Flying, gliding and perching morphing aerial vehicle

Abstract

An aerial vehicle is designed for gliding in the air, flying in the air, and perching through morphing of the aerial vehicle. The aerial vehicle comprises a skeleton component (100) and a skin component (310, 320, 330, 340). The skeleton component comprises an elongate body component (102), a tail component (120) hingedly connected to the body component rear end, left and right arm components (140, 160) hingedly connected to the body component near the body component front end, left and right leg components (180, 190) hingedly connected to the body component near the body rear end, and left and right rib components (200, 210) hingedly connected to the body component between the arm and leg components. The skin component (310, 320, 330, 340) comprises flexible front skin parts (310, 320) extending between the arm and leg components, spanning across the rib components, and flexible rear skin parts (330, 340) extending between the leg components and the tail component. Winglet components (150, 170) are hingedly connected to the arm components.

Description

[0001] Flying, gliding and perching morphing aerial vehicle

[0002] FIELD OF THE INVENTION

[0003] The invention relates to the field of aerial vehicles, and more specifically to aerial vehicles capable of flying in the air (with an activated propulsion system), gliding in the air (preferably, but not necessarily, with a deactivated propulsion system), and perching.

[0004] BACKGROUND OF THE INVENTION

[0005] Reference CN109573018A discloses a flying squirrel imitated gliding robot. The robot comprises a main body frame and limbs. A wing membrane is arranged on the main body frame. A tail membrane is mounted at the tail part of the main body frame and is driven by a tail membrane driving mechanism to swing up and down. The limbs are mounted on the two sides of the front part of the main body frame and the two sides of the rear part of the main body frame. The tail ends of the limbs are correspondingly connected with the two sides of the front and rear parts of the wing membrane. The limbs are correspondingly driven to swing up and down by limb driving mechanisms. Two sets of locking mechanisms are also designed to correspondingly limit motions of the two limb driving mechanisms at the front part.

[0006] A disadvantage of the robot disclosed in said reference is that its flight is unstable and hard to control as a result of the design. The wing membrane has a tendency to flutter while the robot is gliding, which makes a stable and controllable flight difficult and also hampers the stable performance of pitch, roll and yaw manoeuvres.

[0007] Another disadvantage of the robot disclosed in said reference is that a perching manoeuvre is difficult to control. In particular, moving the robot into a desired spatial orientation and slowing down the speed of gliding in order to land the robot at a particular intended spot presents many challenges, and more often than not fails.

[0008] Still another disadvantage of the robot disclosed in said reference is that its endurance and the horizontal distance to be covered are relatively limited. After launch, the robot is designed to glide through the air, obviously to cover a distance from a take-off point to a lower landing point. For continued use, the robot needs to be recovered at the landing point to be launched again, if it is not damaged by the landing manoeuvre. SUMMARY OF THE INVENTION

[0009] It would be desirable to provide an aerial vehicle which has an improved flight and perching behavior. It would also be desirable to extend the range of the aerial vehicle.

[0010] To better address one or more of these concerns, in a first aspect of the invention an aerial vehicle for gliding in the air, flying in the air, and perching is provided. To define the structure, an imaginary right-hand sided orthogonal axis system is defined, wherein an origin of the axis system is arranged at a center of gravity of the aerial vehicle, wherein said axis system comprises an X-axis, a Y-axis and a Z-axis, wherein front is defined as in a positive X- direction, rear is defined as in a negative X-direction, left is defined as in a positive Y- direction, right is defined as in a negative Y-direction, upper is defined as in a positive Z- direction, and lower is defined as in a negative Z direction. The aerial vehicle comprises a skeleton component and a skin component. Taking into account that the structure of the present invention shows some similarities with an animal, in particular with a flying squirrel, components of the structure are indicated with names of body parts of an animal.

[0011] The skeleton component comprises: an elongate body component having a body front end, a body rear end, a body left side, a body right side, a body upper side, a body lower side, and a body longitudinal axis parallel to the X-axis; a tail component having a tail front end, a tail rear end, a tail left side and a tail right side, the tail front end being hingedly connected to the body rear end, for controllably swinging the tail component for moving the tail rear end in an upper and lower direction around a tail hinge axis parallel to the Y-axis; a left arm component extending sideways from the body left side, the left arm component having a left arm root end and an opposite left arm distal end, the left arm root end being hingedly connected to the body left side near the body front end, for controllably swinging the left arm component for moving the left arm distal end in an upper and lower direction; a right arm component extending sideways from the body right side, the right arm component having a right arm root end and an opposite right arm distal end, the right arm root end being hingedly connected to the body right side near the body front end, for controllably swinging the right arm component for moving the right arm distal end in an upper and lower direction; a left leg component extending sideways from the body left side, the left leg component having a left leg root end and an opposite left leg distal end, the left leg root end being hingedly connected to the body left side near the body rear end, for controllably swinging the left leg component for moving the left leg distal end in an upper and lower direction; and a right leg component extending sideways from the body right side, the right leg component having a right leg root end and an opposite right leg distal end, the right leg root end being hingedly connected to the body right side near the body rear end, for controllably swinging the right leg component for moving the right leg distal end in an upper and lower direction, at least one left rib component extending sideways from the body left side, each left rib component having a left rib root end and an opposite left rib distal end, the left rib root end being hingedly connected to the body left side between the left arm root end and the left leg root end, for swinging the left rib component for moving the left rib distal end in an upper and lower direction; and at least one right rib component extending sideways from the body right side, each right rib component having a right rib root end and an opposite right rib distal end, the right rib root end being hingedly connected to the body right side between the right arm root end and the right leg root end, for swinging the right rib component for moving the right rib distal end in an upper and lower direction.

[0012] The skin component comprises: a flexible left front skin part extending between the left arm component and the left leg component, spanning across the at least one left rib component, a flexible right front skin part extending between the right arm component and the right leg component, spanning across the at least one right rib component, a flexible left rear skin part extending between the left leg component and the tail left side; and a flexible right rear skin part extending between the right leg component and the tail right side.

[0013] The arm components, leg components and rib components all are elongate components, i.e. their lengths are substantially greater than their other dimensions along their lengths. The arm, leg and rib components may be made from a rigid material, in particular a lightweight plastic material.

[0014] The left and right arm components, left and right leg components and left and right rib components (in a neutral orientation, neither swung in upper direction nor swung in lower direction) may generally extend in a positive and negative Y-direction, respectively. In some embodiments, the left and right arm components, and / or left and right leg components, and / or left and right rib components, in an orientation neither swung in upper direction nor swung in lower direction, may generally extend at right angles to the longitudinal axis of the body component. In some embodiments, the left and right arm components, and / or left and right leg components, and / or left and right rib components, in an orientation neither swung in upper direction nor swung in lower direction, may generally extend at an angle to the positive and negative Y-direction, as seen in an XY-plane spanned by said X-axis and said Y-axis. In some embodiments, the left leg component and the right leg component, in an orientation neither swung in upper direction nor swung in lower direction, extend from the body component at an angle to said longitudinal axis, in a rearward direction, and in a mirror symmetrical arrangement, as seen relative to the XZ-plane. The angle may e.g. be between 0 and 45 degrees, in particular between 10 and 30 degrees.

