Unmanned flying device

Abstract

An unmanned flying device including a body; a first motor; a top rotor assembly driven by the first motor; at least first and second blades coupled to the top rotor assembly; a second motor; at least a bottom rotor assembly driven by the second motor; at least third and fourth blades coupled to the bottom rotor assembly; a central shaft; wherein the top and bottom rotor assemblies are mounted on the center shaft; wherein the at least first and second blades are rotateable about the body, wherein the at least third and fourth blades are rotateable about the body, wherein the at least first and second blades, are deployable away from the body; and wherein the at least third and fourth blades, are deployable away from the body.

Description

[0001] UNMANNED FLYING DEVICE

[0002] BACKGROUND OF THE INVENTION

[0003] The present invention is directed generally to unmanned flying devices, and in particular, novel unmanned flying device constructions and methods of launching and landing such unmanned flying devices.

[0004] Unmanned flying devices are known. In fact, the present Applicant develops coaxial unmanned air vehicles (UAVs) that feature two rotor disks, each one of the composed of two propeller blades, and a cylindrical body. The rotor disks spin in opposite directions. The blades are arranged in a way such that both rotor disks contribute to thrust but produce opposite net torque around the body. One key feature of the design is the use of springs to force the collapse of the blades toward the body when the rotor stops spinning to protect the blades upon landing. Preferred methods and constructions are disclosed and claimed in US Patent Nos. 10,093,417; 11,292,595; and 12,122,541.

[0005] However, it is believed that further advances to the state of the art are both desirable and achievable, all of which are provided by the present invention.

[0006] SUMMARY AND OBJECTIVES OF THE INVENTION

[0007] It is thus an objective of the present invention to overcome the perceived deficiencies in the prior art.

[0008] It is yet another objective of the present invention to provide an improved unmanned flying device construction that can be utilized for a variety of applications, including but not limited to those applications as disclosed herein.

[0009] Still a further objective of the present invention is to provide methodologies for carrying out and / or facilitating the foregoing.

[0010] Further objects and advantages of this invention will become more apparent from a consideration of the drawings and ensuing disclosure.

[0011] The present furthers the state of the art in the manner, methodologies, and constructions as will be set forth and disclosed herein.

[0012] {N6050069} 1The invention accordingly comprises the features of construction, combination of elements, arrangement of parts and sequence of steps which will be exemplified in the construction, illustration and disclosure hereinafter set forth, and the scope of the invention will be indicated in the claims.

[0013] Therefore, to overcome the perceived deficiencies in the prior art and to achieve the objectives and advantages set forth above and below, a preferred embodiment of the present invention is, generally speaking, directed to an unmanned flying device comprising a body;

[0014] a first motor; a top rotor assembly driven by the first motor; at least first and second blades coupled to the top rotor assembly; a second motor; at least a bottom rotor assembly driven by the second motor; at least third and fourth blades coupled to the bottom rotor assembly;

[0015] a central shaft; wherein the top and bottom rotor assemblies are mounted on the center shaft; wherein the at least first and second blades are rotateable about the body, wherein the at least third and fourth blades are rotateable about the body, wherein the at least first and second blades, are deployable away from the body via rotation of the at least first and second blades about the body; and wherein the at least third and fourth blades, are deployable away from the body via rotation of the at least third and fourth blades about the body; and wherein when a centrifugal force acting upon the at least first and second blades to deploy the at least first and second blades away from the body is less than the force applied by the rotor assembly, the at least first and second blades will collapse upwards toward the body.

[0016] In a specific preferred embodiment, when a centrifugal force acting upon the at least third and fourth blades to deploy the at least third and fourth blades away from the body is less than the force applied by the rotor assembly, the at least third and fourth blades will collapse upwards toward the body.

[0017] And in yet another preferred embodiment, when a centrifugal force acting upon the at least third and fourth blades to deploy the at least third and fourth blades away from the body is less than the force applied by the rotor assembly, the at least third and fourth blades will collapse downward toward the body.

[0018] {N6050069} 2BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The above set forth and other features of the invention are made more apparent in the ensuing Description of the Preferred Embodiments when read in conjunction with the attached Drawings, wherein:

[0020] Fig. 1 is a perspective view of an unmanned flying device constructed in accordance with preferred embodiments of the present invention and Fig. 1A is a cross-sectional view of Fig. 1;

[0021] Fig. 2 is a perspective view of an unmanned flying device constructed in accordance with the prior art in which all four (4) blades “fold” or collapse” downwardly.

