading to an inefficient folding.

[0010] Additionally, Dothan Mobility Innovations' U.S. Patent Application Publication No. 2021 / 0107636 reports a foldable UAV in which the arms fold against a fixed landing gear, leading to an inefficient folding.

[0011] The industry is (i) The longer flight times and payload capacities of larger sized multicopters; and (ii) compact drone portability; New designs that can combine the advantages of both are awaited.

[0012] There is an inherent technical challenge of reducing the shrink ratio to make a multicopter more compact in the folded state. The body, which serves primarily as a housing for the avionics, remains substantially the same regardless of the size of the multicopter. In contrast, the arm length of a multicopter must be increased proportionately to the dimensions of the multicopter to provide sufficient clearance for the larger rotors. As a result, large multicopters have very long arms relative to the dimensions of the body. This creates a problem regarding how to fold very long arms tightly around a small body to minimize the folded volume. This is a significant challenge that has not been addressed.

[0013] Additionally, multicopters incorporate other components such as sensors, GPS antennas, RF antennas, compasses, landing gear, payloads, etc. The presence of rotors on a multicopter can compromise the placement of these components. For example, the rotors may prevent the placement of a camera in a particular position on the multicopter, or may mean that the camera view is not free from the rotors.

[0014] Any reference in this specification to any prior publication (or information derived therefrom) or known matter is not, and should not be, considered as an acknowledgement or admission, or any form of suggestion that the prior publication (or information derived therefrom) or known matter constitutes part of the common general knowledge in the field to which this specification pertains. [Prior art documents] [Patent documents]

[0015] [Patent Document 1] Chinese Patent Application No. 206125436 [Patent Document 2] Chinese Patent Application No. 110816836 [Patent Document 3] US Patent Application Publication No. 2021 / 0107636 Summary of the Invention [Problem to be solved by the invention]

[0016] It would be desirable to address or ameliorate one or more shortcomings or limitations associated with the prior art, or to provide a foldable multicopter, or at least to provide the public with a useful alternative. [Means for solving the problem]

[0017] A multicopter design is described that minimizes the folded volume of the multicopter and / or optimizes the placement of payloads and / or sensors.

[0018] In a first aspect, in a multicopter foldable between a stowed configuration and an operational configuration, the multicopter includes: a hub configured to receive one or more payloads and a battery; two or more flight arms extending substantially horizontally when in an operational state, each flight arm comprising a main arm each extending from a hub at a main arm pivot connection and two cross arms each extending from the main arm at a cross arm pivot connection; the main arm pivot connection is configured to allow each of the plurality of main arms to pivot toward one another to a stowed configuration in which each of the plurality of main arms is substantially parallel to one another; The cross arm pivot connection is configured to allow each of a plurality of cross arms to rotate toward the main arm into a stowed configuration in which each of the plurality of cross arms are substantially parallel to one another.

[0019] In a further aspect, in a multicopter foldable between a stowed configuration and an operational state, the multicopter comprises: a hub configured to receive one or more payloads and a battery; two or more flight arms extending substantially horizontally when in an operational state, each flight arm comprising a main arm each extending from a hub at a main arm pivot connection and two cross arms each extending from the main arm at a cross arm pivot connection; the main arm pivot connection is configured to allow each of the plurality of main arms to pivot toward one another to a stowed configuration in which each of the plurality of main arms is substantially parallel to one another; the cross arm pivot connection is configured to allow each of the multiple cross arms to rotate toward the main arm to a stowed configuration in which each of the multiple cross arms are substantially parallel to one another; The invention describes a multicopter in which, when in a stowed configuration, the flying arms define a conceptual polyhedron having a volume sufficient to accommodate one or more payloads and communications devices and to at least partially accommodate a battery.

[0020] In a further aspect, in a multicopter foldable between a stowed configuration and an operational state, the multicopter comprises: a hub configured to receive one or more payloads and a battery; two or more flight arms extending substantially horizontally when in an operational state, each flight arm comprising a main arm each extending from a hub at a main arm pivot connection and two cross arms each extending from the main arm at a cross arm pivot connection; the main arm pivot connection is configured to allow each of the plurality of main arms to pivot toward one another to a stowed configuration in which each of the plurality of main arms is substantially parallel to one another; the cross arm pivot connection is configured to allow each of the multiple cross arms to rotate toward the main arm to a stowed configuration in which each of the multiple cross arms are substantially parallel to one another; The present invention describes a multicopter, wherein a volume of the multicopter when in a stowed configuration is less than 10% of a volume of the multicopter when in an operational configuration.

[0021] In a further aspect, in a multicopter foldable between a stowed configuration and an operational state, the multicopter comprises: a hub configured to receive one or more payloads and a battery; two or more flight arms extending substantially horizontally when in an operational state, each flight arm comprising a main arm each extending from a hub at a main arm pivot connection and two cross arms each extending from the main arm at a cross arm pivot connection; the main arm pivot connection is configured to allow each of the plurality of main arms to pivot toward one another to a stowed configuration in which each of the plurality of main arms is substantially parallel to one another; the cross arm pivot connection is configured to allow each of the plurality of cross arms to rotate toward the main arm into a stowed configuration in which each of the plurality of cross arms are substantially parallel to one another; A multicopter is described in which landing gear extends from a cross arm pivot connection and is configured to fold relative to the flight arms such that when in a stowed configuration, the landing gear is substantially parallel to the flight arms.

[0022] In a further aspect, in a multicopter foldable between a stowed configuration and an operational state, the multicopter comprises: a hub configured to receive one or more payloads and a battery; two or more flight arms extending substantially horizontally when in an operational state, each flight arm comprising a main arm each extending from a hub at a main arm pivot connection and two cross arms each extending from the main arm at a cross arm pivot connection; the main arm pivot connection is configured to allow each of the plurality of main arms to pivot toward one another to a stowed configuration in which each of the plurality of main arms is substantially parallel to one another; the cross arm pivot connection is configured to allow each of the plurality of cross arms to rotate toward the main arm into a stowed configuration in which each of the plurality of cross arms are substantially parallel to one another; The multicopter is described in which landing gear extends from a cross arm pivot connection and is configured to fold relative to the primary arm such that when in a stowed configuration, the landing gear is substantially parallel to the flight arm.

[0023] In a further aspect, in a multicopter foldable between a stowed configuration and an operational state, the multicopter comprises: a hub configured to receive one or more payloads and a battery; two or more flight arms extending substantially horizontally when in an operational state, each flight arm comprising a main arm each extending from a hub at a main arm pivot connection and two cross arms each extending from the main arm at a cross arm pivot connection; the main arm pivot connection is configured to allow each of the plurality of main arms to pivot toward one another to a stowed configuration in which each of the plurality of main arms is substantially parallel to one another; the cross arm pivot connection is configured to allow each of the multiple cross arms to rotate toward the main arm to a stowed configuration in which each of the multiple cross arms are substantially parallel to one another; A multicopter is described that includes landing gear pivotally extending from a hub, the landing gear being configured to fold relative to the primary arm such that the landing gear is substantially parallel to the flight arm when the landing gear is in a stowed configuration or an operational stowed configuration, and the landing gear having a "V" shape when the landing gear is in a deployed configuration.

[0024] In a further aspect, in a multicopter foldable between a stowed configuration and an operational state, the multicopter comprises: a hub configured to receive one or more payloads and a battery; two or more flight arms extending substantially horizontally when in an operational state, each flight arm comprising a main arm each extending from a hub at a main arm pivot connection and two cross arms each extending from the main arm at a cross arm pivot connection; the main arm pivot connection is configured to allow each of the plurality of main arms to pivot toward one another to a stowed configuration in which each of the plurality of main arms is substantially parallel to one another; the cross arm pivot connection is configured to allow each of the multiple cross arms to rotate toward the main arm to a stowed configuration in which each of the multiple cross arms are substantially parallel to one another; Two or more loads, each load being: Battery, Hub, a cross arm in the region of connection of the cross arm to the main arm, or It describes a multicopter with two or more payloads, one being the main arm.

[0025] In a further aspect, in a multicopter foldable between a stowed configuration and an operational state, the multicopter comprises: a hub configured to receive one or more payloads and a battery; two or more flight arms extending substantially horizontally when in an operational state, each flight arm comprising a main arm each extending from a hub at a main arm pivot connection and two cross arms each extending from the main arm at a cross arm pivot connection; the main arm pivot connection is configured to allow each of the plurality of main arms to pivot toward one another to a stowed configuration in which each of the plurality of main arms is substantially parallel to one another; the cross arm pivot connection is configured to allow each of the multiple cross arms to rotate toward the main arm to a stowed configuration in which each of the multiple cross arms are substantially parallel to one another; A locking member for attachment to a hub or a battery, the locking member comprising: a locking mechanism for locking the cross arm in a stowed configuration, the locking mechanism comprising a first portion which is or has a locking slot and a second portion which is or has a release lever, each portion being rotatable about an axis; a locking pin on the cross arm for locking in the locking slot; A multicopter is described that includes a locking member, where movement of a locking lever about a pivot point causes a locking slot to rotate about the pivot point, thereby releasing a locking pin and allowing the cross arm to move from a stowed configuration to an unstowed configuration.

[0026] In a further aspect, the inventors have provided a method of folding and unfolding a multicopter between a stowed configuration and an operational (unstowed) state, the method comprising: A multicopter, a hub configured to receive one or more payloads and a battery; two or more flight arms extending substantially horizontally when in an operational state, each flight arm comprising a main arm each extending from a hub at a main arm pivot connection and two cross arms each extending from the main arm at a cross arm pivot connection; the main arm pivot connection is configured to allow each of the plurality of main arms to pivot toward one another to a stowed configuration in which each of the plurality of main arms is substantially parallel to one another; the cross arm pivot connection is configured to allow each of the multiple cross arms to rotate toward the main arm to a stowed configuration in which each of the multiple cross arms are substantially parallel to one another; A locking member for attachment to a hub or a battery, the locking member comprising: a locking mechanism for locking the cross arm in a stowed configuration, the locking mechanism comprising a first portion which is or has a locking slot and a second portion which is or has a release lever, each portion being rotatable about an axis; a locking pin on the cross arm for locking in the locking slot; providing a multicopter comprising a locking member, wherein movement of a locking lever about a pivot point causes a locking slot to rotate about the pivot point, thereby releasing a locking pin and allowing the cross arm to move from a stowed configuration to an unstowed configuration; folding the multicopter by first folding the main arms into a stowed configuration and then folding the cross arms into a stowed position in which a locking pin of the cross arms engages with a locking slot to lock the flight arms in the stowed configuration; The method includes unfolding the multicopter by unfolding the main arms into the operating configuration, and then unfolding the multicopter by unfolding the main arms into the operating configuration, by disengaging a locking pin from a locking slot in the lever with movement of the lever to release the cross arms into the operating configuration.