[0015] The swinging of the left and right arm components, left and right leg components and left and right rib components in an upper and lower direction is across a limited angular range. On the one hand, this is an inherent capacity of the skeleton component, where the swinging of the left and right arm components, left and right leg components and left and right rib components is limited by providing stops preventing the components to swing outside the limited angular range. On the other hand, the swinging of the left and right arm components, left and right leg components and left and right rib components is kept within said limited angular range by the inherent properties of the flexible skin components, in particular an elasticity of the flexible skin components, wherein the elasticity of the material interconnecting the left and right arm, rib and leg components, and the elasticity of the material interconnecting the left and right leg components and the tail component limits the angular swinging range of the left and right arm components, left and right leg components and left and right rib components in some mutual orientations thereof by material stresses becoming high.

[0016] Controllably swinging of a component involves that selecting a particular orientation of the component - in any orientation between an orientation in an upper direction and an orientation in a lower direction - is controlled by a control mechanism.

[0017] In an embodiment of the aerial vehicle, the swinging of the left arm component is controlled by a left arm actuator, the swinging of the right arm component is controlled by a right arm actuator, the swinging of the left leg component is controlled by a left leg actuator, the swinging of the right leg component is controlled by a right leg actuator, and the swinging of the tail component is controlled by a tail actuator, wherein the left arm actuator, the right arm actuator, the left leg actuator, the right leg actuator and the tail actuator are controllable to swing the corresponding component individually. In embodiments of the aerial vehicle, the swinging of the left winglet component is controlled by a left winglet actuator, and the swinging of the right winglet component is controlled by a right winglet actuator, wherein the left winglet actuator and the right winglet actuator are jointly controllable to swing the left winglet component and the right winglet component in a mirror symmetric way relative to the XZ-plane. Each actuator may comprise a servo motor, controlled by a control system which may be implemented locally (in the aerial vehicle), remotely (through radio communication with the aerial vehicle), or partly locally and partly remotely. The aerial vehicle comprises a battery for energy supply to the servo motors and electronic circuitry for control of the servo motors.

[0018] With the independent control of the respective arm components, leg components, tail component, and in some embodiments the winglet components, various kinds of flying, gliding and perching manoeuvres may be made. For example, starting from a stable flight in X-axis direction, a pitch manoeuvre may be induced by swinging the left and right arm components both in an upper direction or both in a lower direction, and / or swinging the tail component in an upper direction or a lower direction. As another example, starting from a stable flight in X-axis direction, a roll manoeuvre may be induced by swinging the left arm component and the right arm component in opposite directions (i.e. , the left arm component in upper direction and the right arm component in lower direction, or vice versa), or by swinging one of the left and right arm components in upper or lower direction, and / or by swinging a left leg component and a right leg component in opposite directions, or by swinging one of the left and right leg components in upper or lower direction. As a further example, starting from a stable flight in X-axis direction, a yaw manoeuvre may be induced by swinging one of the left and right arm components in upper or lower direction, and / or by swinging one of the left and right leg components in upper or lower direction. It is to be noted that the swinging of arm, leg, tail and winglet components into a certain orientation will have a certain degree of control effect on roll, pitch and / or yaw, but that for some swinging movements their main control effect on roll, pitch and / or yaw cannot be decoupled from related minor other control effects on roll, pitch and / or yaw.

[0019] An advantage of providing the left and right rib components in the skeleton component is that the left and right front skin parts, which are made from a flexible material, are supported by the left and right rib components between the left arm component and the left leg component, and between the right arm component and the right leg component, respectively. This support by the left and right rib components stiffens the left and right front skin parts, and as a result the latter do not suffer from uncontrolled fluttering, which would make control of flying or gliding of the aerial vehicle difficult and less predictable. In an embodiment of the aerial vehicle, the swinging of the left and right rib components is not controlled, i.e. is passive, and is within a predetermined angular range. Accordingly, the rib components take an orientation dictated by the orientation of the arm and leg components of the associated front skin parts. The arm and leg components, by their orientation, may deform the front skin parts, which deformed front skin parts bring the associated rib components into a specific angular orientation while at the same time the rib components support the front skin parts not to flutter. With the combination of the left arm component, left rib component(s) and left leg component, and with the combination of the right arm component, right rib component(s) and right leg component, morphing wing structures are formed.

[0020] Adjacent to the tail component, an advantage of providing the left and right rear skin parts is an improvement in the control of the flight of the aerial vehicle. In particular while perching, the arm components, leg components and tail component may be oriented in a lower direction, thus in combination with the skin parts forming a concave shape generating an air cushion to effectively lower the speed of the aerial vehicle and allowing the aerial vehicle to land smoothly and controlled. If the left and right rear skin parts would not be provided, forming of such an air cushion would not be possible for reason of air escaping between the leg components and the tail component.

[0021] In an embodiment of the aerial vehicle, the tail component comprises a tail top side and a tail bottom side, the left arm component comprises a left arm top side and a left arm bottom side, the right arm component comprises a right arm top side and a right arm bottom side, the left leg component comprises a left leg top side and a left leg bottom side, the right leg component comprises a right leg top side and a right leg bottom side, each left rib component comprises a left rib top side and a left rib bottom side, and each right rib component comprises a right rib top side and a right rib bottom side. To improve the flying characteristics of the aerial vehicle, in particular to reduce the drag thereof, the left front skin part comprises a left front skin top section extending between the left arm top side and the left leg top side, spanning across the at least one left rib top side, and a left front skin bottom section extending between the left arm bottom side and the left leg bottom side, spanning across the at least one left rib bottom side. The right front skin part comprises a right front skin top section extending between the right arm top side and the right leg top side, spanning across the at least one right rib top side, and a right front skin bottom section extending between the right arm bottom side and the right leg bottom side, spanning across the at least one right rib bottom side. The left rear skin part comprises a left rear skin top section extending between the left leg top side and the tail top side, and a left rear skin bottom section extending between the left leg bottom side and the tail bottom side. The right rear skin part comprises a right rear skin top section extending between the right leg top side and the tail top side, and a right rear skin bottom section extending between the right leg bottom side and the tail bottom side.