[0022] Figs. 3 and 4 are perspective views of an unmanned flying device constructed in accordance with preferred embodiments of the present invention, showing alternative positions in which the blades can “fold” or “collapse toward the body of the unmanned flying device;

[0023] Fig. 5 illustrates a preferred embodiment of the present invention, particularly illustrating features of the rotor arm, rotor bracket and one of the blades;

[0024] Fig. 6 illustrates a preferred embodiment of the present invention, particularly illustrating features a range of motion by a mechanical interference between the at least a first and second rotor arm and the top rotor bracket;

[0025] Figs. 7A, 7B, 7C illustrate one or more steps of one or more preferred embodiments of landing the unmanned flying device constructed in accordance with preferred embodiments of the present invention;

[0026] Figs. 8A, 8B, 8C, and 8D also illustrate one or more steps of one or more preferred embodiments of landing the unmanned flying device constructed in accordance with preferred embodiments of the present invention;

[0027] Fig. 9 illustrates a preferred embodiment of landing an unmanned flying device constructed in accordance with preferred embodiments of the present invention, in which the receptacle moves actively to capture the unmanned flying device;

[0028] Fig. 10 illustrates another preferred embodiment of landing an unmanned flying device constructed in accordance with preferred embodiments of the present invention, in which the unmanned flying device is preferably forced towards the receptable by means of a magnetic field;

[0029] Fig. 11 illustrates another preferred embodiment of landing an unmanned flying device constructed in accordance with preferred embodiments of the present invention, in which the unmanned flying device is preferably forced towards the receptable by means of a tether; {N6050069} 3Fig. 12A, 12B, 12C, 12D illustrate preferred embodiments of launching an unmanned flying device constructed in accordance with preferred embodiments of the present invention;

[0030] Figs. 13 A, 13B illustrate a preferred embodiment of the present invention in which the receptacle has a cover that keeps the unmanned flying device of the present invention protected from the elements, and further illustrates preferred embodiments that permit and / or cause removal of the cover;

[0031] Figs. 14A, 14B, 14C illustrate preferred embodiments of the present invention that permit and provide for holding of the body of the unmanned flying device vehicle without risking injury from the blades collapsing down as they slow down or as the blades speed up.

[0032] Fig. 15 illustrate preferred embodiments of a receptacle constructed in accordance with the present invention to facilitate landing of preferred embodiments of the unmanned flying device;

[0033] Fig. 16 illustrates embodiments of lifting the unmanned flying device and securing the device to the receptacle to prevent the unmanned flying device from leaving the tube prematurely;

[0034] Fig. 17 illustrates a preferred receptacle illustrating different preferred mechanisms to protect the bottom half of the device from the elements and prevent water from filling up the receptacle Fig. 18 illustrates a preferred method of dropping the unmanned flying device from an aircraft in flight;

[0035] Fig. 19A illustrates a preferred method of ejecting an unmanned flying device from a ground vehicle while Fig. 19B illustrates a preferred embodiment of ejecting preferred embodiments of the unmanned flying device from a sea vessel;

[0036] Figs 20A, 20B, 20C, 20D show a sequence of steps in connection with preferred embodiments of the unmanned flying device’s trajectory being stabilized by means of a drogue chute that is released before the rotors start spinning; and

[0037] Figs. 21A, 21B illustrate preferred embodiments of the unmanned flying device’s trajectory being stabilized by means of fin that forces preferred embodiments of the unmanned flying device to remain at least essentially vertical before the motors are engaged.

[0038] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0039] Generally speaking, the present invention is directed to embodiments of unmanned flying devices and methods of launching and / or landing such unmanned flying devices. The preferred

[0040] {N6050069} 4embodiments of unmanned flying devices as set forth herein are preferably sized to be convenient for a single person to carry by hand or in a bag or case, but larger embodiments are contemplated depending on the desired application.

[0041] Turning to the details and disclosure of preferred embodiments of the present invention, a preferred overall general construction of preferred embodiments of the present invention is illustrated in Fig. 1, which illustrates a preferred embodiment of an unmanned flying device, generally indicated at 10, with propeller blades deployed in flight.

[0042] Among other features and advantages, the present invention is directed to embodiments directed to mechanisms and methods to / for biasing the folding of propeller blades up along the body as necessary to enable operation in certain conditions. In accordance with the prior art of US Patent Nos. 10,093,417; 11,292,595; and 12,122,541, Fig. 2 illustrates one (1) exemplary way of folding the blades along the body when the propellers are not spinning, e g. all folded down.

[0043] On the other hand, and as will be disclosed in greater detail herein, the present invention is directed to the embodiments of the unmanned flying device 10, illustrated in Figs. 3 and 4 wherein both rotors may be folded up (e.g. Fig. 3) and / or forward rotor up / aft rotor down (e.g. Fig. 4).

[0044] Mechanically, the embodiments and methodologies disclosed herein have certain features that are similar and / or identical to those disclosed in the above-referenced patent Nos. 10,093,417; 11,292,595; and 12,122,541 (e.g. Fig. 2), and therefore, the disclosure and subject matter of US Patent Nos. 10,093,417; 11,292,595; and 12,122,541 are incorporated by reference as if fully set forth herein in their entireties, although in the present invention, at least one important distinction of the preferred embodiments herein (e.g. such as those illustrated in Figs. 3 and 4) is that one or more of the blades will be forced upwardly (i.e. both top blades 20 and both bottom blades 25 as illustrated in Fig. 3 or only both top blades 20 as illustrated in Fig. 4 (with both bottom blades collapsed downwardly in Fig.

[0045] 4), which can be achieved by one or more springs as disclosed herein (i.e. which produce the necessary torque) or which may be achieved by one or more other means / embodiments as disclosed herein.

[0046] To be sure, the present invention and the embodiments disclosed herein all have advantages, including but not limited to:

[0047] Compactness: by folding the blades along the body, the footprint of the drone in its storage position is minimal.