[0027] Any one or more of the following embodiments may relate to any of the above aspects.

[0028] In one configuration, the hub includes a flight control system, preferably an avionics control system.

[0029] In one configuration, the multicopter is equipped with two or more communication devices, each communication device located on a different flying arm.

[0030] In one configuration, the hub has an extension axis that is perpendicular to the horizontal plane of the flying arm when the multicopter is in operation.

[0031] In one configuration, the hub has an extension axis in the horizontal plane of the flight arm when the multicopter is in operation.

[0032] In one configuration, the hub is (i) a battery; (ii) The payload, or (iii) A battery and a payload.

[0033] In one configuration when in the folded state, the extension axes (ie, main axes) of the hub, the flight arms and the main arms are all aligned.

[0034] In one configuration, the hub includes at least one connector on a surface thereof.

[0035] In one configuration, the hub includes a plurality of side walls along its major axis of extension and an end wall.

[0036] In one configuration, the connector is (i) one end wall; (ii) both end walls; (iii) one or more side walls; or (iv) any combination of one or more of (i) to (iii) above.

[0037] In one configuration, the main arm pivot connection is attached to or extends from a side wall of the hub.

[0038] In one configuration, the main arm pivot connections are attached to or extend from opposing side walls of the hub.

[0039] In one configuration, the main arm pivot connection is integrally formed with the hub.

[0040] In one configuration, the main arm pivot connection is configured to provide a hinged connection to allow for approximately 75 degrees, 80 degrees, 85 degrees, 90 degrees, 95 degrees, 100 degrees, 105 degrees or 110 degrees of rotation of the main arm in one Cartesian axis, with a useful range being selectable between any of these values.

[0041] In one configuration, the main arm pivot connection is configured to provide a hinged connection that allows approximately 90 degree rotation of the main arm in one Cartesian axis.

[0042] In one configuration, the main arm pivot connection is configured to provide a hinged connection that allows movement of the main arm in two Cartesian axes.

[0043] In one configuration, the main arm pivot connection is configured to provide a hinged connection that allows approximately 90 degrees of rotation of the main arm in each of two Cartesian axes.

[0044] In one configuration, the length of the main arm is less than the length of the hub at its main axis of extension.

[0045] In one configuration, the length of the main arm is crossed with the flight arm to provide two cross arms.

[0046] In one configuration, each cross arm is connected to the main arm by a hinged connection that allows for rotation of the cross arm in one Cartesian axis of 70 degrees, 75 degrees, 80 degrees, 85 degrees, 90 degrees, 95 degrees, 100 degrees, 105 degrees or 110 degrees, and a useful range can be selected between any of these values.

[0047] In one configuration, each cross arm is connected to a main arm with a hinged connection that allows the cross arm to rotate approximately 90 degrees in one Cartesian axis.

[0048] In one configuration, the length of the hub at its main axis of extension is less than the length of the cross arm.

[0049] In one configuration, one or more communication devices are located at or on the intersection between the cross arm and the main arm.

[0050] In one configuration, the multicopter has one or more payloads attached to the intersection between the cross arm and the main arm.

[0051] In one configuration, a multicopter has one or more payloads attached to a main arm.

[0052] In one configuration, the multicopter has at least two payloads, at least two of which are located on separate flying arms.

[0053] In one configuration, when the multicopter is in the stowed configuration, the extension axes of each of the main arm and cross arm are adjacently aligned.

[0054] In one configuration, the main arm is sandwiched by the cross arm when in the stowed configuration.

[0055] In one configuration, the main arm and cross arm form an "M" shape when in the stowed configuration.

[0056] In one configuration, when the multicopter is in the stowed configuration, the main arm and cross arm form an "M" shape, with the main arm extending a portion of the length of the cross arm.

[0057] In one configuration, a motor is located at the distal end of each cross arm (relative to their connection to the main arm).

[0058] In one configuration, the motor includes housings, each housing having a width that is less than half the width between the two cross arms when in the stowed configuration.

[0059] In one configuration, the flight arms in the stowed configuration are substantially parallel to one another on a vertical axis.

[0060] In one configuration, the flight arms in the stowed configuration are substantially parallel to one another on a horizontal axis.

[0061] In one configuration, the multicopter includes at least one clamp adjacent the pivot point such that the at least one clamp secures the arms in the deployed state.

[0062] In one configuration, the clamp is a compression clamp.

[0063] In one configuration, the clamp is movable along the arm when disengaged to allow for accommodating a multicopter.

[0064] In one configuration, the landing gear extending from the hub is "V" shaped in the deployed configuration.

[0065] In another configuration, the landing gear extends from the hub and the flight arm.

[0066] In another configuration, the landing gear extends from the flight arm.

[0067] In one configuration, the landing gear extends from the crossarm pivot connection.

[0068] In one configuration, the landing gear is configured to fold relative to the flight arms such that the landing gear is substantially parallel to the flight arms when in the stowed configuration.

[0069] In one configuration, the landing gear is configured to fold relative to the primary arms such that when in the stowed configuration, the landing gear is substantially parallel to the primary arms.

[0070] In one configuration, the landing gear is attached to the intersection of the main arm and the cross arm via a pivot connection.

[0071] In one configuration, the landing gear has a "T", "Y" or "V" shape.

[0072] In one configuration, the landing gear can be manually folded and unfolded.

[0073] In one configuration, the landing gear comprises: (i) causing the multicopter to transition to a stowed configuration; and / or (ii) to provide 360-degree clearance for a bottom-mounted camera in a deployed or operational state; A motor or servo can be used to remotely rotate it towards the hub.

[0074] In one configuration, when the multicopter is in the stowed configuration, the extension axes of each of the main arm, cross arm, and landing gear are adjacently aligned.

[0075] In one configuration, when the multicopter is in a stowed configuration, the main arms and folded landing gear form an "M" shape.

[0076] In one configuration, the volume of the multicopter when in the stowed configuration is less than 5, 6, 7, 8, 9, 10, 11, 12% of the volume of the multicopter when in the operational state, and a useful range may be selected between any of these values.

[0077] In one configuration, the volume of the multicopter in a stowed configuration when equipped with batteries is less than 5, 6, 7, 8, 9, 10, 11, 12% of the volume of the multicopter when in an operational state, and a useful range can be selected between any of these values.

[0078] In one configuration, the volume of the multicopter in a stowed configuration including the battery and at least one payload is less than 5, 6, 7, 8, 9, 10, 11, 12% of the volume of the multicopter when in an operational state, and a useful range may be selected between any of these values.

[0079] In one configuration, the volume of the multicopter in a stowed configuration, including the battery, at least one payload, and at least two communication devices, is less than 5, 6, 7, 8, 9, 10, 11, or 12% of the volume of the multicopter when in an operational state, and a useful range may be selected between any of these values.

[0080] In one configuration, the battery provides a mounting structure for the payload.

[0081] In one configuration, the notional polyhedron has a volume sufficient to at least partially house a battery.

[0082] In one configuration, the conceptual polyhedron has a volume sufficient to house a battery.

[0083] In one configuration, the multicopter includes a locking member.

[0084] In one configuration, when converting the multicopter from a stowed configuration to an unstowed configuration, the cross arm is rotated to the unstowed configuration before the main arm is rotated to the unstowed configuration.

[0085] In one configuration, the locking member limits the sequence of movement of the flight arm between the stowed and unstowed configurations.

[0086] In one configuration, when stowing the multicopter, the locking member allows movement of the cross arm when the associated main arm is already in the stowed position.

[0087] In one configuration, when unstowing a multicopter, a primary arm can only be unstowed if the associated cross arm is already in the unstowed position.

[0088] In one configuration, the locking member comprises two locking mechanisms, a left and a right mechanism for locking the two cross arms.

[0089] In one configuration, each locking feature includes a first portion and a second portion.

[0090] In one configuration, the locking member includes a central portion for attachment to the hub or battery.

[0091] In one configuration, each locking mechanism includes a release lever as a second part that can be actuated by a user to release the lock on the first part of the locking mechanism.

[0092] In one configuration, the locking portion of the locking mechanism comprises a locking slot on the first portion which can be rotated about the axis of rotation by movement of the release lever also about the axis of rotation.

[0093] In one configuration, the cross arm of the flying arm includes a locking pin that corresponds to the locking slot.

[0094] In one configuration, movement of the locking lever about a pivot point causes the locking slot to rotate about the pivot point, thereby releasing the locking pin and allowing the cross arm to move from the stowed configuration to the unstowed configuration.

[0095] In one configuration, the second portion comprises a cam that acts relative to the first portion to cause rotational movement of the first portion about the point of rotation.

[0096] In one configuration, the first and second parts include biasing means for biasing the release lever and the locking slot into the locked configuration.

[0097] In one configuration, the locking pin includes an enlarged end that prevents the locking pin from being pulled out of the locking slot.

[0098] In one configuration, the locking pin prevents movement of the locking pin in the x-axis relative to the locking member.

[0099] As used herein, the term "multicopter" and its grammatical equivalents refers to an unmanned aerial vehicle (UAV) that has multiple rotors. Examples of multicopters include a quadcopter with four rotors (eight rotors, single or coaxially paired), a hexacopter with six rotors (twelve rotors, single or coaxially paired), or an octocopter with eight rotors (sixteen rotors, single or coaxially paired).

[0100] As used herein, the term "substantially" and its grammatical equivalents means greater than 75%, or greater than 80%, or greater than 85%, or greater than 90%, or greater than 95%.

[0101] Reference to a numerical range disclosed herein (e.g., 1 to 10) is also intended to incorporate references to all rational numbers within that range (e.g., 1, 1.1, 2, 3, 3.9, 4, 5, 6, 6.5, 7, 8, 9, and 10), as well as references to any rational number range within that range (e.g., 2 to 8, 1.5 to 5.5, and 3.1 to 4.7).

[0102] The embodiments described herein also refer broadly to the moieties, elements and features referenced or indicated in the specification of this application, individually or collectively, and to any and all combinations of any two or more of said moieties, elements or features, and where a particular integer number having a known equivalent in the art to which the invention pertains is referred to herein, such known equivalent is deemed to be incorporated herein as if individually set forth.

[0103] References herein to external sources, including patents and other literature, are generally for the purpose of providing a context for discussing features of the invention, and unless specifically noted otherwise, references to such external sources are not to be construed as an admission that such sources are prior art or part of the general knowledge in the art in any jurisdiction.