[0022] In some embodiments of the invention, the left front skin top section and the left rear skin top section are made of one piece of left top skin, and the right front skin top section and the right rear skin top section are made of one piece of right top skin. In some embodiments of the invention, the left front skin bottom section and the left rear skin bottom section are made of one piece of left bottom skin, and the right front skin bottom section and the right rear skin bottom section are made of one piece of right bottom skin. Left top skin and left bottom skin may be connected, e.g. glued together, and / or may be overlapping on a leading side of the left arm component, and right top skin and right bottom skin may be connected, e.g. glued together, and / or may be overlapping on a leading side of the right arm component. Between the rear end of the tail component and the distal end of the left leg component, the left top skin and left bottom skin may be connected, e.g. glued together, and / or overlapping, and between the rear end of the tail component and the distal end of the right leg component, the right top skin and right bottom skin may be connected, e.g. glued together, and / or overlapping. Between the distal ends of the left arm component and the left leg component, the left top skin and left bottom skin may be connected, e.g. glued together, and / or overlapping. Between the distal ends of the right arm component and the right leg component, the right top skin and right bottom skin may be connected, e.g. glued together, and / or overlapping.

[0023] In some embodiments of the invention, the left front skin top section and left rear skin top section, or the left top skin, connect(s) to the body component and tail component, respectively, such that no gap therebetween exists, and the right front skin top section and right rear skin top section, or the right top skin, connect(s) to the body component and tail component, respectively, such that no gap therebetween exists. Also, the left front skin bottom section and left rear skin bottom section, or the left bottom skin, connect(s) to the body component and tail component, respectively, such that no gap therebetween exists, and the right front skin bottom section and right rear skin bottom section, or the right bottom skin, connect(s) to the body component and tail component, respectively, such that no gap therebetween exists.

[0024] In some embodiments of the invention, the left front skin top section, left rear skin top section, right front skin top section and right rear skin top section are made of one piece of overall top skin, and the left front skin bottom section, left rear skin bottom section, right front skin bottom section and right rear skin bottom section are made of one piece of overall bottom skin. The overall top skin extends over the body upper side and tail upper side. The overall bottom skin extends over the body lower side and tail bottom side. Overall top skin and overall bottom skin may be connected, e.g. glued together, and / or may be overlapping on a leading side of the left and right arm components. Between the rear end of the tail component and the distal ends of the left and right leg components, the overall top skin and overall bottom skin may be connected, e.g. glued together, and / or overlapping. Between the distal ends of the left arm component and the left leg component, the overall top skin and overall bottom skin may be connected, e.g. glued together, and / or overlapping. Between the distal ends of the right arm component and the right leg component, the overall top skin and overall bottom skin may be connected, e.g. glued together, and / or overlapping. The overall top skin and overall bottom skin ensure that no gaps exist at the body left and right sides and tail left and right sides.

[0025] The rib components provide a separation of the skin top and bottom sections, thus avoiding top and bottom sections to adhere to each other to create skin shapes with poor aerodynamic performance, in particular when the aerial vehicle is in a strong air flow. Accordingly, the rib components preserve the aerodynamic properties of the aerial vehicle under flying and gliding conditions.

[0026] The skin, which may also be referred to as membrane, is made of a flexible lightweight thin material with elastic properties. The skin material may be a plastic material, such as a silicone material. The skin may be transparent.

[0027] Accordingly, the aerial vehicle presents a relatively smooth and contiguous morphing surface, allowing gliding and flying in the air with low drag, thus providing an extended range of flying and gliding of the aerial vehicle.

[0028] In an embodiment of the aerial vehicle, the combination of the body component and the tail component has an aerofoil profile with a chord stretching from the body front end to the tail rear end in a plane parallel to an XZ-plane spanned by said X-axis and said Z-axis, wherein the body front end forms a leading edge, and the tail rear end forms a trailing edge.

[0029] Accordingly, the combination of the body and tail component produces a lift and allows gliding and flying in the air with low drag, thus providing an extended range of flying and gliding of the aerial vehicle. In an embodiment of the aerial vehicle, the combination of the body component, the tail component, the left front skin part, the right front skin part, the left rear skin part and the right rear skin part has an aerofoil profile with a chord stretching from the body front end to the tail rear end in a plane parallel to an XZ-plane spanned by said X-axis and said Z-axis, wherein the combination of the body front end, the left arm component and the right arm component forms a leading edge, and wherein the combination of the tail rear end, an edge of the left rear skin part extending between the left leg distal end and the tail rear end, and an edge of the right rear skin part extending between the right leg distal end and the tail rear end forms a trailing edge.

[0030] Accordingly, the combination of the body component, tail component, left front skin part, right front skin part, left rear skin part and right rear skin part produces a lift and allows the aerial vehicle to glide and fly in the air with low drag, thus providing an extended range of flying and gliding of the aerial vehicle.

[0031] In an embodiment, the aerial vehicle further comprises a left winglet component having a left winglet root end and a left winglet distal end, the left winglet root end being hingedly connected to the left arm distal end, for controllably swinging the left winglet component relative to the left arm component in an upper and lower direction around a left winglet axis parallel to the X-axis, and a right winglet component having a right winglet root end and a right winglet distal end, the right winglet root end being hingedly connected to the right arm distal end, for controllably swinging the right winglet component relative to the right arm component in an upper and lower direction around a right winglet axis parallel to the X-axis.

[0032] The left and right winglet components improve the flying and gliding efficiency of the aerial vehicle by reducing drag. In particular, during flying and gliding the left winglet component and the right winglet component are positioned in an upper direction, whereas during perching the left winglet component and the right winglet component are positioned in a lower direction to allow the aerial vehicle to cling to a landing base, e.g. a tree branch. During perching, also the left arm component, the right arm component, the left leg component and the right leg component may be positioned in a lower direction, so that the left and right arm component bottom sides, the left and right leg component bottom sides, and possibly also the left and right front skin part bottom sides, as well as the left and right winglet components may contact a landing base such as a tree branch of appropriately large diameter, to ensure an improved contact or clinging of the aerial vehicle to the landing base. In an embodiment of the aerial vehicle, the left winglet component comprises at least one left claw component provided near the left winglet distal end, and extending in a positive Y- direction when the left winglet component extends from the left arm distal end in a positive Z- direction, and the right winglet component comprises at least one right claw component provided near the right winglet distal end, and extending in a negative Y-direction when the right winglet component extends from the right arm distal end in a positive Z-direction.

[0033] During and after perching, the left and right claw components may prick into a soft surface of a landing base to improve a contact or clinging of the aerial vehicle to the landing base.

[0034] In an embodiment, the aerial vehicle comprises a propulsion system mounted at the body front end.

[0035] The propulsion system allows the aerial vehicle to fly away a landing position, to cover greater distances than would otherwise be possible by gliding without the propulsion system, to gain (more) height during flying from one landing position to another. In other words, in particular during take-off and flying, the propulsion system may be activated. Passive gliding, with the propulsion system turned off, can be combined with active flying, with the propulsion system turned on. During active flying, height may be gained, and flying routes may be better controlled and extended.