[0048] - Ruggedness: by folding the blades along the body during storage, takeoff and landing, the trailing and leading edge of the blades and be protected from nicks, dents and damage.

[0049] {N6050069} 5The embodiment disclosed and claimed in US Patent Nos. 10,093,417; 11,292,595; and 12,122,541 (i.e. blades folding down) provide protection on landing if the blades are stopped fast enough. However, a possible perceived disadvantage of this approach may be that the spin up needs to follow a predetermined sequence, with the top rotor spinning first to deploy the blades, followed by the bottom rotor. If this sequence is not timed properly, there is risk of propeller damage or tangling on takeoff.

[0050] Overcoming such a possible disadvantage is an objective of the present invention.

[0051] For example, in a first preferred embodiment of the present invention, the unmanned flying device 10 has the blades collapse / fold away from each other, i.e. top rotor folding up and aft rotor folding down (e.g. Fig. 4). One main advantage of this approach is that the blades 20, 25 cannot physically interfere with each other. As such: a) both rotor sets can be spun at once, b) there is no concern about one of the rotors “snagging” the other and fouling up the start sequence. This minimizes the time needed to deploy the rotor disks and control the unmanned flying device 10. It is important to keep in mind that without rotor spin there is no attitude control in the unmanned flying device 10.

[0052] The embodiment of Fig. 4 is also useful when the unmanned flying device 10 is deployed from a moving vehicle such as a car, airplane, or boat, especially when the launch involves some form of ballistic drop or ejection. During a ballistic trajectory, the unmanned flying device 10 is at risk of tumbling while the rotors are not spinning. Minimizing the time until control is regained is key to maximizing the chances of a successful deployment. The same principle can be used to maximize the chances of hand tossing the unmanned flying device 10 into the air for takeoff.

[0053] In another preferred embodiment, both rotor sets preferably fold up along the body (Fig. 3). This embodiment offers additional protection to the suction side of the blades (the upper surface) upon landing and during storage. The suction side of the blade is very sensitive to scratches, nicks, and dings that can degrade the aerodynamic efficiency of the rotor. Also, if the unmanned flying device 10 is going to land at least essentially vertically on its tail, the blades would fold in the same direction the unmanned flying device 10 is falling over.

[0054] The embodiment of Fig. 3 is also advantageous to automatically handle the unmanned flying device 10 on the ground using a landing tube. The landing tube is a simple cylindrical enclosure with or without a top cover that can be opened and closed manually or automatically. The unmanned flying device 10 is elevated from the bottom of the launch tube for takeoff. By folding the blades up, the distance required to travel before the blades are free to spin is minimized. Similarly, the required

[0055] {N6050069} 6length at the bottom of the unmanned flying device 10 for holding and alignment is minimized as blades are not in the way when rotors are unpowered.

[0056] The embodiment of Fig. 3 further enables automatic landing of the unmanned flying device 10 on the tube as rotors can spin and provide control up until the very last moment before shutting down. Thus, the unmanned flying device 10 can be partially inserted in the tube at that point, and slide right in. On the contrary, any of the embodiments that has both top and both bottom blades 20, 25 folding down needs to shut down a safe distance above the tube to allow the blades to stop and collapse along the body. That makes it riskier to operate the unmanned flying device 10 in wind or when position is uncertain (e g. bad GPS).

[0057] Reference to additional figures will now be made in connection with the following disclosure of preferred embodiments of the present invention. However, it should be understood that reference to the same figure for multiple features, functionality, and / or embodiments should not be understood to imply any limiting or narrow design(s) or embodiments, as it should be understood that the same figure may be referenced herein for more than one feature, function, and / or embodiment, and thus, nothing herein should be implied to mean that any disclosed embodiment herein requires or includes multiple features, functions and / or embodiments as recited herein, as any one of the embodiments disclosed herein may include e.g. just one or alternatively more than one of any such features, functionality, and / or embodiments individually and / or in combination, and reference(s) herein to the features, functionality, and / or embodiments illustrated and disclosed with reference to Fig. 13 is a good example of the foregoing, in that any of the embodiments disclosed herein may, but need not, comprise any more than e.g. only one of the features, functionality, and / or embodiments disclosed and / or associated with reference to Fig. 13. All of the foregoing applies to all the other features, functionality, and / or embodiments as they may (or may not) reference the same figures for multiple features, functions, and / or embodiments.

[0058] However, prior to discussing the novel features of the present invention, it should be understood that, generally speaking, preferred embodiments all preferably comprise a coaxial rotor design preferably comprising a pair of rotors aligned on a central axis. Each rotor preferably comprises two or more aerodynamic blades, which provide propulsive lift when spun. While and when not spinning, as disclosed herein these aerodynamic blades automatically fold, collapse or retract along the body of the unmanned flying device to, among other things, minimize or prevent damage to the device itself upon a landing or crash and make the device more convenient to pack and transport.

[0059] {N6050069} 7The unmanned flying device can be remotely controlled by a user using communications such as radio control (R / C), Bluetooth, a tether or other appropriate means. The device could also operate autonomously, making and directing flight decisions with an onboard computer processor or microcontroller as well as the necessary supporting electrical sensors, motors, speed controllers and other components as would be understood in the art.