[0104] The word "comprising" as used herein means "consisting at least in part of." When interpreting descriptions in this specification having the above words, all features preceded by the word in each description must be present, but other features may also be present. Related words such as "comprise" and "comprised" should be interpreted in the same manner. [Brief description of the drawings]

[0105] [Figure 1] Figure 1 shows the multicopter in its deployed state, with the landing gear in the folded position. [Diagram 2] FIG. 2(A) shows the multicopter of FIG. 1 in a partially stowed configuration, and FIG. 2(B) shows an enlarged view of the main arm rotation. [Diagram 3] FIG. 3 shows the multicopter of FIG. 1 in a stowed configuration. [Figure 4] FIG. 4 shows an exploded view of the pivot joint. [Diagram 5] FIG. 5 shows an exploded view of the arm joint clamp. [Figure 6] FIG. 6 shows a perspective view of a payload connected to a battery. [Figure 7] FIG. 7 shows a top view of the multicopter in a stowed configuration. [Figure 8] FIG. 8 shows a perspective view of the multicopter in a stowed configuration. [Figure 9] FIG. 9 shows a perspective view of the described multicopter. [Figure 10] FIG. 10 shows the multicopter of FIG. 9 in a stowed configuration. [Figure 11] FIG. 11 shows a bottom view of the multicopter of FIG. 9 in a stowed configuration. [Figure 12] FIG. 12 shows a pivot joint. [Figure 13]FIG. 13 shows the multicopter of FIG. 9 in a deployed state with multiple payloads attached. [Figure 14] FIG. 14 shows a multicopter with a camera payload in a stowed configuration. [Figure 15] Figure 15 shows the landing gear configuration. [Figure 16] Figure 16 shows the landing gear configuration. [Figure 17] FIG. 17 shows a side view of a multicopter with landing gear shown in five different positions from an unstowed configuration to a stowed configuration. [Figure 18] FIG. 18 shows a top view (or plan view) of a multicopter with the landing gear shown in five different positions, from an unstowed configuration to a stowed configuration. [Figure 19] FIG. 19 shows a perspective view of the bottom of a multicopter with landing gear shown in five different positions from an unstowed configuration to a stowed configuration. [Figure 20] FIG. 20 shows a side view of the multicopter with the landing gear legs stowed adjacent to the main arm. [Figure 21] FIG. 21 shows the multicopter in a fully stowed configuration, with locking members for the flight arms. [Figure 22] FIG. 22 shows a front view of the locking member, where the locking member is in the flying arm locking configuration. [Diagram 23] FIG. 23 shows a rear view of the locking member, with the locking member in the flying arm locking configuration. [Figure 24] FIG. 24 shows a front perspective view of the locking member, the locking member engaging with the flying arm pin. [Diagram 25] FIG. 25 shows a front view of the locking member with the left hand locking feature of the locking member in a locked configuration with the flying arm pin and the right hand locking feature of the locking member in an unlocked configuration. [Figure 26] FIG. 26 shows a rear view of the locking member with the locking mechanism on the left hand side (as viewed from the rear) in a locked configuration with the flying arm pin and the locking mechanism on the right hand side (as viewed from the rear) in an unlocked configuration. [Figure 27] Figure 27 shows a multicopter equipped with an attachment for power line maintenance. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0106] A multicopter 10 is described that is foldable between a stowed configuration and an operational state. The multicopter 10 includes at least a hub 11 and is configured to receive one or more payloads and a battery 15. The multicopter 10 includes two or more flight arms 12 that extend substantially horizontally when in the operational state, each flight arm 12 including a main arm 121 that extends from the hub at a main arm connector 123 and two cross arms 122 that extend from the main arm 121 at cross arm connectors 126 that are configured to allow each of the main arms 121 to be rotated toward each other to the stowed configuration. Each of the flight arms in the stowed configuration can be disposed substantially parallel to each other, and the cross arm connectors 126 are configured to allow each of the cross arms 122 to be rotated toward the main arm 121 to the stowed configuration. The multicopter 10 may have two or more communication devices, each disposed on a different flight arm 12.

[0107] In the stowed configuration, the flying arm can define a conceptual polyhedron having a volume sufficient to accommodate one or more payloads and communication devices and to at least partially accommodate the battery 15.

[0108] The stowed configuration has a lower storage volume than the operational state, and the stowed configuration is configured such that critical features and components such as the landing gear, payload (such as cameras), and / or sensors / communications equipment (such as GPS and antennas) are generally protected.

[0109] The Multicopter 10 as described is Improved flight time and payload 30 capacity; and / or Optimal placement of sensors in both the flight-ready and folded positions; It is possible to provide a multicopter 10 having a large portable size.

[0110] The portability of the multicopter 10 as described may be similar to that of smaller drones.

[0111] The challenge presented by the multicopters 10 is how to fold (i) the arms and (ii) the landing gear tightly around the hub 11. Many multicopters have removable landing gear 14 to make folding easier. However, these configurations may mean that the flight arms 12 do not fold directly onto the hub, but instead may have an intermediate arm section that connects from the hub to the flight arms such that the rotation point of the flight arms is away from the hub. This prevents tight folding of the flight arms onto the hub. As described below, the hub 11 may house various avionics components. The flight arms 12 and landing gear 14 are typically multiple times longer than the sides of the hub 11. The challenge is therefore to fold the flight arms 12 and landing gear 14 around the hub 11 and reduce wasted hollow space.

[0112] 1A, a multicopter 10 includes a hub 11 and two or more flight arms 12. Each flight arm 12 extends from the hub 11 via a main arm 121. The main arms 121 intersect with flight arms 122.

[0113] The hub 11 may have a main axis that is substantially horizontal with respect to the flight arm 12. That is, the main axis of the hub 11 may be in the same plane as the flight arm 12. Alternatively, the hub 11 may have a main axis that is substantially perpendicular to the flight arm 12. That is, the main axis of the hub 11 may be in a plane perpendicular to the main axis of the flight arm 12. The hub may also support or comprise one or more payloads 30, batteries 15, and landing gear 14.

[0114] The hub 11 may also house a flight controller. The flight controller comprises an electronic system including software and hardware elements (i.e., avionics or at least a portion thereof) that allow the multicopter 10 to be remotely controlled. The flight controller has one or more processors that communicate with one or more sensors 16, such as a GPS receiver. The multicopter 10 may include one or more sensors 16. The sensors may include components such as a GPS antenna 161, a data antenna 162, a gimbaled camera 163, and a compass 164. The flight computer may include one or more electronic boards and / or computers. The flight computer may include one or more sensors selected from an accelerometer, a rate gyro, a barometric altitude, an airspeed sensor, or a combination of two or more.

[0115] The hub housing the flight controls (i.e., the avionics or at least a portion thereof) may be relatively small. The hub may include the flight controls, power distribution, an embedded computer, a digital transmission module, and a GPS. The avionics may fit within a cavity formed within the hub having dimensions of, for example, 20 cm by 20 cm by 10 cm. The dimensions of the hub cavity for housing the avionics may remain the same regardless of the dimensions of the multicopter 10 airframe, i.e., the dimensions of the hub cavity for housing the avionics may remain the same regardless of whether the flight arm has a length of 20 cm, 60 cm, or 200 cm.

[0116] In some configurations, the length of the hub in its longest dimension may be about 10 cm, 20 cm, 30 cm, 40 cm, 50 cm, 60 cm, 70 cm or 80 cm, and a useful range may be selected between any of these values.

[0117] The hub 11 may comprise a central body or base to which various components are attached. For example, the hub may be connected to any one or more of the main arm 121, the battery 15 or battery casing, the payload 30, or any combination of two or more.

[0118] In some embodiments, the hub 11 may be connected to the landing gear.

[0119] The hub 11 may have any suitable polygonal shape, such as a cube, a square prism, a hexagonal prism, an octagonal prism, or a cylinder. The hub may generally have a polygonal shape having a top, a bottom, and a side surface that define a volume. The flight control device may be disposed within the volume of the hub.

[0120] The hub 11 may have a configuration in which the main axis (i.e., the longest axis when carrying the batteries 15) lies in a horizontal plane (i.e., in a plane that is parallel to the plane formed by the main arms 121 and the cross arms 122 when in the deployed configuration). The faces of the hub 11 provide mounting locations for the components of the multicopter 10. For example, the main arms 121 may each be coupled to a side of the hub 11 (such that at least two main arms 121 are diametrically opposed across the width), the batteries 15 may be coupled to the top surface, and the payload 30 may be attached to the front, rear, and bottom surfaces.

[0121] Alternatively, the hub may have a configuration in which the main axis (i.e., the longest axis, if it has batteries) lies in a vertical plane (i.e., a plane perpendicular to the plane formed by the main arms 121 and the cross arms 122 when in the deployed configuration). The faces of the hub 11 provide mounting locations for the components of the multicopter 10. For example, the main arms 121 may each be coupled to a side of the hub 11 (such that at least two main arms 121 are diametrically opposed across the width), the batteries 15 may be coupled to the top surface, and the payload 30 may be attached to the front, rear, and bottom surfaces.

[0122] Alternatively, the hub 11 may have a polyhedral shape extending in a horizontal plane (i.e., relative to the flight arms 122 and the main arm 121 when in the deployed configuration). The thickness (i.e., depth) of the hub 11 may be much thinner in the vertical axis than in the horizontal axis.

[0123] The multicopter 10 may include a battery 15 that provides a source of power for the motors of the multicopter 10. The battery 15 may be attached to a surface of the hub 11. As shown in FIG. 1, when the hub 11 has a horizontal configuration (longest axis on the horizontal axis), the battery 15 may be attached to a surface of the hub 11 on the longest axis of the hub. As shown in FIG. 11, when the hub 11 has a vertical configuration (longest axis on the vertical axis), the battery may be attached to a surface of the hub 11 on the shortest axis of the hub 11.

[0124] The battery 15 may have one or more mounting brackets on the surface of the battery 15. The mounting brackets may be clip-type, friction fit, screw mounts, or clamp-type. The mounting brackets may be quick release brackets. The brackets allow one or more payloads to be attached directly to the battery 15. This design allows a user to attach a payload 30 directly to the battery 15 without having to carry the weight of a separate mounting structure.

[0125] Battery 15 may comprise any suitable rechargeable battery, including but not limited to a lithium polymer battery. The battery may have a capacity of approximately 20000mAh, 25000mAh, 30000mAh, 35000mAh, 40000mAh, 45000mAh or 500000mAh, and a useful range may be selected between any of these values. In some embodiments, the battery may be a removable battery.