[0036] In an embodiment of the aerial vehicle, the propulsion system comprises at least one motor / propeller unit. The motor of the motor / propeller unit may be an electric motor driven by the battery in the aerial vehicle, and controlled by electronic circuitry in the aerial vehicle.

[0037] In an embodiment of the aerial vehicle, the propulsion system comprises two motor / propeller units arranged symmetrically relative to an XZ-plane spanned by said X-axis and Z-axis.

[0038] With two motor / propeller units, redundancy is provided such that propulsion of the aerial vehicle is still possible when one of the motor / propeller units breaks down. Furthermore, with two motor / propeller units yaw manoeuvres may be induced when the thrusts of the respective motor / propeller units are controlled to be different from each other.

[0039] In an embodiment of the aerial vehicle, at the body front end a camera mount is provided.

[0040] The camera mount may be provided with a camera. The camera may be part of a flight control system for controlling the flying, gliding and perching of the aerial vehicle. Images taken by the camera provide the control system with vision capabilities for selecting and controlling a flight route free of obstacles, and for selecting and controlling perching and takeoff. In an embodiment of the aerial vehicle, the camera mount is arranged in between the two motor / propeller units for free sight in front of the aerial vehicle.

[0041] In an embodiment of the aerial vehicle comprising a battery, the body component comprises a body top surface and a body bottom surface, and the tail component comprises a tail top surface and a tail bottom surface, wherein at least one of the body top surface, the body bottom surface, the tail top surface and the tail bottom surface comprises photovoltaic cells for power supply to the battery of the aerial vehicle.

[0042] With the photovoltaic cells, the (rechargeable) battery of the aerial vehicle may be charged whenever the aerial vehicle is located in a light environment. This makes the aerial vehicle autonomous for extended periods of time.

[0043] The aerial vehicle of the present invention is suitable for ecological monitoring and biodiversity research, having a small footprint, producing no noise while not in the air, and producing minimal noise while gliding.

[0044] These and other aspects of the invention will be more readily appreciated as the same becomes better understood by reference to the following detailed description and considered in connection with the accompanying drawings in which like reference symbols designate like parts.

[0045] BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 depicts a perspective view of an embodiment of a skeleton component of an aerial vehicle according to the present invention, with some components of the aerial vehicle shown in a first orientation thereof.

[0047] Figure 2 depicts a side view of the skeleton component of Figure 1.

[0048] Figure 3 depicts a front view of the skeleton component of Figure 1.

[0049] Figure 4 depicts a top view of the skeleton component of Figure 1. Figure 5 depicts a perspective view of a combination of the skeleton component of Figure 1 and a skin component, resulting in an embodiment of the aerial vehicle according to the invention.

[0050] Figure 6 is a schematic diagram of electronic circuitry for controlling the aerial vehicle.

[0051] Figure 7 depicts a perspective view of the aerial vehicle of Figure 5, with some components of the aerial vehicle shown in a second orientation thereof.

[0052] Figure 8 depicts a perspective view of the aerial vehicle of Figure 5, with some components of the aerial vehicle shown in the second orientation thereof, the aerial vehicle being situated on a landing base.

[0053] Figure 9 depicts a front view of the aerial vehicle of Figure 8 situated on the landing base of Figure 8.

[0054] Figure 10 depicts a top view of the aerial vehicle of Figure 5 provided with photovoltaic cells.

[0055] DETAILED DESCRIPTION OF EMBODIMENTS

[0056] In all drawings, an embodiment of a morphing aerial vehicle is shown, as well as an imaginary right-hand sided orthogonal axis system comprising an origin O, an X-axis, a Y-axis and a Z- axis, wherein positive X-direction, Y-direction and Z-direction is indicated by respective arrows X, Y and Z. Although for clarity of the drawings the axis system is shown separately, the origin O of the axis system is to be thought to be arranged at a center of gravity of the aerial vehicle.

[0057] In the following, front and leading are defined as in a positive X-direction, rear and trailing are defined as in a negative X-direction, left is defined as in a positive Y-direction, right is defined as in a negative Y-direction, upper is defined as in a positive Z-direction, and lower is defined as in a negative Z direction.

[0058] Taking into account that the structure of the present invention shows some similarities with an animal, in particular with a flying squirrel, some components of the structure are indicated with names of body parts of an animal. Figures 1 to 5 depict a skeleton component 100 of an aerial vehicle for gliding in the air, flying in the air, and perching.

[0059] The skeleton component 100 comprises an elongate body component 102 having a body front end 104, a body rear end 106, a body left side 108, a body right side 110, a body upper side 112, a body lower side 114, and a (imaginary) body longitudinal axis 116 parallel to the X-axis.

[0060] The skeleton component 100 further comprises a tail component 120 having a tail front end 122, a tail rear end 124, a tail left side 126, a tail right side 128, a tail top side 130 and a tail bottom side 132. The tail front end 122 is hingedly connected to the body rear end 106, for controllably swinging the tail component 120 for moving the tail rear end 124 in an upper and lower direction around a tail hinge axis 134 parallel to the Y-axis, as indicated by a double arrow in Figure 2, and as will be explained in more detail below. The length, as seen in the X- axis direction, of the tail component 120 may be greater than its width, as seen in the Y-axis direction. In other embodiments, other dimensional ratios may apply wherein the length is equal to, or smaller than the width. Also, the width of the tail component 120 may vary along the length thereof, for example by tapering or flaring towards the tail rear end 124 or towards the tail front end 122.

[0061] At least the body front end 104, the body upper side 112 and the body lower side 114 of the body component 102 may be covered by one or more coverings, e.g. curved plate-shaped or skin-shaped elements, providing a substantially continuous smooth front, upper and lower surface. As can be best seen in Figure 2, with the tail component 120 extending along the body longitudinal axis 116, the combination of the body component 102 and the tail component 120 generally has an aerofoil profile with a chord stretching from the body front end 104 to the tail rear end 124 in a plane parallel to an XZ-plane spanned by the X-axis and the Z-axis. Here, the body front end 104 forms a leading edge, and the tail rear end 124 forms a trailing edge.

[0062] The skeleton component 100 further comprises an elongate left arm component 140 extending sideways from the body left side 108. The left arm component 140 has a left arm root end 142, an opposite left arm distal end 144, a left arm top side 146, a left arm bottom side 148 and a left arm leading edge 149. The left arm root end 142 is hingedly connected to the body left side 108 near the body front end 104, for controllably swinging the left arm component 140 for moving the left arm distal end 144 in an upper and lower direction, as will be explained in more detail below. The left arm component 140 tapers from the left arm root end 142 to the left arm distal end 144. The leading edge 149 of the left arm component 140 has a mild sweepback.