[0060] According to this preferred embodiment, unmanned flying device 10 comprises three (3) aerodynamics shells, generally indicated which encase a central tube or shaft about which the rotors of the unmanned flying device spin. The shaft is preferably made out of a strong, stiff and lightweight material such as pultruded carbon fiber, plastic or aluminum and may be continuous or separated into pieces all as would be understood in the art. Under appropriate circumstances, considering such issues as design preference, user preferences, marketing preferences, cost, structural requirements, available materials, technological advances and the like, alternative embodiments are also contemplated where the central supporting shaft might have a varying diameter or deviate from a circular cross-section and may span all or some of the unmanned flying device's length.

[0061] Mounted to the shaft are supporting members, bulkheads and brackets. The brackets, such as a support bracket, allow for the attachment of motors, electronics, servo motors and other necessary components. These supporting members, bulkheads and brackets also provide a means to attach the surrounding aerodynamic shells to the central shaft. Bulkheads are examples of supporting members in a preferred embodiment used to couple the aeroshell to the central shaft.

[0062] The aerodynamic shells form an outer boundary, encasing and protecting the aircraft's internal components. The shells are sized so they do not negatively impact the air flow of the rotors while still being large enough to encase all or some of the unmanned flying device's internal components. The shells are preferably constructed from appropriately strong and stiff, lightweight materials such as plastics or composites. Depending on the circumstances, considering such issues as design preference, user preferences, marketing preferences, cost, structural requirements, available materials, technological advances, or the like, the shells may be provided into sections or made continuous and cover all or some of the unmanned flying device. The shells shroud the components below and between the rotors while one of the shells shrouds the swashplate and bottom rotor. One of the aerodynamic shells is preferably coupled to the bearing of the bottom rotor on the central shaft and therefore spins with the bottom rotor. However, alternative embodiments are contemplated hereby.

[0063] {N6050069} 8Preferably, the shells attach to the central shaft by means of mechanical interference with bulkheads and support brackets.

[0064] Generally speaking, the unmanned flying device 10 constructed in accordance with preferred embodiments comprises an upper rotor assembly and a lower assembly, each of the assemblies comprising among other things, a rotor, a rotor hub and a rotor bracket as will be discussed in greater detail below. The coupling of a rotor, rotor hub and rotor bracket, generally speaking, is well known in the art. Moreover, reference will be made herein to respective upper and lower rotor brackets. It should be understood that such rotor brackets may be a single unitary structure, or alternatively, may be individual bracket components or may be coupled or otherwise connected together as would be understood in the art. That is, as will be understood herein, reference to the first and second rotor arms (or third and fourth rotor arms, as the case may be) being hingedly coupled to their respective rotor brackets should be understood that there may be a single upper (and lower, as the case may be) rotor bracket or the upper and lower rotor brackets, as the case may be, may be in components or sections, and therefore the claims should not be limited thereby.

[0065] Each rotor is preferably attached to the central shaft via appropriately sized, radial, ball bearings, with thin bearings being the preferred, but not necessary choice. In the preferred embodiment, these bearings are embedded in the rotor hubs.

[0066] As illustrated in the Figures, the unmanned flying device 10 of the preferred embodiments comprises four rotor blades preferably all constructed from carbon fiber, but other suitable strong and stiff materials with sufficient tensile strength could be used, including plastics, resins or other composites, or the like. Each rotor blade is coupled to its respective rotor and rotor hub by a respective coupling assembly having a rotor arm. That is, the upper (e.g. first and second) rotor blades are coupled to a first rotor and rotor hub while the lower (e.g. third and fourth) rotor blades are coupled to the lower rotor and rotor hub. Each respective rotor arm is preferably hingedly coupled to its respective rotor and rotor bracket by the use of hinges.

[0067] The coupling assembly may utilize a dual hinge configuration or a single hinge configuration as would be understood in the art. Generally speaking, the use of hinges and the disclosed rotor arms as configured herein allow each of the associated rotor blades to be folded or retracted as disclosed herein along the outer aerodynamic shells of the unmanned flying device when the respective rotors are rotating sufficiently slow enough (as discussed below) and / or are not spinning. The advantages of such constructions are disclosed herein.

[0068] {N6050069} 9For example, the use of hinges and rotor arm with each rotor blade allows each of the associated rotor blades to be folded or retracted as disclosed herein along the outer aerodynamic shells of the unmanned flying device when the respective rotors are rotating sufficiently slow and / or are not spinning.

[0069] In a preferred embodiment, each rotor arm may be preferably comprised of two sections, hingedly coupled together at hinge. Each rotor arm is preferably made of plastic, but other suitably strong and stiff materials could be used. Respective sections of each rotor arm, when retracted, is preferably sized to fold and conform to the profile of the unmanned flying device 10. In a particular embodiment, the blades are at least essentially parallel to the body of the device when in their collapsed position. While parallel might be preferred, at least essentially parallel is intended to mean within about 90% of parallel.