[0126] Also, the battery 15 may be formed integrally with the hub 11. The battery 15 may be provided within a cavity in the hub 11. A removable battery may be provided within a casing for the battery 15. The casing for the battery 15 may be configured to be removably coupled to the hub 11. The casing may be attached to the hub 11 or formed integrally with the hub 11. The casing for the battery 15 may be formed as at least a partial enclosure for the battery 15. The casing for the battery 15 may aid in locating or supporting the battery 15 on the hub 11. In some configurations, the casing for the battery 15 may extend the length of the battery 15 or at least a majority of the length of the battery 15. In one embodiment, the casing for the battery 15 defines the appearance of the multicopter 10 when the casing for the battery 15 is attached to the hub 11. In one embodiment, the casing for the battery 15 may be received wholly or partially within the hub 11.

[0127] In some embodiments, the casing for the battery 15 is coupled to a top side of the hub 11. In other embodiments, the casing for the battery 15 is coupled to a bottom side of the hub 11.

[0128] The casing for the battery 15 may have one or more mounting brackets on a surface of the casing. The mounting brackets may be clip-type, friction fit, screw mount, or clamp type. The mounting brackets may be quick release brackets. The brackets allow for the mounting of one or more payloads onto the casing for the battery 15.

[0129] The attachment system (battery 15 or a casing for battery 15) may broadly comprise a first part associated with the hub 11 that couples with a corresponding second part (provided on the payload) to secure the payload 30 to the hub 11. The attachment system may comprise a quick release mechanism that allows the payload 30 to be detached from the hub 11 using a button, lever or slider. In some embodiments, the attachment system may be detached electronically and / or remotely.

[0130] The mounting system may be a shoe mounting system that includes a shoe or bracket on the hub 11 and a corresponding foot on the payload 30 or other attachment. For example, the mounting system may include a hot shoe mount that includes a conductive surface that allows for an electrical and / or data connection between the payload 30 and the hub.

[0131] Payloads, including but not limited to the hub 11, the battery 15, a casing for the battery 15, the main arm, the flight arm, and / or the landing gear 14, may be coupled to the multicopter 10 at various locations.

[0132] Payload 30 may comprise any payload that may be carried by multicopter 10, including, but not limited to, sensors, audio devices, and / or lighting devices.

[0133] In some embodiments, the payload 30 may be mounted on a gimbal or gyro-stabilized.

[0134] The sensors may comprise optical sensors, including, but not limited to, cameras, infrared cameras, thermal cameras, multispectral cameras, hyperspectral cameras, and / or night vision cameras. Other examples of sensors include laser range finders, lidars, and laser scanners.

[0135] The audio device may include a microphone and / or a speaker.

[0136] The light emitting device may be a Light Emitting Diode (LED) based device. The light emitting device may comprise a spotlight, a warning light.

[0137] Each payload 30 may be coupled to the hub, flight arms, and / or battery casing via a mounting system, such as the mounting systems described above.

[0138] The landing gear 14 may comprise any structure suitable for supporting the multicopter 10 on the ground.

[0139] The landing gear 14 may include two or more legs. Each leg may include a stabilizing structure, such as a foot or a wheel. In some embodiments, a skid may be provided between a pair of legs.

[0140] The landing gear 14 may be attached to landing gear 14 attachment points on the hub 11, the flight arms, and / or the battery casing. Where the casing for the battery 15 is connected to the bottom surface of the hub 11, the casing for the battery 15 may provide the attachment points for the landing gear 14. The landing gear 14 may be formed integrally with the hub 11, the flight arms 12, or the casing for the battery 15.

[0141] The landing gear 14 may be foldable or retractable, as shown in Figures 1, 2(A) and 17-20. Foldable or retractable landing gear 14 may be beneficial in preventing or reducing blockage of the downward air thrust generated by the rotor during flight. Even partial blockage of the downward air thrust generated by the rotor may reduce lift efficiency.

[0142] 1, the landing gear may be attached to the flight arm 12. In particular, the landing gear 14 may be attached to the intersection of a main arm 121 and a cross arm 122. The arms may form a variety of shapes, such as a "T" shape, a "Y" shape, or a "V" shape.

[0143] Various landing gear 14 designs are shown in FIG. 16. FIG. 16(A) shows a "T" shaped design. FIG. 16(B) shows a "Y" shaped design. FIG. 16(C) shows a "V" shaped design. Various folding designs allow the landing gear 14 arm components (143 and 144) to fold towards the hub, allowing the landing gear 14 to nest under the main arm 121. The "Y" shaped design may comprise two arms 144 joined at a landing gear attachment point 141. The landing gear attachment point 141 may then be attached to the underside of the flight arm 12. The landing gear attachment point 141 may comprise a pivot point or hinge to allow the two arms 144 to fold relative to the main arm 121. Alternatively, the landing gear attachment point 141 may comprise a pivot point or hinge to allow the two arms 144 to fold relative to the cross arm 122.

[0144] In one embodiment, as shown in Figures 17-20, the landing gear 14 is attached to the area where the cross arm 122 and the main arm 121 intersect, such that the landing gear 14 folds up adjacent to and parallel to the main arm 121 when in flight. As shown in Figure 16, the landing gear can be connected to the underside of a connector that acts as a connection point for the main arm 121 and the cross arm 122. The landing gear 14 is effectively hidden relative to the main arm 121 and does not impinge on the downward thrust generated by the rotor. The landing gear can be attached to the area where the cross arm 122 and the main arm 121 intersect via an attachment point 141 that provides a pivot point or hinge that allows two arms 144 to fold up relative to the main arm 121 to provide a hidden landing gear in flight.

[0145] The attachment point 141 may include a pivot point 142 or hinge connected to one or more motors or servo mechanisms ("servos") that control the pivoting or hinging of the landing gear between a deployed state and a stowed configuration. The motor or servos may be controlled remotely or manually. The motor or servos may be controlled by a controller that is part of or electrically connected to a flight computer. Thus, the landing gear may be switched remotely or manually between a fully deployed state to enable landing and a stowed configuration for flight. As shown in Figures 17-20, the landing gear 14 may be pivoted from a pivot point 142 that is located in the zone where the cross arm 122 connects to the main arm 121, and pivots adjacent to the main arm 121. The pivoting of each leg of the landing gear 14 may occur in two Cartesian axes simultaneously. That is, when the multicopter 10 is viewed from the side as in Figure 17, the legs of the landing gear 14 move simultaneously on the y-axis (up and down) and z-axis (front and back). This can be seen from Figures 17-19, which show the movement of the legs of the landing gear 14 in five different positions from a side view (Figure 17), a top view (Figure 18), and a perspective view from below (Figure 19). Figure 20 shows the multicopter 10 with the legs of the landing gear 14 stowed adjacent to the main arm 121.

[0146] Simultaneous movement of the landing gear 14 legs in two Cartesian axes can help keep the landing gear 14 from contacting a sensor 16 disposed beneath the multicopter 10. For example, as shown in Figures 17-20, the sensor 16 can be a gimbaled camera 162 disposed beneath the hub 11 of the multicopter 10.

[0147] 14 and 15, the legs of the landing gear 14 may have a "Y" shaped design with a vertical arm 143 connected at one end to a landing gear attachment point 141. Two other landing gear cross members 144 may be attached at a distal end. The connection between the cross member 144 and the vertical arm 143 may be through a pivot point 142. This pivot point 142 may allow the cross arm 144 to be folded relative to the vertical arm 143 such that each of the arm members (143 and 144) of the landing gear 14 are aligned parallel to one another.

[0148] The pivot point 142 of the cross arm 144 for folding relative to the vertical arm 143 may have one or more motors or servos that control the pivoting or hinge of the landing gear cross arm 144 between a deployed state and a stowed configuration. The one or more motors or servos may be controlled remotely or manually. The one or more motors or servos may be controlled by a controller that is part of or electrically connected to a flight computer. Thus, the landing gear may be switched remotely or manually between a fully deployed state to enable landing and a stowed configuration for flight.

[0149] The "V" shaped design comprises two arm members attached to the landing gear attachment point 141. The landing gear attachment point 141 may comprise a pivot point to allow the two arms 144 to be folded relative to the main arm 121. The pivot point for the two arms 144 allows the two arms 144 to be folded together and folded relative to the main arm 121. This pivoting may have one or more motors or servos that control the pivoting or hinge actuation of the landing gear two arms 144 between a deployed state and a stowed configuration. The one or more motors or servos may be controlled remotely or manually. The one or more motors or servos may be controlled by a controller that is part of or electrically connected to the flight computer. Thus, the landing gear may be switched remotely or manually between a fully deployed state to allow landing and a stowed configuration for flight.

[0150] Naturally, the dimensions of the landing gear must be proportionately large relative to the dimensions of the multicopter 10 fuselage. For example, a multicopter 10 having four motors (i.e. a quadcopter) with an 80 cm rotor will form a square (defined by the four motors) with sides of approximately 100 cm length. To ensure a stable landing, the sides of the square formed by the four tips of the landing gear must be large enough, for example at least 55, 60, 65, 70, 75 or 80% of the sides of the square, and a useful range may be selected between any of these values.

[0151] The one or more motors may be electric motors. The one or more servos may be electric, hydraulic, or pneumatic servos. The motors or servos may provide a rotational output to rotate the landing gear 14. The one or more motors or servos may have a transducer that determines a position of the landing gear 14 relative to the multicopter 10. The one or more motors or servos may have a governor that controls the rotation speed of the landing gear 14.

[0152] Once in the folded position, the landing gear 14 arms can be aligned substantially parallel to the flight arms 12.

[0153] The landing gear 14 can be folded relative to the main arm 121 in flight, as described above, to hide the landing gear so as not to affect the downward force of the rotor. Similarly, when the multicopter 10 is stowed, the landing gear 14 is folded relative to the main arm 121 so as to be substantially parallel to the main arm 121. Thus, when the landing gear is stowed (such as when flying), the landing gear 14 can be folded such that the landing gear extends from the attachment point 141 along the main arm 121 toward the hub 11.

[0154] When the landing gear 14 is stowed for storage, the landing gear 14 may be manually folded. Similarly, when the multicopter 10 is prepared for a deployed state, the landing gear 14 may be manually deployed. Once flown, the landing gear 14 may be stowed for remote flight using one or more motors or servos, as described above.

[0155] The arrangement of the landing gear 14 allows (i) Improve aerodynamic performance by reducing the impact of the rotors on lift generated during flight; (ii) a 360-degree field of view from both the hub-mounted and arm-mounted cameras; (iii) a smaller footprint and protected landing gear 14 when the multicopter 10 is in a stowed configuration, or (iv) Any combination of one or more of (i) to (iii) may be provided.

[0156] Each flight arm 12 includes a main arm 121 and two cross arms 122. The main arm 121 extends from the hub 11, and a cross arm 122 extends from a distal end of each main arm 121.

[0157] The length of the flight arms 12 must increase in proportion to the dimensions of the multicopter 10 airframe. In general, the above relationship can be defined as the flight arms (i.e., main arm 121 and cross arm 122) having a length that is at least half the diameter of the rotor. For example, an airframe using a 100 cm rotor may require a flight arm length of 50 cm (100 cm) to adequately space the rotors relative to one another. 2 ) A longer flight arm is required.