[0063] A left winglet component 150 has a left winglet root end 152 and a left winglet distal end 154. The left winglet root end 152 is hingedly connected to the left arm distal end 144, for controllably swinging the left winglet component 150 relative to the left arm component 140 in an upper and lower direction around a left winglet axis 156 parallel to the X-axis, as will be explained in more detail below. The left winglet component 150 comprises at least one left claw component 158 provided near the left winglet distal end 154, and extending in a positive Y-direction when the left winglet component 150 extends from the left arm distal end 144 in a positive Z-direction. In the embodiments shown in Figures, the left winglet component 150 comprises three left claw components 158.

[0064] The skeleton component 100 further comprises an elongate right arm component 160 extending sideways from the body right side 110. The right arm component 160 has a right arm root end 162, an opposite right arm distal end 164, a right arm top side 166, a right arm bottom side 168 and a right arm leading edge 169. The right arm root end 162 is hingedly connected to the body right side 110 near the body front end 104, for controllably swinging the right arm component 160 for moving the right arm distal end 164 in an upper and lower direction, as will be explained in more detail below. The right arm component 160 tapers from the right arm root end 162 to the right arm distal end 164. The leading edge 169 of the right arm component 160 has a mild sweepback.

[0065] A right winglet component 170 has a right winglet root end 172 and a right winglet distal end 174. The right winglet root end 172 is hingedly connected to the right arm distal end 164, for controllably swinging the right winglet component 170 relative to the right arm component 160 in an upper and lower direction around a right winglet axis 176 parallel to the X-axis, as will be explained in more detail below. The right winglet component 170 comprises at least one right claw component 178 provided near the right winglet distal end 174, and extending in a negative Y-direction when the right winglet component 170 extends from the right arm distal end 164 in a positive Z-direction. In the embodiments shown in Figures, the right winglet component 170 comprises three right claw components 178.

[0066] The skeleton component 100 further comprises an elongate left leg component 180 extending sideways from the body left side 108. The left leg component 180 has a left leg root end 182, an opposite left leg distal end 184, a left leg top side 186 and a left leg bottom side 188. The left leg root end 182 is hingedly connected to the body left side 108 near the body rear end 106, for controllably swinging the left leg component 180 for moving the left leg distal end 184 in an upper and lower direction, as will be explained in more detail below. The left leg component 180, in an orientation neither swung in upper direction nor swung in lower direction, extends from the body component 102 at an angle to the body longitudinal axis 116, in a rearward direction. The left leg component 180 tapers from the left leg root end 182 to the left leg distal end 184.

[0067] The skeleton component 100 comprises an elongate right leg component 190 extending sideways from the body right side 110. The right leg component 190 has a right leg root end 192, an opposite right leg distal end 194, a right leg top side 196 and a right leg bottom side 198. The right leg root end 192 is hingedly connected to the body right side 110 near the body rear end 106, for controllably swinging the right leg component 100 for moving the right leg distal end 194 in an upper and lower direction, as will be explained in more detail below. The right leg component 190, in an orientation neither swung in upper direction nor swung in lower direction, extends from the body component 102 at an angle to the body longitudinal axis 116, in a rearward direction. The right leg component 190 tapers from the right leg root end 192 to the right leg distal end 194.

[0068] The skeleton component 100 comprises at least one elongate left rib component 200 extending sideways from the body left side 108. Each left rib component 200 has a left rib root end 202, an opposite left rib distal end 204, a left rib top side 206 and a left rib 208. The left rib root end 202 is hingedly connected to the body left side 108 between the left arm root end 142 and the left leg root end 162, for swinging the left rib component 200 for moving the left rib distal end 204 in an upper and lower direction, as will be explained in more detail below.

[0069] The skeleton component 100 comprises at least one elongate right rib component 210 extending sideways from the body right side 110. Each right rib component 210 has a right rib root end 212, an opposite right rib distal end 214, a right rib top side 216 and a right rib bottom side 218. The right rib root end 212 is hingedly connected to the body right side 110 between the right arm root end 152 and the right leg root end 172, for swinging the right rib component 210 for moving the right rib distal end 214 in an upper and lower direction, as will be explained in more detail below.

[0070] In the embodiment shown in the Figures, the skeleton component 100 comprises three left rib components 200 and three right rib components 210. Depending, inter alia, on the distance between left and right arm root ends 142, 152 and the left and right leg root ends 162, 172, respectively, fewer or more left and right rib components may be applied. The rib components may extend substantially parallel to the Y-axis, at right angles to the X-axis and Z-axis, or may extend in an XY-plane spanned by the X-axis and Y-axis.

[0071] Referring to Figures 5 and 7 to 10, the aerial vehicle further comprises a flexible skin component, e.g made from a silicone material. In these Figures, the skin component is transparent, so that the underlying skeleton component 100 remains visible.

[0072] The skin component comprises a flexible left front skin part 310 extending between the left arm component 140 and the left leg component 180, spanning across the left rib components 200. The skin component further comprises a flexible right front skin part 320 extending between the right arm component 160 and the right leg component 190, spanning across the right rib components 210. The skin component further comprises a flexible left rear skin part 330 extending between the left leg component 180 and the tail left side 126, and a flexible right rear skin part 340 extending between the right leg component 190 and the tail right side 128.

[0073] More in particular, the left front skin part 310 comprises a left front skin top section 312 extending between the left arm top side 146 and the left leg top side 186, spanning across the left rib top sides 206, and a left front skin bottom section 314 extending between the left arm bottom side 148 and the left leg bottom side 188, spanning across the left rib bottom sides 208. The right front skin part 320 comprises a right front skin top section 322 extending between the right arm top side 166 and the right leg top side 196, spanning across the right rib top sides 216, and a right front skin bottom section 324 extending between the right arm bottom side 168 and the right leg bottom side 198, spanning across the right rib bottom sides 218. The left rear skin part 330 comprises a left rear skin top section 332 extending between the left leg top side 186 and the tail top side 130, and a left rear skin bottom section 334 extending between the left leg bottom side 188 and the tail bottom side 132. The right rear skin part 340 comprises a right rear skin top section 342 extending between the right leg top side 196 and the tail top side 130, and a right rear skin bottom section 344 extending between the right leg bottom side 198 and the tail bottom side 132.

[0074] A right side edge of the left front skin top section 312 may be connected to a left top edge of the body component 102. A left side edge of the right front skin top section 322 may be connected to a right top edge of the body component 102. A right side edge of the left rear skin top section 332 may be connected to a left top edge of the tail component 120, or partly connected to a left top edge of the tail component 120 and a left top edge of the body component 102 near the body rear end 106. A left side edge of the right rear skin top section 342 may be connected to a right top edge of the tail component 120, or partly connected to a right top edge of the tail component 120 and a right top edge of the body component 102 near the body rear end 106.