[0070] Each respective section of the rotor arm may likewise pivot upward (i.e. in connection with the blades ) or downward (i.e. in connection with blades 20, 25) as the case may be, to permit the collapsing or folding of the blade 20 or 25 associated therewith.

[0071] A discussion of the coupling assembly and the construction of the upper rotor arm associated with the first and / or second blades (with the construction of the rotor arm associated with the third and / or fourth blades being of an identical construction) will now be made.

[0072] In connection with a two (2) hinged embodiment, in each of the four (4) associated rotor arm / blade configurations, two (2) torsion springs are provided, which in a preferred embodiment, are wire torsion springs. Reference to US Patent No. 10,093,417, the subject matter of which is incorporated by reference as if fully set forth herein may be had for specifics thereof.

[0073] The torsion provided by each of the respective springs and the kinematics of the respective rotor arms and hinges force the associated rotor blades to fold and retract along the profile of the body of unmanned flying device 10 as disclosed herein when not experiencing external forces. However, as the rotors spin, the centrifugal forces and the aerodynamic lifting force of the blades cause the blades to deploy outwardly and into their extended positions as disclosed herein and as necessary to generate lift. However, if either rotor stops spinning (or is spinning slow enough) the centrifugal forces are once again lost (or sufficiently reduced) and the blades associated with that stopped (or slowing) rotor collapse and fold back along the body as disclosed herein.

[0074] As should be understood by those skilled in the art, the threshold at which rotor blades will automatically fold or collapse along the body of the device does not require complete cessation of

[0075] {N6050069} 10rotor rotation but will occur in accordance with the dynamics of the system and at a point in which the forces urging the full deployment (centrifugal and aerodynamic) thereof are overcome by the spring force of torsion springs. That is, folding will occur when the RPM of the rotor decreases to a point at which the force moment (torque) about the rotor's respective hinges induced by the centrifugal and aerodynamic forces acting on the rotating blades are overcome by the torque induced on the hinges by the torsion springs.

[0076] Therefore, it should also be understood by those skilled in the art that the rotor blades will also automatically fold or collapse along the body of the unmanned flying device when there is a lack of sufficient force urging the full deployment thereof. Sufficient force should be understood to mean the torque required about the hinges to overcome the closing torque induced by each hinge's respective torsion spring. For example, experimental data has determined that if a blade with a mass of 15 grams and a center of gravity located 5 inches from the axis of rotation is rotating with an angular velocity of 750 RPM or greater, a 180 degree torsion spring with a torque value of 0.150 in-lbf when its legs are deflected 180 degrees, will be overcome and the blade will deploy, as would be understood in the art such that they may be slightly “coned” above perpendicular (by as much as 10 degrees). Also control inputs into the aft rotor may cause the blades to be slightly above or below perpendicular (tilting of the rotor plane), again this is about + / — 10 to 15 degrees. In this way, aerodynamic lifting forces are generated necessary for flight. Those skilled in the art would easily be able to use such an exemplary embodiment to extrapolate such forces and rotational speeds to other sized blades and unmanned flying device constructions as set forth herein, generally.

[0077] It should be noted that alternative preferred rotor arm configurations and coupling assemblies are contemplated, which may utilize fewer (or which may require an increased number of) hinges or rotor arm sections.

[0078] For example, in another preferred embodiment, it may be advantageous to only have a single folding hinge associated with each rotor arm. However, in such an embodiment, there is similar construction in that each rotor blade is preferably coupled to its respective rotor and rotor hub by a respective rotor arm, such that each rotor arm is coupled to a respective rotor bracket with the use of a hinge, which provides that each rotor arm with each rotor blade to be folded or retracted as disclosed herein along the outer aerodynamic shells of the unmanned flying device 10 when the respective rotors are similarly not rotating fast enough or otherwise not spinning. Among other things, this alternative construction also makes unmanned flying device 10 convenient to pack and transport, and

[0079] {N6050069} 11assists in protecting the blades while not in use, along with minimizing damage to the device 10 itself during landing or a crash.

[0080] Moreover, and again, similar to the embodiment described above, each rotor arm of this alternative embodiment is preferably made of plastic, but other suitably strong and stiff materials could be used and the coupling could be done with mechanical fasteners, press fit dowels, retaining pins or any other appropriately sized shaft or tube intended to act as an axle. With a single hinge embodiment, each rotor arm, when retracted, is preferably sized to be low profile and conform to the outer mold line of the vehicle.

[0081] Each blade is preferably attached to its respective arm with a mechanical fastener, press fit dowels, retaining pins or any other appropriately sized shaft or tube intended to act as an axle. Other means could include adhesives, friction, “snap” fits or interference fits. Some embodiments will find it advantageous to have the blade and associated arm made as a single part that shares both their features. Such a blade that contained the features of the arm could be made through injection molding of resins and plastics, carbon fiber layup or any other suitable method.

[0082] It should also be understood that the coupling assemblies that respectively couple the first and second blades to the upper rotor (e.g. rotor bracket) could likewise include only one hinge each. That is, instead of the upper coupling assemblies that utilize the dual hinge construction, the first and second blades could instead also utilize a single hinge assembly. In all other at least material respects, the single hinge construction for each of the coupling assemblies for all four blades is preferably identical to the double hinge construction as disclosed herein.