[0158] The proximal end (i.e., relative to the hub 11) of each main arm 121 may extend from one of several sides of the hub 11. However, it will be understood that each main arm 121 may alternatively extend from any other portion of the hub 11. For example, in one embodiment, each main arm 121 may extend from a casing for the battery 15. Alternatively, the main arms 121 may extend from an underside of the hub 11.

[0159] When in the deployed state, the main arm 121 may extend from the hub 11 at an angle perpendicular to the side of the battery 15 or hub 11. This arrangement is shown in FIG. 1 because the angle between the main arm 121 and the side of the hub 11 or battery 15 is approximately 90 degrees in both the vertical and horizontal planes. The main arm 121 may extend at an angle other than 90 degrees in the horizontal plane. This may give the main arm 121 a "swept wing" type orientation relative to the hub 11. When in the deployed state, the main arm may extend from the hub 11 in the horizontal plane at an angle of approximately 70 degrees, 75 degrees, 80 degrees, or 85 degrees in the horizontal plane.

[0160] It will be appreciated that the face of the hub on which each main arm connection is located may define a notional connection plane (e.g., the face of hub 11 may be rounded or partially rounded).

[0161] It will also be understood that each main arm has a longitudinal axis, i.e., the main arms may be elongated rods having a longitudinal axis, which may intersect with the notional connection plane of each of the hubs at an angle of 70 degrees, 75 degrees, 80 degrees, 85 degrees, or 90 degrees relative to the horizontal and / or vertical planes.

[0162] Each main arm 121 may be rotatably connected to the hub 11 by a main arm connector 123. The main arm connector 123 may comprise several components. The components of the main arm connector 123 may be attachable to the hub 11. Alternatively, the components of the main arm connector 123 may be integrally formed with the hub 11. The main arm connector 123 may be manufactured to be integral with a casing for the battery 15. The main arm connector 123 may be manufactured to be integral with the battery.

[0163] The connection of the main arm 121 to the main arm connector 123, either directly connected or integrally formed with the hub, allows the pivot point of the main arm 121 to be very close to the hub 11. This allows the main arm 121, and therefore the cross arm 122, to be efficiently folded relative to the hub 11. In one embodiment, the main arm 121 folds flush with the hub 11. The cross arm 122 can also be folded flush with the hub 11. Thus, in one embodiment, the main arm 121 and the cross arm 122 fold flush with the hub 11.

[0164] In the present invention, due to the pivot point of the main arm 121 being very close to the hub 11, the main arm connector 123 is located on or integral with the hub 11, so there is no intermediate arm located between the main arm connector 123 and the hub 11. Again, this provides for a flush folding of the flight arm 12 relative to the hub 11.

[0165] If the main arm connectors 123 are formed integrally with the hub 11, there may be more than two main arm connectors 123, allowing a user to vary the location at which the main arm 121 is attached to the hub 11. The main arm connectors 123 may each be located at a distinct location across or along the hub 11. For example, each side may include two main arm connectors 123 located in substantially horizontal alignment.

[0166] In another embodiment, the hub 11 may include a slide rail for mounting the main arm connector 123. The slide rail allows the mounted main arm connector 123 to have its position adjusted (i.e., along the slide rail). The slide rail may include a lock for fixing the position of the main arm connection in a predetermined position on the slide rail. The slide rail may be positioned on any suitable surface of the hub 11 in any desired orientation. For example, the slide rail may be positioned on the connection side of the hub 11. The slide rail may be positioned on a casing for the battery 15.

[0167] The main arm connector 123 may be connected to the hub 11 by a pivotal connection. It will be appreciated that a pivotal connection may refer to any connection that allows the main arm 121 to pivot relative to the hub 11 about at least one axis.

[0168] FIG. 4 shows the configuration of the main arm connector 123. The main arm connector 123 has several components that cooperate together to enable rotation of the main arm 121. The main arm connector 123 as shown in FIG. 4 has a connector base 1231 that is disposed on the hub 11. The connector base 1231 may be attachable to the hub 11 or may be integrally formed with the hub 11. The connector base 1231 has a rotation surface 1231a that corresponds to the rotation surface 1232a of the main arm connector element 1232. The main arm connector element 1232 may be integrally formed with the main arm 121 or may be formed as an attachment to the main arm 121.

[0169] The main arm connector 123 can have a coupling element having a first portion 1233 and a second portion 1234, whereby the first portion 1233 and the second portion 1234 couple to one another. Each of the two portions of the coupling element is disposed with either the main arm connector element 1232 or the connector base 1231. That is, as shown in FIG. 4, the first coupling element 1233 is disposed within the main arm connector element 1232 and the second coupling element 1234 is disposed within the connector base 1231. As shown, the main arm connector element 1232 can have an opening through which the first coupling element 1233 is disposed to engage the second coupling element 1234 when the main arm 121 is attached to the connector base 1231. The first coupling element 1233 can be in the form of a rod or tube extending between the main arm connector element 1232 and the connector base 1231. The first connecting element 1233 may then define an axis (or pivot point) about which the main arm rotates relative to the hub 11.

[0170] The first connecting element 1233 comprises a proximal end closer to the hub 11 and a distal end closer to the flight arm. In some embodiments, the proximal and distal ends may be separable / separate members that may be separably connected to one another to form a pivot point. In other embodiments, the proximal and distal ends may comprise parts of a single or integrated member.

[0171] The proximal end may be fixedly connected to the connector base 1231. The terminus of the proximal end may vary across different embodiments. For example, in some embodiments, the proximal end may extend through the connector base 1231 and the terminus of the proximal end may be disposed and fixed within an internal cavity of the connector base 1231. In another embodiment, the first connecting element 1233 may not extend through the connector base 1231 and instead the terminus of the proximal end may be fixed to the connector base 1231. In the above embodiment, the terminus of the proximal end may comprise a plate formed orthogonal to the first connecting element 1233. Thus, the plate may be parallel to and connect within the connector base 1231 (perhaps more necessary as to how it connects to a surface).

[0172] The main arm portion may be rotatably coupled to a first coupling element 1233. The main arm connector element 1232 may comprise an internal cylindrical opening that may be occupied by a distal end of the pivot point 1233. In other words, the pivot point may extend orthogonally through the main arm connector element 1232. The distal end of the pivot point may then terminate through the underside of the main arm connector element 1232. This terminus may comprise a lip / rim that is circumferentially wider than the diameter of the internal cylindrical cavity (to prevent the main arm 121 and main arm connector element 1232 from sliding out).

[0173] The coupling element may be a threaded coupling. That is, the threaded coupling may comprise a first threaded portion and a second threaded portion. The first threaded portion may be substantially hollow and may comprise an opening and an inner surface. The inner surface may define an internal cavity, and the inner surface may comprise a thread pattern. The second threaded portion may have an outer surface and may be sized and shaped to occupy the internal cavity such that the outer surface contacts the inner surface of the first threaded portion. The outer surface may comprise a thread pattern that corresponds to the thread pattern of the first threaded portion such that the second threaded portion is securely secured to the first threaded portion when the second threaded portion enters and rotates into the internal cavity of the first threaded portion. In one embodiment, the first threaded portion may be located on the hub 11 and the second threaded portion may be located on the end of the main arm 121. In another embodiment, the positions may be reversed.

[0174] In another embodiment, the coupling element may have a spring connection. Of course, a spring connection may refer to any connection that may allow for separation via a spring bias. For example, the spring connection may comprise a tension spring that biases a component of the main arm connector to the main arm. That is, when the main arm rotates about the main arm connector, the tension spring may bias the main arm 121 to a particular orientation, whether it is in a stowed configuration or in an actuated state.

[0175] The main arm connector 123 may have one or more rotation stop elements. As shown in Figure 4, these are in the form of protrusions and corresponding slots located on the rotation surfaces 1231a and 1232a of the connector base 1231 and the main arm element 1232, respectively. The rotation stop elements may act to limit the rotation of the main arm 121 and may help lock the main arm in place once in the deployed position.

[0176] It will be appreciated that in addition to the explicit examples provided, any other connection that rigidly and detachably / rotatably secures the main arm to the hub may be used, for example the connection may be a ball and socket joint.

[0177] The relative angle between the plane of rotation 1231a of the connector base 1231 and the plane of rotation 1232a of the main arm connector element 1232 may define the rotational characteristics of the main arm 121 with respect to the hub 11. For example, as seen in FIG. 4, the planes 1232a and 1231a form a 45 degree angle with respect to the main arm 121 axis. This allows the main arm 121 to rotate in two Cartesian axes (i.e., two degrees of freedom), i.e., 90 degrees in each of the two Cartesian axes simultaneously. As shown in FIG. 2(A), the main arm connector 123 allows the main arm to rotate about its longitudinal axis 90 degrees and laterally 90 degrees so that it can be stowed alongside the battery 15, as shown in FIG. 3.

[0178] Figure 12 demonstrates an alternative configuration of the main arm connector 123 to those described above. The connector base 1231 may be attached to the hub 11 or may be integrally formed with the hub 11. The connector base 1231 may have a connection that provides rotation of the main arm 121 in one Cartesian axis (i.e., one degree of freedom) relative to the hub 11. For example, as shown in Figure 12, the main arm connector 123 provides approximately 90 degrees of rotation of the main arm 121 from the deployed state to the stowed configuration and from the stowed configuration to the deployed state.

[0179] Also, the main arm connector 123 may be a revolute joint that provides one rotational degree of freedom, i.e., rotational movement about one axis. The main arm connector 123 may be in the form of a hinge. A hinge pin 1253 may be disposed through a distal portion of the main arm 121. The pin 1253 may define an axis of rotation for the main arm 121. The main arm connector 123 may be in the form of a pin joint. The pin may define an axis of rotation for the main arm 121. The pin 1253 may not pass completely through the main arm, but instead may pass into an opening in the main arm. Alternatively, the pin may pass completely through the main arm 121. The main arm may include an enlarged portion at its distal end, as shown in FIG. 12. For example, the main arm connector 123 may include two sides and one end. The sides may be flat to correspond to the (inner) main surface of the connector base 1231. The main arm connector 123 may be rounded (to allow for smooth / free rotation). The main arm connector 123 may further comprise an internal cylindrical cavity. The internal cylindrical cavity may be substantially straight and may have an opening on one side and a closed portion on the other side.