[0075] A right side edge of the left front skin bottom section 314 may be connected to a left bottom edge of the body component 102. A left side edge of the right front skin bottom section 324 may be connected to a right bottom edge of the body component 102. A right side edge of the left rear skin bottom section 334 may be connected to a left bottom edge of the tail component 120, or partly connected to a left bottom edge of the tail component 120 and a left bottom edge of the body component 102 near the body rear end 106. A left side edge of the right rear skin bottom section 344 may be connected to a right bottom edge of the tail component 120, or partly connected to a right bottom edge of the tail component 120 and a right bottom edge of the body component 102 near the body rear end 106.

[0076] In some embodiments of the invention, different skin top sections, and different skin bottom sections may be combined to be made from one piece of material. For example, the left front skin top section 312 may be one piece with the left rear skin top section 332, the right front skin top section 322 may be one piece with the right rear skin top section 342, the left front skin bottom section 314 may be one piece with the left rear skin bottom section 334, and / or the right front skin bottom section 324 may be one piece with the right rear skin bottom section 344. As another example, the left front skin top section 312, left rear skin top section 332, right front skin top section 322 and right rear skin top section 342 may be one piece extending over the body upper side 112 and tail top side 130, and the left front skin bottom section 314, left rear skin bottom section 334, right front skin bottom section 324 and right rear skin bottom section 344 may be one piece extending over the body lower side 114 and tail bottom side 132.

[0077] As described above, the body front end 104, the body upper side 112 and the body lower side 114 of the body component 102 may be covered by one or more coverings providing a smooth surface. With the skin component applied to the arm, leg and rib components, the combination of the body component 102, the tail component 120 , the left front skin part 310, the right front skin part 320, the left rear skin part 330 and the right rear skin part 340 has an aerofoil profile with a chord stretching from the body front end 104 to the tail rear end 124 in a plane parallel to an XZ-plane spanned by said X-axis and said Z-axis. Herein, the combination of the body front end 104, the left arm component 140 and the right arm component 160 forms a leading edge (left arm leading edge 149 and right arm leading edge 169). The combination of the tail rear end 124, an edge of the left rear skin part 330 extending between the left leg distal end 184 and the tail rear end 124, and an edge of the right rear skin part 340 extending between the right leg distal end 194 and the tail rear end 124 forms a trailing edge.

[0078] The swinging of the left rib components 200 and right rib components 210 is not controlled, and is within a predetermined angular range. At their left rib distal ends 202, the left rib components 200 are connected to a bearing 404 freely rotatable around an axis 400 by arm elements 402. Likewise, at their right rib distal ends 212, the right rib components 210 are connected to a bearing 404 freely rotatable around an axis 410 by arm elements 402. With the free swinging of the left rib components 200 and right rib components 210 relative to their axes 400, 410, respectively, the arm elements 402 move in upper and lower direction in slots 406 of the body component 102. The opposite ends of the slots 404 limit the angular swinging range of the left rib components 200 and right rib components 210, whereby the deformations of the left front skin part 310 and right front skin part 320 during operational circumstances of the aerial vehicle are limited.

[0079] The swinging of the left arm component 140 is controlled by a left arm actuator 141 through a gear transmission 143. The swinging of the right arm component 160 is controlled by a right arm actuator 161 through a gear transmission 163. The swinging of the left leg component 180 is controlled by a left leg actuator 181 through a drive axis 185 and a gear transmission 183. The swinging of the right leg component 190 is controlled by a right leg actuator 191 through a drive axis 195 and a gear transmission 193. The swinging of the tail component 120 is controlled by a tail actuator 121 through a gear transmission 123. The left arm actuator 141, the right arm actuator 161, the left leg actuator 181 , the right leg actuator 191 and the tail actuator 121 are controllable to swing the corresponding component individually. Each actuator 121, 141, 161 , 181, 191 comprises a servo motor.

[0080] The swinging of the left winglet component 150 is controlled by a left winglet actuator 151 accommodated in the left arm component 140, and the swinging of the right winglet component 170 is controlled by a right winglet actuator 171 accommodated in the right arm component 160. The left winglet actuator 151 and the right winglet actuator 171 are jointly controllable to swing the left winglet component 150 and the right winglet component 170 in a mirror symmetric way relative to the XZ-plane. Each one of the left and right winglet actuators 151, 171 may comprise a servo motor and a swing transmission mechanism. The aerial vehicle further comprises a propulsion system mounted at the body front end 104. The propulsion system comprises two motor / propeller units 105 mounted on rods 107, and arranged symmetrically relative to an XZ-plane spanned by said X-axis and Z-axis. The motor / propeller units 105 may be configured to be controlled individually, such that one motor-propeller unit 105 produces more thrust, or less thrust than the other, or the same thrust as the other, assisting the aerial vehicle in flying mode to produce forward thrust, in roll, pitch and yaw manoeuvres, and while perching.

[0081] At the body front end 104, a camera mount 109 is arranged in between the motor / propeller units 105. Accordingly, a camera (not shown in the Figures) mounted in the camera mount 109 has a free range of sight in front of the aerial vehicle.

[0082] The operations of the aerial vehicle are controlled by an on-board control system 500 accommodated in the body component 102. The control system 500 is operably connected to the left arm actuator 141, right arm actuator 161 , left leg actuator 181, right leg actuator 191, tail actuator 121, left winglet actuator 151 and right winglet actuator 171 for individual actuation of the corresponding components. The control system 500 is operably connected to the motor / propeller units 105 for individual power supply to the corresponding motors. The control system 500 may be operably connected to a camera 510 to be mounted at the camera mount 109, the camera 510 being configured to provide vision information to the control system 500. The control system 500 is connected to a battery 520 configured to provide power to the actuators and other electronic components of the aerial vehicle. The battery 520 is accommodated in the body component 102. The control system 500 is operably connected to a photovoltaic cell system 530 provided on the aerial vehicle, as is explained in more detail by reference to Figure 10. The photovoltaic cell system 530 is configured to charge the battery 520. The control system 500 may be operably connected to a communication unit 540, configured to communicate with a ground station. The communication unit 540 is accommodated in the body component 102 or the tail component 120. The control system 500 is operably connected to a sensor system 550 configured to collect data relating to the operation of the aerial vehicle and relating to the environment of the aerial vehicle. Elements of the sensor system 550 may be provided at different locations of the aerial vehicle, e.g. at the body front end 104. The control system 500 is operably connected to a memory 560 to store control software, and to store operational and sensor data. The memory is accommodated in the body component 102. Communication with a ground station may be configured for sending (stored or live) sensor and / or (stored or live) camera image data to the ground station, and / or for exchanging flight control data of the aerial vehicle.

[0083] Sensors of the sensor system 550 may include one or more position sensors, orientation sensors, acceleration sensors, temperature sensors, light sensors, flow sensors, sensors for environmental measurements, etc.

[0084] The aerial vehicle is configured for gliding, flying and perching, including pitch, roll and yaw manoeuvres, through morphing of the aerial vehicle.