[0083] It should be further noted that other suitable methods and means of construction of inducing the folding motion of the blades could be employed in alternative embodiments, such as using elastics, linear springs, magnets and / or a combination thereof, and such means of construction, alone or in combination, could be further used in lieu of or in combination with the disclosed torsion springs, as long as the retracting force of the spring, elastic, magnet or other device(s) can be overcome by the centrifugal forces generated by the spinning rotor blades and it can be ensured that the blades remain fully extended during flight, or at least until the design parameters are such that retraction or folding is desired (e.g. upon very close to landing as disclosed herein).

[0084] It should also be understood that the preferred embodiments of the present invention provide for a controlled flight, which is achieved by changing the relative pitch or “feather” of the bottom rotor blades (cyclic pitch), although noting again for the avoidance of doubt that the single hinge

[0085] {N6050069} 12configuration operates at least similarly, if not identically thereto. This change in relative pitch is achieved with linkages, which connect the bottom rotor to a swashplate. The swashplate is in turn connected via linkages to a pair of servo motors which can change the angle of the swashplate. As is understood by those skilled in the art, the bottom rotor bracket pitches or “feathers” on internal radial bearings in response to the induced angle of the swashplate as it rotates about the central shaft. In a preferred embodiment, the swashplate is constructed from plastic and contains an internal, radial ball bearing which pivots on a plastic spherical bearing. The linkages are preferably made from stainless steel or plastic and connect to the servo horns and swashplate with snap together, plastic ball-and-socket joints or traditional hinges. However, under appropriate circumstances, considering such issues as design preference, user preferences, marketing preferences, cost, structural requirements, available materials, technological advances, or the like, other methods of connecting linkages could be employed, such as universal joints or hinges. Preferably, the material of any such linkages and swashplate as contemplated herein is lightweight, stiff and of an appropriately strong material, as would be understood in the art.

[0086] According to further alternative embodiments, it may be advantageous to use cyclic pitch control applied to both the top and bottom rotors or have a mechanism for collective pitch control of the rotors or utilize three or more servo motors to control the pitch applied to the swashplate or achieve directional control by shifting the center of gravity of unmanned flying device 10, depending on the circumstances and as would be understood in the art.

[0087] Reference to US Patent No. 10,093,417, the subject matter of which is incorporated by reference as if fully set forth herein may again be made for an understanding of a preferred electrical wiring and block diagram for the unmanned flying device preferred embodiments disclosed herein.

[0088] As can thus be seen, the present invention relates to an improved unmanned flying device (e.g. drone system) comprising a body and foldable blades, whereby rotation of the blades causes the blades to extend and deploy via centrifugal force. A collapsing force (e.g. via a spring or elastic element) causes the blades to automatically fold when not rotating (or rotating at a sufficiently low enough speed, as disclosed above). According to preferred embodiments, the blades fold to conform to the device's body making the unmanned flying device of the preferred embodiments compact and provide protection for the blades as disclosed herein. Preferably, the unmanned flying device of the present invention comprises a co-axial rotor design preferably comprising at least two rotors aligned on a central axis. Each rotor includes at least two blades which provide a propulsive lift when spun. The

[0089] {N6050069} 13preferred embodiments may also comprise a camera and other features and functions for aerial surveillance.

[0090] The preferred embodiment utilizing two motors reduces the total size, weight and complexity compared to traditional multirotors. Additionally, the co-axial design allows the device's components in be located along a central shaft where they are easily protected by the outer shell. The present invention can be remotely controlled using communications such as radio control (R / C), Bluetooth, a tether or other appropriate means. The device could also operate autonomously, making and directing flight decisions with the onboard computer processor or microcontroller as well as the necessary supporting electrical sensors, motors, speed controllers and other components. The above system may be utilized in various applications including aerial surveillance, delivery, amusement, applications for similar drone systems which are currently used or will become available with emerging technologies.

[0091] The unmanned flying device 10 disclosed herein may be manufactured by methods such as 3D printing, injection molding, etc. or combinations thereof. In a preferred embodiment, the overall size of the unmanned flying device 10 is approximately 15 inches.

[0092] As noted above, the biasing of the torsion springs or other biasing devices as disclosed herein act to collapse the blades to preferably the profde of the unmanned flying device 10. As also stated above, collapsing the blades to be parallel to the body of the device when in their collapsed position is preferred, although at least essentially parallel is intended to mean within about 90% and also preferred. However, for the avoidance of doubt, the collapsing of the blades must be at least 45 degrees upward. In this way, the present invention is patentably distinguishable from other merely “flapping”, whereby the present invention provides that the blades “collapse” such that they are folded upwardly and away from a position where they produce the necessary aerodynamic lift in the “up” direction needed for controlled flight. As discussed earlier herein, a controlled flight may still yield that the blades “flap” about + / — 15 degrees away from perpendicular due to control inputs and blade coning. As would be understood by those skilled in the art, after a collapse of 45 degrees or greater there will not be any further controlled flight. In the foregoing way, the present invention achieves the objectives and advantages set forth herein, and in this way, patentability distinguishes the claimed invention from other blades which might sag or otherwise bend simply due weight or component tolerances of the rotor arms, etc.