[0180] The main arm connector 123 may have a partial sleeve 1254 extending laterally outward from the main arm connector 123. The partial sleeve 1254 acts to limit the movement of the main arm 121 by providing a stop on the main arm 121 so that it cannot rotate any further, thus holding the main arm 121 at a desired deployed angle relative to the hub 11. The partial sleeve 1254 may have a slightly larger diameter than the main arm 121 so that the main arm 121 seats within the partial sleeve 1254. As shown in Figures 13 and 14, the main arm connector 123 employs one rotational degree of freedom as a revolute joint to fold the main arm 121 relative to the battery 15. As shown in these figures, the degree of rotation is approximately 90 degrees, but it will be understood that the amount of rotation is sufficient to align the main arm 121 closely or adjacent to the battery 15.

[0181] As shown in FIG. 12, the connector base 1231 may extend from the notional connecting surface of the hub 11 and may comprise two side walls and a base. The side walls may comprise two main surfaces, two side surfaces, a top surface, and a bottom surface. The main surfaces may be substantially planar / flat and may have a significantly larger surface area than the side surfaces and the top and bottom surfaces. The top surface may be an inclined surface. The side walls of the connector base 1231 may extend orthogonally from the notional connecting surface of the hub 11. That is, one side surface may be connected to the connecting side of the hub, and the main surface may form a substantially 90 degree angle with the connecting side. The side walls may be vertically disposed, that is, the top and bottom surfaces may be parallel to the xz plane (ground), and the main surface may be substantially orthogonal to the xz plane. Each side wall may be spaced apart from the other in parallel alignment. Additionally, the side walls may be disposed in horizontal alignment with the tops of the side walls disposed at the same height and the bottoms of the side walls disposed at the same height. The base may be disposed in the xz plane between the bottoms of the side walls. The joins / intersections between the bottoms and the side walls may be angular or rounded.

[0182] Additionally, the main arm connectors 123 may be located in multiple locations. For example, in one embodiment, each main arm connector 123 may be located on a connection side of the hub 11. As a further example, each main arm connector 123 may be located on a casing for the battery 15.

[0183] Each main arm connector 123 may be located on a vertically opposite side of the hub 11. That is, as shown in Figures 1 and 13, the multicopter 10 may have two main arms 121. In some embodiments, the multicopter 10 may have three or four main arms 121, each having a pair of cross arms 122.

[0184] The distal end of the main arm 121, which is attached to the cross arm 122, can serve as a mounting surface for sensors, including but not limited to cameras, gimbals, antennas, lidar, radar, etc. The sensors can be mounted on the top, bottom, or sides of the distal end of the main arm 121.

[0185] The cross arm 122 is disposed at a distal end of the main arm 121. The main arm 121 effectively traverses the cross arm 122 to form a "T" or "Y" shaped configuration.

[0186] The cross arm connector 126 attaches to the distal ends of the cross arm 122 and the main arm 121. The cross arm 122 may be connected to the cross arm connector 126 at a joint hinge. The joint hinge may be a rotational hinge that rotates approximately 90 degrees about the hinge.

[0187] Each cross arm 122 connects to a cross arm connector 126 with a joint hinge that provides for the cross arm 122 to rotate in the same plane as the main arm 121. This can be seen in Figure 9 where the cross arms 122 have been rotated towards the main arm 121 and stacked beside it, sandwiching the main arm 121.

[0188] The cross arm connector 126 may be in the form of a hinge. A hinge pin is disposed through a proximal portion of the cross arm 121 that engages the hinge of the cross arm connector 126. The pin defines an axis of rotation for the cross arm 122. The cross arm connector 126 may be in the form of a pin joint. The pin may define an axis of rotation for the cross arm 122. The pin may not pass completely through the cross arm 122, but may instead pass into an opening in the cross arm 122. Alternatively, the pin may pass completely through the cross arm 122. The cross arm 122 may include an enlarged portion at its proximal end, as shown in FIG. 1. For example, the cross arm connector 126 may include two sides and a terminal end. The sides may be flat to correspond to the (inner) major surfaces of the enlarged portions at the proximal end of the cross arm 122 that engage the cross arm connector 126. The cross-arm connector 126 may be rounded (to allow for smooth / free rotation). The cross-arm connector 126 may further comprise an internal cylindrical cavity. The internal cylindrical cavity may be substantially straight and may have an opening on one side and a closed portion on the other side.

[0189] The cross arm connector 126 may comprise a partial sleeve extending laterally from the cross arm connector 126. The partial sleeve acts to limit the movement of the cross arm 122 by providing a stop to the cross arm 122 so that it cannot rotate any further, thus holding the cross arm 122 at a desired deployed angle relative to the hub 11. The partial sleeve may have a diameter slightly larger than the dimensions of the cross arm 122 so that the cross arm 122 seats within the partial sleeve. As shown in FIG. 1, the cross arm connector 126 employs one rotational degree of freedom as a revolute joint to fold the cross arm 122 relative to the main arm 121. As shown in these figures, the degree of rotation is approximately 90 degrees, but it will be understood that the amount of rotation is sufficient to align the cross arm 122 closely or adjacent to the main arm 121.

[0190] As mentioned above, the cross arms 122 extend on either side of the main arm 121. Each cross arm 121 may be of substantially the same length or at least of uniform length.

[0191] The interior angle between each cross arm 122 and the main arm 121 can be approximately 90 degrees, 95 degrees, 100 degrees, 105 degrees, 110 degrees, 115 degrees, 120 degrees, or 135 degrees, and a useful range can be selected between any of these values.

[0192] Each cross arm 122 has a distal end that may carry a motor 18. Locating this at the distal ends of the cross arms 122 allows for the maximum distance between each motor 18, thereby allowing for the largest diameter rotors.

[0193] The rotors of the multicopter 10 may be approximately 18 inches, 20 inches, 25 inches, 30 inches, 35 inches, 40 inches, 45 inches, 50 inches, 55 inches, 60 inches, 65 inches, 70 inches, 75 inches, or 80 inches, and a useful range may be selected between any of these values.

[0194] As specific examples, the multicopter 10 may have rotors that are approximately 28 inches, 30 inches, 32 inches, or 36 inches. Each 28 inch rotor has a lift force of 2.5 kg to 4 kg depending on the motor used. Each 30 inch rotor has a lift force of 3.5 kg to 6 kg depending on the motor used. Each 32 inch rotor has a lift force of 5 kg to 8 kg depending on the motor used. Each 36 inch rotor has a lift force of 8 kg to 15 kg depending on the motor used.

[0195] In some embodiments, the flight arm 12 may further comprise a communication device 160. The communication device may be, for example, a GPS, a radio antenna, or the like.

[0196] It will be appreciated that multiple communication devices provide optimal performance when provided in pairs and when each member of the pair is maximally separated. Thus, in a preferred embodiment, communication device 160 may comprise at least one pair of communication devices 160a / 160b, and each member 160a / 160b of each pair may be provided on a separate flight arm 121 to ensure adequate separation. For example, in some embodiments, each member 160a / 160b of each pair may be disposed on a separate cross arm pivot connection 125.

[0197] Current multicopter 10 designs lead to antennas mounted on the main fuselage, particularly because vibrations caused by rotor motion with coaxial copter can interfere with the GPS antenna. Placing the RTK GPS antennas as far apart as possible has accuracy benefits. This design allows multiple antennas to be placed on opposing flight arms 12, particularly where the main arm 121 connects to the cross arm 121.

[0198] In some embodiments, the flight arm may include one or more payloads each coupled to the flight arm via a respective payload 30 attachment. In further embodiments, the payload 30 attachment and each payload may be located on the underside or front side of the cross-arm pivot connection.

[0199] The multicopter 10 may be equipped with multiple payloads. The cargo is Battery 15, Hub 11 and / or Main arm 121, and / or , or the area of ​​the cross arm 122 where the cross arm joins the main arm 121 .

[0200] In relation to the payload extending from the hub 11 and the battery 15, the payload 30 may extend from both ends. That is, considering the main longitudinal axes of the hub 11 and the battery 15, the payload may extend from both ends. This means that if the hub 11 has a main axis in a vertical direction, the payload may extend from opposite top and bottom faces of the hub 11 and the battery 15. If the payloads have their longitudinal axes in a horizontal direction, the payload may extend from opposite front and rear faces of the battery 15 and the hub 11.

[0201] With respect to the area of ​​the cross arm 122 where the cross arm joins the main arm 121, the payload 30 may extend from this area. For example, the payload 30 may extend from this area in a horizontal plane. This allows the payload 30 to extend into an area where the payload 30 does not interfere with the rotor.

[0202] As mentioned above, the placement of the payload in the form of a camera can allow a larger field of view for the camera. For example, a camera mounted on the top of the battery 15 allows the camera an unobstructed view upward when in a vertical orientation. A camera mounted on the underside of the hub 11 allows an unobstructed view downward when in a vertical orientation. When the main longitudinal axes of the hub 11 and the battery 15 are in a horizontal plane, the cameras connected to the front and rear will have a 90% unobstructed view from ground to sky. Similarly, a camera connected to the area of ​​the cross arm 122 where the cross arm joins the main arm 121 will also have a 90% unobstructed view from ground to sky.

[0203] Cameras with a field of view up to 90% from the ground up can be useful in some cases, such as allowing the camera to inspect overhanging structures such as the underside of a bridge.

[0204] The flying arm may include a number of connecting clamps.

[0205] The connection clamps are adapted to the main arm pivot connection and the cross arm pivot connection. The connection clamps can have an open and a closed configuration. In the open configuration, the connections are rotatable / allow rotation as described. In the closed configuration, the connection clamps prevent any rotation at the connections, thereby locking the flight arm in a desired orientation in stowed or operational mode.

[0206] 5, clamp 124 may include a lower plate 1242, an upper plate 1241, an upper plate 1243, a support rod 1244, and a connecting screw / bolt 1245. Lower plate 1242 and upper plate 1241 may each be broadly characterized as half cylinders that are secured to one another by screws or bolts 1245 around the flight spar. Each plate includes a concave and convex surface that is molded around the flight spar. Plate 1243 molds around the upper convex surface of plate 1241. The left portion of upper plate 1243 includes a side cylinder with an internal cylindrical cavity that aligns with a corresponding hole in plate 1243. The support rods 1244 are disposed within the internal cylindrical cavities of the upper internal cylindrical cavity and corresponding holes in the upper plate 1241, thereby connecting the upper plate 1243 to the upper plate 1241 and supporting the rotational movement of the upper plate 1243 about the axis of the support rods 1244. The side cylinders of the upper plate 1243 can have cams formed by offsetting the center of the internal cylindrical cavity, which face downwards relative to the upper plate 1241 when the upper plate 1243 is attached to the upper surface of the upper plate 1241. This has the effect of pushing the upper plate 1241 down and locking the clamps in place as the upper plate 1241 pushes down on the flight spar. Once the upper plate 1243 rotates upwards about the support rods 1244 axis, the cams 1243a disengage from the upper plate 1241, which in turn disengages the clamps from the flight spar.