[0085] Figure 5 may be representative of a neutral (i.e. no pitch, roll or yaw manoeuvre) gliding attitude of the aerial vehicle, the arm components 140, 160 and leg components 180, 190 extending sideways, generally parallel to an XY-plane, and the winglets swung upwards, generally parallel to an XZ-plane. In flight, the motor-propeller units 105 may be activated to provide forward thrust. Thus, a stable glide or flight in X-axis direction may be obtained.

[0086] A pitch manoeuvre may be induced by swinging the left and right arm components 140, 160 both in an upper direction or both in a lower direction, and / or swinging the tail component 120 in an upper direction or a lower direction, controlling the corresponding actuators. Starting from a stable flight in X-axis direction, a roll manoeuvre may for example be induced by swinging the left arm component 140 and the right arm component 160 in opposite directions (i.e., the left arm component 140 in upper direction and the right arm component 160 in lower direction, or vice versa), or for example by swinging one of the left and right arm components 140, 160 in upper or lower direction, and / or for example by swinging a left leg component 180 and a right leg component 190 in opposite directions, or by swinging one of the left and right leg components 180, 190 in upper or lower direction, controlling the corresponding actuators. Starting from a stable flight in X-axis direction, a yaw manoeuvre may for example be induced by swinging one of the left and right arm components 140, 160 in upper or lower direction, and / or by swinging one of the left and right leg components 180, 190 in upper or lower direction, controlling the corresponding actuators. The left and right rib components 200, 210 follow the skin as it is deformed as a result of left and / or right arm component swinging, and / or left and / or right leg component swinging. During pitch, roll and yaw manoeuvres, the left and right winglet components 150, 170 may be swung in an upper direction, as shown in Figure 5. It is noted that actuation of one or more of the arm components, leg components and tail component may induce more that one of a roll, pitch and yaw effect since in the current design of the aerial vehicle not all effects can be decoupled from the other ones. Figure 7 illustrates part of a perching manoeuvre of the aerial vehicle, preparing to land. The left and right arm components 140, 160 and left and right leg components 180, 190 are swung in a lower direction, as well as the tail component 120 and the left and right winglet components 150, 170. The orientation of the aerial vehicle is tilted backwards in a forward direction. Accordingly, a forward speed of the aerial vehicle decreases, while an air cushion is formed under the aerial vehicle. With a low forward speed near zero, wherein the motorpropeller units 105 may be activated or turned off, the soft perching of the aerial vehicle takes place.

[0087] Figures 8 and 9 show the aerial vehicle after landing on a (simplified depicted) horizontal tree branch 600 or other cylindrical structure. The left and right arm components 140, 160 and left and right leg components 180, 190 rest on the surface of the tree branch 600 (as indicated at locations 610), while the left and right claw components 158, 178 pinch in the tree branch 600 at its surface (as indicated at locations 620, or at least contact the tree branch 600 such that the aerial vehicle is clamped to the tree branch 600 to prevent a movement of the aerial vehicle in a positive Z-direction. Here, it does not matter whether the tree branch 600 extends horizontally or non-horizontally, and also tree trunks extending vertically may be landed on.

[0088] Figure 10 illustrates that at least one of the body upper side 112 or top surface, the body lower side 114 or bottom surface, the tail top side 130 or top surface and the tail bottom side 132 or bottom surface comprises a photovoltaic cell system 530 for power supply to the battery 520 of the aerial vehicle.

[0089] As explained in detail above, an aerial vehicle is designed for gliding in the air, flying in the air, and perching through morphing of the aerial vehicle. The aerial vehicle comprises a skeleton component and a skin component. The skeleton component comprises an elongate body component, a tail component hingedly connected to the body component rear end, left and right arm components hingedly connected to the body component near the body component front end, left and right leg components hingedly connected to the body component near the body rear end, and left and right rib components hingedly connected to the body component between the arm and leg components. The skin component comprises flexible front skin parts extending between the arm and leg components, spanning across the rib components, and flexible rear skin parts extending between the leg components and the tail component. Winglet components are hingedly connected to the arm components.

[0090] As required, detailed embodiments of the present invention are disclosed herein. However, it is to be understood that the disclosed embodiments are merely exemplary of the invention, which can be embodied in various forms. Therefore, specific structural and functional details disclosed herein are not to be interpreted as limiting, but merely as a basis for the claims and as a representative basis for teaching one skilled in the art to variously employ the present invention in otherwise detailed structure.

[0091] The terms "a" / "an", as used herein, are defined as one or more than one. The term plurality, as used herein, is defined as two or more than two. The term another, as used herein, is defined as at least a second or more. The terms including and / or having, as used herein, are defined as comprising (i.e. , open language, not excluding other elements or steps). Any reference signs in the claims should not be construed as limiting the scope of the claims or the invention. The term coupled, as used herein, is defined as connected mechanically.

[0092] Although certain measures are recited in different dependent claims, a combination of these measures can be used to advantage.

Claims

CLAIMS1. An aerial vehicle for gliding in the air, flying in the air, and perching, wherein an imaginary right-hand sided orthogonal axis system comprising an X-axis, a Y-axis and a Z- axis is defined, wherein an origin of the axis system is arranged at a center of gravity of the aerial vehicle, wherein front is defined as in a positive X-direction, rear is defined as in a negative X-direction, left is defined as in a positive Y-direction, right is defined as in a negative Y-direction, upper is defined as in a positive Z-direction, and lower is defined as in a negative Z direction, the aerial vehicle comprising: a skeleton component comprising: an elongate body component having a body front end, a body rear end, a body left side, a body right side, a body upper side, a body lower side, and a body longitudinal axis parallel to the X-axis; a tail component having a tail front end, a tail rear end, a tail left side and a tail right side, the tail front end being hingedly connected to the body rear end, for controllably swinging the tail component for moving the tail rear end in an upper and lower direction around a tail hinge axis parallel to the Y-axis; a left arm component extending sideways from the body left side, the left arm component having a left arm root end and an opposite left arm distal end, the left arm root end being hingedly connected to the body left side near the body front end, for controllably swinging the left arm component for moving the left arm distal end in an upper and lower direction; a right arm component extending sideways from the body right side, the right arm component having a right arm root end and an opposite right arm distal end, the right arm root end being hingedly connected to the body right side near the body front end, for controllably swinging the right arm component for moving the right arm distal end in an upper and lower direction; a left leg component extending sideways from the body left side, the left leg component having a left leg root end and an opposite left leg distal end, the left leg root end being hingedly connected to the body left side near the body rear end, for controllably swinging the left leg component for moving the left leg distal end in an upper and lower direction; a right leg component extending sideways from the body right side, the right leg component having a right leg root end and an opposite right leg distal end, the right leg root end being hingedly connected to the body right side near the body rear end, for controllably swinging the right leg component for moving the right leg distal end in an upper and lower direction;at least one left rib component extending sideways from the body left side, each left rib component having a left rib root end and an opposite left rib distal end, the left rib root end being hingedly connected to the body left side between the left arm root end and the left leg root end, for swinging the left rib component for moving the left rib distal end in an upper and lower direction; and at least one right rib component extending sideways from the body right side, each right rib component having a right rib root end and an opposite right rib distal end, the right rib root end being hingedly connected to the body right side between the right arm root end and the right leg root end, for swinging the right rib component for moving the right rib distal end in an upper and lower direction, and a skin component comprising: a flexible left front skin part extending between the left arm component and the left leg component, spanning across the at least one left rib component, a flexible right front skin part extending between the right arm component and the right leg component, spanning across the at least one right rib component, a flexible left rear skin part extending between the left leg component and the tail left side; and a flexible right rear skin part extending between the right leg component and the tail right side.