[0093] In a preferred embodiment, the present invention is directed to an unmanned flying device 10 comprising a body, generally indicated at 11 ; a first motor 12; a top rotor assembly generally indicated

[0094] {N6050069} 14at 13, driven by the first motor 12; at least first and second blades 20 coupled to the top rotor assembly 13; a second motor 14; at least a bottom rotor assembly generally indicated at 15, driven by the second motor 14; at least third and fourth blades 25 coupled to the bottom rotor assembly 15; a central shaft 16; wherein the top and bottom rotor assemblies 13, 15 are mounted on the center shaft; wherein the at least first and second blades 20 are rotateable about the body 11, wherein the at least third and fourth blades 25 are rotateable about the body 11, wherein the at least first and second blades are deployable away from the body via rotation of the at least first and second blades about the body; and wherein the at least third and fourth blades are deployable away from the body via rotation of the at least third and fourth blades about the body. Fig. 1 is an illustration of the foregoing embodiment constructed in accordance with preferred embodiments of the present invention.

[0095] In a specific preferred embodiment, without a sufficient force acting upon the at least first and second blades 20 to deploy the at least first and second blades 20 away from the body, the force applied by the rotor assembly will cause the at least first and second blades 20 to collapse upwards toward the body (e.g. see Fig. 3 and 4). In other words, when the centrifugal force acting upon the at least first and second blades to deploy the at least first and second blades away from the body is less than the force applied by the rotor assembly, the at least first and second blades will collapse upwards toward the body.

[0096] In a specific preferred embodiment the top rotor assembly comprises at least a first and second rotor arm, each rotor arm having a first end and a second end, wherein the first end of the rotor arm is hingedly coupled to a rotor bracket, and the second end of the rotor arm is coupled to the at least first or second blades 20; wherein the unmanned flying device further comprises a spring positioned at the hinge coupling the first end of the rotor arm to the rotor bracket, wherein said spring biases the at least first or second blades 20 toward the body to thereby urge the at least first or second blade 20 toward the body.

[0097] In a specific preferred embodiment without a sufficient force acting upon the at least third and fourth blades 25 to deploy the at least third and fourth blades 25 away from the body, the force applied by the rotor assembly will cause the at least third and fourth blades 25 to collapse upwards toward the body (e.g. see Fig. 3). That is, when the centrifugal force acting upon the at least third and fourth blades to deploy the at least third and fourth blades away from the body is less than the force applied by the rotor assembly coupled to the third and fourth blades, the at least third and fourth blades will collapse upwards toward the body.

[0098] {N6050069} 15In a specific preferred embodiment, wherein without a sufficient force acting upon the at least third and fourth blades 25 to deploy the at least third and fourth blades 25 away from the body, the force applied by the rotor assembly will cause the at least third and fourth blades 25 to collapse downwards toward the body (e.g. see Fig. 4). That is, when the centrifugal force acting upon the at least third and fourth blades to deploy the at least third and fourth blades away from the body is less than the force applied by the rotor assembly coupled to the third and fourth blades, the at least third and fourth blades will collapse downwards toward the body.

[0099] In a specific preferred embodiment the bottom rotor assembly comprises at least a third and fourth rotor arm, each rotor arm having a first end and a second end, wherein the first end of the rotor arm is hingedly coupled to a rotor bracket, and the second end of the rotor arm is coupled to the alt least third and fourth blade; wherein the unmanned flying device further comprises a spring positioned at the hinge coupling the first end of the rotor arm to the rotor bracket, wherein said spring biases the at least third and fourth blade toward the body to thereby urge the at least third and fourth blade toward the body.

[0100] In a specific preferred embodiment the springs are preferably torsion springs.

[0101] In a specific preferred embodiment, the top rotor assembly comprises at least a first and second rotor arm 30, each rotor arm having a first end and a second end, wherein the first end of the rotor arm is hingedly coupled to a rotor bracket 32, and the second end of the rotor arm is coupled to the at least first or second blade 20; wherein the range of motion of the rotor arm around the hinge is limited (e.g. see Fig. 5).

[0102] In a specific preferred embodiment, the range of motion starts at the deployed position and ends with the at least first and second blades 20 folded up along the body (e.g. see Figs. 1, 3 and 4).

[0103] In a specific preferred embodiment, the range of motion is limited by means of mechanical interference 40 between the at least a first and second rotor arm and the top rotor bracket (e.g. see Fig.

[0104] 6).

[0105] In a specific preferred embodiment, the bottom rotor assembly comprises at least a third and fourth rotor arm, each rotor arm having a first end and a second end, wherein the first end of the rotor arm is hingedly coupled to a rotor bracket, and the second end of the rotor arm is coupled to the at least third or fourth blades 25; wherein the range of motion of the rotor arm around the hinge is limited.

[0106] In a specific preferred embodiment, the range of motion starts at the deployed position and ends with the at least third and fourth blades 25 folded up along the body (e.g. see Figs. 1 and 3).

[0107] {N6050069} 16In a specific preferred embodiment, the range of motion is limited by means of mechanical interference 40 between at least a third and fourth rotor arm and the bottom rotor bracket.