[0207] The clamp 124 can be assembled across the spar of a flight arm (cross arm 122 or main arm 121) in a connected position. In a released configuration, the clamp 124 is moved to overlap at least a partial sleeve of the cross arm connector 126 or the main arm connector 123. Once the upper plate 1243 is rotated to attach the upper plate 1241, pressure is applied to the partial sleeve, thereby clamping the spar of the appropriate flight arm.

[0208] An advantage of the multicopter 10 described above is the efficient folding of the multicopter 10. Also, the folding of the multicopter 10 is such that the flying arms protect the payload, the battery and / or the communication device.

[0209] 1-3, the illustrated embodiment includes a hub 11 and a battery 15 with its primary axis (i.e., its longest axis) in a horizontal plane. As shown in FIG. 1, a primary flight arm 121 extends radially outward from the hub 11 in a horizontal plane and connects to two cross arms 122 forming a "T" shaped flight arm. The primary arm 121 connects to the hub 11 at a primary arm connector 123. The primary arm 121 and the cross arm 122 connect at a cross arm connector 126. At each of these connection points is disposed a clamp 124 that holds the flight arm in its deployed state. The multicopter 10 includes a payload 30 in the form of a camera attached to a mounting located on the side of the hub 11. Also included in the cross arm connector 126 is a GPS antenna 161. A landing gear 14 may extend from the hub 11. A motor 18 is disposed at the distal end of each of the multiple cross arms 122. A flight antenna is also disposed in the cross arm connector 126.

[0210] When folded, the clamp is disengaged and the main arm 121 folds towards the hub 11. The hinge actuation of the main arm connector 123 provides rotation in two degrees of freedom (i.e., two Cartesian axes) such that the main arm rotates 90 degrees on its longitudinal axis. The cross arm 122 folds 90 degrees towards the main arm such that the cross arm 122 and the main arm 121 form a stacked arrangement (i.e., effectively an "M" shaped arrangement). That is, the main arm 121 is sandwiched by multiple cross arms 122. Once the main arm 121 begins to fold, the cross arms 122 can begin their folding. The cross arms 122 rotate about an axis in one degree of freedom.

[0211] The cross arm 122 can be longer than the main arm 121 since it provides a space for locating the motor 15 close or adjacent to the main arm connector 123. In some embodiments, the cross arm 122 can be longer than the main arm 121 to create a space or cavity between the main arm connector 123 and the motor 15. In this space, components such as payload, antenna and / or GPS can be placed, which will be effectively protected by the flight arm when in the folded state. As shown in FIG. 3, if the cross arm 122 is long enough, it forms a protective space at the end of the hub 11. This space can be used to place components such as a payload 30 in the form of a camera 163, as shown.

[0212] 7, the cross arm may be a length that extends past the hub 11 at the non-motor end of the cross arm, creating a protected space at the end of the hub 11 that may house components such as an antenna 162 or GPS 161, as shown.

[0213] As shown in Figure 8, the landing gear 14 can be stowed relative to the hub 11. For example, the landing gear 14 can be detachable from the hub 11 or flight arm when in a deployed state and clipped or retained relative to the hub 11 when in a stowed configuration. As previously mentioned, the landing gear 14 can be connected to the flight arm 12 as shown in Figures 1 and 2(A).

[0214] 9-11, the illustrated embodiment has a hub 11 and a battery 15, whose main axis (i.e., the longest axis) is in a vertical plane. As shown in FIG. 9, a main flight arm 121 extends radially outward from the hub 11 in a horizontal plane and connects to two cross arms 122 forming a "T" shaped flight arm. The main arm 121 connects to the hub 11 at a main arm connector 123. The main arm 121 and the cross arm 122 connect at a cross arm connector 126. At each of these connection points, a clamp 124 is disposed to hold the flight arm in its deployed state. The multicopter 10 may have a payload 30 in the form of a camera attached to a mounting located on the side of the hub 11. Also included in the cross arm connector 126 is a GPS antenna 161. A landing gear 14 may extend from the hub 11. As previously mentioned, the landing gear 14 may be connected to the flight arm 12 as shown in FIG. 1 and FIG. 2(A). A motor 18 is disposed at the distal end of each of the cross arms 122. A flying antenna is also disposed at the cross arm connector 126.

[0215] Once folded, the clamp is disengaged and the main arm 121 folds towards the hub 11. The hinge actuation of the main arm connector 123 provides rotation in one degree of freedom (i.e., one Cartesian axis) such that the main arm rotates 90 degrees towards the hub 11. The cross arm 122 folds 90 degrees towards the main arm such that the cross arm 122 and the main arm 121 form a stacked arrangement (i.e., effectively an "M" shaped arrangement). That is, the main arm 121 is sandwiched by multiple cross arms 122. After the main arm 121 is folded, the cross arms 122 can begin their folding. The cross arms 122 rotate about an axis in one degree of freedom.

[0216] The cross arm 122 can be longer than the main arm 121 since it provides space for placing the motor 15 close or adjacent to the main arm connector 123. In some embodiments, the cross arm 122 can be longer than the main arm 121 to create a space or cavity between the main arm connector 123 and the motor 15. In this space, components such as payload, antenna and / or GPS can be placed, which will be effectively protected by the flight arm when in the folded state. As shown in FIG. 3, if the cross arm 122 is long enough, it forms a protected space at the end of the hub 11. This space can be used to place components such as a payload 30 in the form of a camera 163, as shown.

[0217] When converting the multicopter 10 from a stowed configuration (i.e., folded) to an unstowed configuration (i.e., unfolded configuration ready for flight), the cross arm 122 is rotated to the unstowed configuration before the main arm 121 is rotated to the unstowed configuration. This is to ensure that the cross arm 122 does not contact another component of the multicopter 10, such as a payload. In some embodiments, the multicopter 10 includes a locking member 131 for the main arm 121 and the cross arm 122, which may be configured to restrict the sequence of movement of the flight arm 12 between the stowed and unstowed configurations. That is, the locking member 13 may be configured to allow movement of the cross arm 122 only if the associated main arm 122 is already in the stowed position when stowing the multicopter 10. Similarly, the locking member 13 may be configured to allow unstowing of the main arm 121 only if the associated cross arm 122 is already in the unstowed position when unstowing the multicopter 10. Thus, when stowed, the folding order of the flight arms 12 is (1) the main arm 121, then (2) the cross arm 122. When unstowed, the folding order of the arms is (1) the cross arm 122, then (2) the main arm 121.

[0218] The locking member 13 is shown in Fig. 21 to Fig. 26. Fig. 21 shows a stowed multicopter 10 with the flying arm 12 locked in place by the locking member 13. The locking member 13 comprises two locking mechanisms 131, i.e. a left and a right mechanism, for locking the two cross arms 122. Each locking mechanism may comprise a first part 1311 and a second part 1312. A central part 136 of the locking member 13 may be attached to the hub 11 or the battery 15. Each locking mechanism 131 may comprise a release lever 132 as a second part 1312 that may be actuated by a user to release the lock on the first part 1311 of the locking mechanism 131. The locking portion of the locking mechanism 131 may comprise a locking slot 133 on the first portion 1311 that may be rotated about a rotation axis 138 by movement of the release lever 132 about the same. The cross arm 122 of the flying arm may comprise a locking pin 134 that corresponds to the locking slot 133, i.e., the locking pin 134 is captured by the locking slot 133 to lock the cross arm 122 in place. Movement of the locking lever 132 about the pivot point 138 may cause the locking slot 133 to rotate about its pivot point 138, thereby releasing the locking pin 134 and moving the cross arm 121 from the stowed configuration to the unstowed configuration. The second portion 1312 may comprise a cam 137 that acts relative to the first portion 1311 to cause a rotational movement of the first portion 1311 about its pivot point 138. The first part 1311 and the second part may have biasing means 135 for biasing the release lever 132 and the locking slot 133 to the locked configuration. The biasing means 135 may be a spring. The biasing means for the second part 1312 may be a compression spring. Thus, when the user moves the release lever 132, it moves against the force of the biasing means and therefore, when released, the release lever 132 moves back to the locked configuration. Similarly, the biasing means for the first part 1311 returns the first part 1311 to the locked position. The locking pin 134 may have an enlarged end that prevents the locking pin 134 from being pulled out of the locking slot 133. The enlarged end may be a head, such as a nail head. This head prevents the main arm 121 from being moved from the stowed configuration to the unstowed configuration.Therefore, the locking pin 134 is locked to the cross arm 122 at a position where it fits into the locking slot 133 of the locking mechanism 131. That is, the locking pin 134 prevents the locking pin from moving relative to the locking member 13 in the x-axis direction.

[0219] 10 and 11, the cross arm may be a length that extends past the hub 11 at the non-motor end of the cross arm, creating a protected space at the end of the hub 11 that may include components such as an antenna 162 or a GPS 161, as shown.

[0220] The landing gear 14 may be stowed relative to the hub 11. For example, the landing gear 14 may be removable from the hub 11 or flight arm when in a deployed state and may clip or be held relative to the hub 11 when in a stowed configuration. As previously mentioned, the landing gear 14 may be connected to the flight arm 12 as shown in Figures 1 and 2(A). The landing gear 14 may then be folded relative to the flight arm 12 such that it is disposed substantially parallel to the flight arm 12.

[0221] As shown in FIG. 13, the multicopter 10 can support multiple payloads 30 consisting of one or more of the flying arms 12 and hubs 11.

[0222] The multicopter 10 can be mounted simultaneously on the flight arms with both a bottom-mounted gimbaled camera and one or more front-mounted on-board cameras, allowing for a completely free field of view of the rotors and landing gear 14.

[0223] The multicopter 10 described above may have a retraction ratio between the deployed state and the stowed configuration of at least 1:6, 1:7, 1:8, 1:9, 1:10, 1:11, 1:12, 1:13, 1:14, 1:15, or 1:16, and a useful range may be selected between any of these values. When comparing retraction values, this includes the presence of a battery 15 and payload 30 on the multicopter 10, as described, i.e., the retraction values ​​are defined for a multicopter 10 with a battery 15 and payload 30.

[0224] In other words, the multicopter 10 with the battery 15 and payload 30 has a storage volume that is approximately 15%, 14%, 13%, 12%, 11%, 10%, 9%, 8%, 7%, or 6% of the deployed volume, and a useful range may be selected between any of these values.

[0225] In fact, the stowed configuration with batteries 15 and payload 30 is desirable because it minimizes deployment time: as soon as the vehicle is mechanically unfolded, the multicopter 10 is ready to fly; the user does not have to spend time plugging in the batteries 15 and attaching the camera.