2. The aerial vehicle according to claim 1, wherein: the tail component comprises a tail top side and a tail bottom side, the left arm component comprises a left arm top side and a left arm bottom side, the right arm component comprises a right arm top side and a right arm bottom side, the left leg component comprises a left leg top side and a left leg bottom side, the right leg component comprises a right leg top side and a right leg bottom side, each left rib component comprises a left rib top side and a left rib bottom side, and each right rib component comprises a right rib top side and a right rib bottom side, and wherein: the left front skin part comprises a left front skin top section extending between the left arm top side and the left leg top side, spanning across the at least one left rib top side, and a left front skin bottom section extending between the left arm bottom side and the left leg bottom side, spanning across the at least one left rib bottom side; the right front skin part comprises a right front skin top section extending between the right arm top side and the right leg top side, spanning across the at least one right rib top side, and a right front skin bottom section extending between the right arm bottom side and the right leg bottom side, spanning across the at least one right rib bottom side;the left rear skin part comprises a left rear skin top section extending between the left leg top side and the tail top side, and a left rear skin bottom section extending between the left leg bottom side and the tail bottom side; and the right rear skin part comprises a right rear skin top section extending between the right leg top side and the tail top side, and a right rear skin bottom section extending between the right leg bottom side and the tail bottom side.

3. The aerial vehicle according to claim 1 or 2, wherein the combination of the body component and the tail component has an aerofoil profile with a chord stretching from the body front end to the tail rear end in a plane parallel to an XZ-plane spanned by said X-axis and said Z-axis, wherein the body front end forms a leading edge, and wherein the tail rear end forms a trailing edge.

4. The aerial vehicle according to claim 2, wherein the combination of the body component, the tail component, the left front skin part, the right front skin part, the left rear skin part and the right rear skin part has an aerofoil profile with a chord stretching from the body front end to the tail rear end in a plane parallel to an XZ-plane spanned by said X-axis and said Z-axis, wherein the combination of the body front end, the left arm component and the right arm component forms a leading edge, and wherein the combination of the tail rear end, an edge of the left rear skin part extending between the left leg distal end and the tail rear end, and an edge of the right rear skin part extending between the right leg distal end and the tail rear end forms a trailing edge.

5. The aerial vehicle according to any one of the preceding claims, wherein the left leg component and the right leg component, in an orientation neither swung in upper direction nor swung in lower direction, extend from the body component at an angle to said longitudinal axis, in a rearward direction.

6. The aerial vehicle according to any one of the preceding claims, wherein the swinging of the left and right rib components is not controlled, and is within a predetermined angular range.

7. The aerial vehicle according to any one of the preceding claims, wherein the swinging of the left arm component is controlled by a left arm actuator, the swinging of the right arm component is controlled by a right arm actuator, the swinging of the left leg component iscontrolled by a left leg actuator, the swinging of the right leg component is controlled by a right leg actuator, and the swinging of the tail component is controlled by a tail actuator, wherein the left arm actuator, the right arm actuator, the left leg actuator, the right leg actuator and the tail actuator are controllable to swing the corresponding component individually.

8. The aerial vehicle according to any one of the preceding claims, further comprising a propulsion system mounted at the body front end.

9. The aerial vehicle according to claim 8, wherein the propulsion system comprises at least one motor / propeller unit.

10. The aerial vehicle according to claim 9, wherein the propulsion system comprises two motor / propeller units arranged symmetrically relative to an XZ-plane spanned by said X-axis and Z-axis.

11. The aerial vehicle according to any one of the preceding claims, wherein at the body front end a camera mount is provided.

12. The aerial vehicle according to claims 10 and 11, wherein the camera mount is arranged in between the motor / propeller units.

13. The aerial vehicle according to any one of the preceding claims, wherein the aerial vehicle comprises a battery, and wherein the body component comprises a body top surface and a body bottom surface, and the tail component comprises a tail top surface and a tail bottom surface, wherein at least one of the body top surface, the body bottom surface, the tail top surface and the tail bottom surface comprises photovoltaic cells for power supply to the battery of the aerial vehicle.

14. The aerial vehicle according to any one of the preceding claims, further comprising: a left winglet component having a left winglet root end and a left winglet distal end, the left winglet root end being hingedly connected to the left arm distal end, for controllably swinging the left winglet component relative to the left arm component in an upper and lower direction around a left winglet axis parallel to the X-axis; and a right winglet component having a right winglet root end and a right winglet distal end, the right winglet root end being hingedly connected to the right arm distal end, for controllablyswinging the right winglet component relative to the right arm component in an upper and lower direction around a right winglet axis parallel to the X-axis.

15. The aerial vehicle according to claim 14, wherein: the left winglet component comprises at least one left claw component provided near the left winglet distal end, and extending in a positive Y-direction when the left winglet component extends from the left arm distal end in a positive Z-direction, and the right winglet component comprises at least one right claw component provided near the right winglet distal end, and extending in a negative Y-direction when the right winglet component extends from the right arm distal end in a positive Z-direction.

16. The aerial vehicle according to claim 14 or 15, wherein the swinging of the left winglet component is controlled by a left winglet actuator, and the swinging of the right winglet component is controlled by a right winglet actuator, wherein the left winglet actuator and the right winglet actuator are jointly controllable to swing the left winglet component and the right winglet component in a mirror symmetric way relative to the XZ-plane.

17. The aerial vehicle according to claim 7 or 16, wherein each actuator comprises a servo motor.

18. A method of flying or gliding the aerial vehicle according to any one of claims 14 to 16 in the air, comprising: positioning the left winglet component and the right winglet component in an upper direction.

19. A method of perching the aerial vehicle according any one of claims 14 to 16, comprising: positioning the left winglet component and the right winglet component in a lower direction.

20. The method according to claim 19, further comprising: positioning the left arm component, the right arm component, the left leg component, the right leg component in a lower direction.

Images