[0226] In one example of a multicopter 10 as described, the product is: Rotor dimensions: Approx. 71cm (28 inches) x 8 Battery: 44.4V, 35000mAh Maximum takeoff weight: 25kg Maximum flight time without payload: 70 minutes Maximum load 30 (excluding battery): 10kg The technical specifications may be:

[0227] The multicopter 10 as described may have a predefined heading and flight direction parallel to the longitudinal axis of the main arm (i.e. perpendicular to the cross-arm), thus positioning one of the front mounted cameras facing forward (see FIG. 4). This provides an advantage over current devices that have a predefined heading and flight direction parallel to the cross-arms. A drawback of the design as provided in current devices is that the heading does not allow the camera front mounted on the arm to see the space the drone is intended to fly. In one embodiment as shown in FIG. 27, the multicopter 10 may have a power line maintenance attachment 30 as an attachment to the battery 15, as described in our Australian Provisional Patent Application No. 2022902146, which is incorporated by reference. The power line maintenance attachment 17 may extend from a mounting mechanism 171 attached to the battery 15. A shaft 172 extending from the attachment may be a vertically extending shaft to define a distal shaft end 173 having a main wheel 174 rotatable about a substantially horizontal axis connected to the distal shaft end 173. An inspection device 175 may extend from the power line maintenance attachment 30. Two or more rotatable arms 176 extend directly or indirectly from the main wheel 174 and are rotatable about a substantially horizontal axis. Each rotatable arm 176 has an attachment wheel 177 disposed at a distal end of the respective rotatable arm 176 that is engageable with the power line.

[0228] The rotatable arm 176 of the power line maintenance attachment 30 is connected to and extends at an angle from the main wheel 174. In one embodiment, when the main wheel 174 contacts the power line 22, the attachment wheel 177 of the rotatable arm 176 is held above or in a substantially vertical orientation relative to the main wheel 174. In this embodiment, the rotatable arm 176 is substantially vertical in orientation with the main wheel 174. In this position, the attachment wheel 177 remains disengaged from the power line 178.

[0229] When the rotatable arm 176 is substantially vertical, the main wheels 174 are configured to contact the power line 178 and transport the power line maintenance attachment 30 along the path of the power line 178 of the aerial power transmission line system, with each of the attachment wheels 177 suspended above the main wheels 174. The rotatable arm 176 is disengaged from the power line 178.

[0230] As the power line maintenance attachment 17 moves along the power line 178, it may encounter hazards, objects or obstacles. To traverse the hazards, objects or obstacles (if necessary), the rotatable arm 176 may be moved downward to a substantially horizontal position, i.e., the rotatable arm 176 is engaged with the power line. Once the attachment wheel 177 contacts the power line 178, the rotatable arm 176 may continue to rotate, thereby lifting the power line maintenance attachment 30 such that the main wheel 174 is suspended above the power line. This configuration allows the power line maintenance attachment 17 to move along the path of the power line of the aerial power line system. Once engaged, the attachment wheel 177 moves away from the vertical plane of the main wheel 174.

[0231] When the main wheel encounters an impassable obstacle such as a line spreader, the rotatable arm 176 rotates downward toward the power line such that the leading attachment wheel 177 contacts the power line ahead of the obstacle (i.e., relative to the direction of travel of the power line maintenance attachment 30). The trailing attachment wheel 177 remains behind the obstacle. The power line maintenance attachment 17 then moves forward such that the main wheel 174 passes over the obstacle. At this point, the main wheel 174 can be lowered to the power line ahead of the obstacle as the rotatable arm 176 rotates upward and disengages from the power line. In this manner, the power line maintenance attachment 17 can pass the hazard, object, or obstacle. As used herein, the terms "leading" and "trailing" are used relative to the direction of travel of the power line maintenance attachment 30. "Leading" refers to the portion of the power line maintenance attachment 17 that is foremost in the direction of movement, while "trailing" refers to the portion of the power line maintenance attachment 17 that is rearmost in the direction of movement of the power line maintenance attachment 30. Where the power line maintenance attachment 17 can move forwards or backwards relative to movement along the power line 22, the definitions of "leading" and "trailing" can be interchanged depending on the direction of movement of the power line maintenance attachment 30.

[0232] The power line maintenance attachment 17 may include an inspection device 175. The inspection device 175 may include a number of sensors including a first-person view camera (FPV), an infrared camera radar, a multispectral camera, a hyperspectral camera, a night vision camera, a depth sensing camera, a lidar mounted on a surface of a housing, a video capture camera, a microscopic camera, and an ultraviolet camera. The inspection device 175 is configured to inspect at least the power lines of the aerial power line system. Other examples of sensors include laser ranging devices and laser scanners in the inspection device.

[0233] The inspection device 175 may further comprise an object detection module configured to detect objects along the path of the power line. Typically, objects along the path of the power line may be other power lines running parallel to or across the path of the current power line, or vegetation or man-made structures coming into the path of the virtual flight tunnel. The object detection module may comprise one or more sensors, including, but not limited to, a visual camera, a thermal camera, and a corona camera.

[0234] The power line maintenance attachment 17 may include a robotic arm 179 configured to perform routine maintenance and other interventional operations, such as contact or non-contact manipulation and intervention.

[0235] Contact inspection and intervention by the robotic arm 179 may include identification and removal of foreign objects accidentally attached to the aerial power line system. Non-contact inspection by the robotic arm 179 includes tracking objects on the power lines and capturing image and lidar data.

[0236] The power line maintenance attachment 17 may include an engagement module (not shown) that includes a braking module configured to regeneratively and / or mechanically brake and modify the momentum of the power line maintenance attachment 17.

[0237] The engagement module may include a locking module (not shown) configured to lock either one of the main wheels 174 or each of the accessory wheels 177 such that the position of the power line maintenance attachment 17 is fixed at a desired location on the path of the power line. Once the power line maintenance attachment 17 is locked at a desired location, routine maintenance, intervention, or inspection operations may begin.

[0238] Although the embodiments have been described with reference to certain exemplary embodiments thereof, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. Many modifications will be apparent to those skilled in the art without departing from the scope of the invention as described herein with reference to the accompanying drawings.

Claims

1. 1. A multicopter foldable between a stowed configuration and an operational configuration, The multicopter is a hub configured to receive one or more payloads and a battery; two or more flight arms extending substantially horizontally when in the operational state, each flight arm of the two or more flight arms comprising a plurality of main arms each extending from the hub at a main arm pivot connection and two cross arms extending from the main arm at a cross arm pivot connection; the main arm pivot connection is configured to allow each of the plurality of main arms to pivot toward the other main arms to a stowed configuration in which each of the plurality of main arms is substantially parallel to the other main arms about a vertical axis; the cross arm pivot connection is configured to allow each of the two cross arms to rotate toward the main arm to a stowed configuration in which each of the two cross arms is substantially parallel to one another; The multicopter is (i) a landing gear extending from the intersection region between the main arm and the cross arm of each flight arm via a hinged connection; or (ii) a landing gear pivotally extending from the hub, the landing gear configured to fold relative to the primary arm such that the landing gear is substantially parallel to the flight arm when the landing gear is in a stowed or operational stowed configuration, and the landing gear having a "V" shape when the landing gear is in a deployed configuration; The multicopter further comprises a notional polyhedron defined by the flight arms when in the stowed configuration, the notional polyhedron defining a fuselage and a volume for accommodating one or more payloads when present.

2. A multicopter as described in claim 1, wherein the multicopter is equipped with two or more payloads, and at least two of the two or more payloads are positioned on different flight arms.

3. A multicopter as described in claim 1, wherein the hub has an extension axis in the same horizontal plane as the flight arm when the multicopter is in an operational state, or has an extension axis perpendicular to the horizontal plane of the flight arm when the multicopter is in an operational state.

4. The hub: (i) a battery; (ii) a payload, or The multicopter of claim 1, further comprising: (iii) a battery and a payload.

5. A multicopter as described in claim 1, wherein the hub has a plurality of side walls along its main extension axis and end walls.

6. At least one connector of the load 30 is (i) end walls; (ii) both end walls; (iii) one or more side walls; or (iv) A combination of any two or more of (i) to (iii) is arranged on the multicopter of claim 1.

7. A multicopter as described in claim 1, wherein at least one main arm pivot connection is attached to or extends from at least one side wall and / or one end wall of the hub.

8. A multicopter as described in claim 1, wherein the main arm pivot connection is attached to or extends from opposing side walls of the hub.

9. A multicopter as described in claim 1, wherein the main arm pivot connection portion is formed integrally with the hub.

10. A multicopter as described in claim 1, wherein the main arm pivot connection is configured to provide a hinged connection that provides 90° rotation of the main arm about each of two Cartesian axes.

11. A multicopter as described in claim 1, wherein the main arm having a length intersects with the two cross arms.

12. A multicopter as described in claim 1, wherein each cross arm is connected to the main arm by a hinged connection that allows rotation of the cross arm in a single Cartesian axis up to 150°.

13. A multicopter as described in claim 11, wherein a communication device is positioned at or on the intersection between the cross arm and the main arm.

14. A multicopter as described in claim 1, wherein the multicopter includes at least one clamp adjacent to a pivot point such that at least one clamp secures the flight arm in the deployed configuration.

15. A multicopter as described in claim 1, wherein the volume of the multicopter when in the stowed configuration is less than 12% of the volume of the multicopter when in the operating state.

16. A multicopter as described in claim 1, wherein landing gear extends from the flight arm.

17. A multicopter as described in claim 16, wherein the landing gear is configured to fold relative to the main arms so that the landing gear is substantially parallel to the main arms when in the stowed configuration.

18. The multicopter further comprising a locking member that limits the sequence of movement of the flight arms between a stowed configuration and an unstowed configuration; When stowing the multicopter, the locking member allows movement of a cross arm when the associated main arm is already in a stowed position; 18. The multicopter of any one of claims 1 to 17, wherein when unstowing the multicopter, the primary arm can only be unstowed when the associated cross arm is already in the unstowed position.

19. Each locking member comprises a release lever as a second part that can be operated by a user to release a locking portion on a first part of the locking mechanism, said first part comprising a locking slot corresponding to a locking pin on the cross arm; 20. The multicopter of claim 18, wherein movement of a locking lever about a pivot point causes the locking slot to rotate about a pivot point, thereby releasing the locking pin and allowing the cross arm to move from the stowed configuration to the unstowed configuration.

20. A multicopter as described in claim 19, wherein the first part and the second part are provided with a biasing means for biasing the release lever and the locking slot into a locking configuration.

21. The locking pin has an enlarged end that prevents the locking pin from being removed from the locking slot; 21. The multicopter of claim 20, wherein the locking pin prevents movement of the locking pin in an x-axis relative to the locking member.

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