[0108] In a specific preferred embodiment, the range of motion starts at the deployed position and ends with the at least third and fourth blades folded down along the body (e.g. see Figs. 1 and 4).

[0109] In a specific preferred embodiment, the range of motion is limited by means of mechanical interference 40 between the at least third and fourth rotor arm and the bottom rotor bracket.

[0110] In a specific preferred embodiment, wherein in a collapsed position, the at least first and second blades 20 are positioned at least essentially parallel to the body (e.g. see Figs. 3 and 4).

[0111] In a specific preferred embodiment, wherein in a collapsed position, the at least third and fourth blade 25 are positioned at least essentially parallel to the body (e.g. see Figs. 3 and 4).

[0112] In a specific preferred embodiment, wherein the unmanned flying device 10 is in a collapsed position, the suction (i.e. top) side of the rotor blades is protected from damage during storage or landing (e.g. see Fig. 3).

[0113] In another preferred embodiment of the present invention, a method of landing the unmanned flying device 10 as disclosed herein is provided, wherein in an exemplary embodiment, the method comprises the steps of: flying the unmanned flying device 10 toward a receptacle, generally indicated at 100, performing a controlled descent to partially introduce the bottom of the body of the unmanned flying device 10 in said receptacle 100, stopping the rotation of the top and bottom rotor simultaneously, and, collapsing the rotor blades 20, 25 upwards along the body of the unmanned flying device 10 as the unmanned flying device 10 slides into the receptacle 100 (e.g. see the sequence in Figs. 7 A, 7B, 7C).

[0114] In a specific preferred embodiment, the method of landing the unmanned flying device 10 comprises the steps of: flying the unmanned flying device 10 toward a receptacle 100, performing a controlled flight to position the body of the unmanned flying device 10 above the center of said receptacle 100, stopping the rotation of the top and bottom rotor simultaneously, and, collapsing the rotor blades 20, 25 upwards along the body of the unmanned flying device 10 as the unmanned flying device 10 slides into the receptacle 100 (e.g. see the sequence in respective Figs. 7A, 7B, 7C and Figs.

[0115] 8A, 8B, 8C and 8D).

[0116] In a specific preferred embodiment, the method comprises the steps of: flying the unmanned flying device 10 toward a receptacle 100, performing a controlled flight to position the body of the unmanned flying device 10 above said receptacle 100, forcing the body of the unmanned flying device

[0117] {N6050069} 1710 towards the receptacle 100, stopping the rotation of the top and bottom rotor simultaneously, and, collapsing the rotor blades 20, 25 upwards along the body of the unmanned flying device 10 as the unmanned flying device 10 slides into the receptacle 100 (again, with reference to the sequences in respective Figs. 7A, 7B, 7C and Figs. 8A, 8B, 8C and 8D).

[0118] In a specific preferred embodiment, the unmanned flying device 10 preferably uses a visualnavigation solution to position itself precisely above the landing receptacle 100.

[0119] In a specific preferred embodiment, the unmanned flying device 10 uses a Real-Time Kinematic (RTK) GPS correction to position itself precisely above the landing receptacle 100.

[0120] In a specific preferred embodiment, the unmanned flying device 10 preferably uses visible, ultraviolet or Infrared beacons to position itself precisely above the landing receptacle 100.

[0121] In another specific preferred embodiment, the unmanned flying device 10 preferably uses ultra-wideband location hardware to position itself precisely above the landing receptacle 100.

[0122] In another specific preferred embodiment, the unmanned flying device 10 preferably uses lidar to position itself precisely above the landing receptacle 100.

[0123] In another specific preferred embodiment, the unmanned flying device 10 preferably uses sonar to position itself precisely above the landing receptacle.

[0124] The foregoing methodologies, functionality, and constructions to precisely position the unmanned flying device above the landing receptacle are not exhaustive and other equivalent and / or similar means, ways and functionality to achieve the foregoing result and objectives are contemplated herein.

[0125] In another specific preferred embodiment, the receptacle 100 moves actively to capture the unmanned flying device 10 (e.g. see Fig. 9).

[0126] In another specific preferred embodiment, the unmanned flying device 10 of the present invention is preferably forced towards the receptable 100 by means of a magnetic field (e.g. see Fig.

[0127] 10).

[0128] In another specific preferred embodiment, the unmanned flying device of the present invention is preferably forced towards the receptable by means of a tether (e.g. see Fig. 11).

[0129] In another specific preferred embodiment, the method of launching the unmanned flying device 10 may comprise the steps of: lifting the unmanned flying device 10 from inside a receptacle 100 (Fig.

[0130] 12A), increasing the rotation of the aft rotor such that the at least third and fourth blades 25 are deployed away from the body of the unmanned flying device 10 (Fig. 12B), increasing the rotation of

[0131] {N6050069} 18the top rotor such that the at least first and second blades 20 are deployed away from the body of the unmanned flying device 10 (Fig. 12C), increasing the rotation of both rotors to produce enough thrust to remove the unmanned flying device 10 from the receptacle 100 (Fig. 12D).

[0132] In specific preferred embodiments, the receptacle 100 is preferably a tube and / or a funnel (e.g. see Figs. 12 and 15).

[0133] In another specific preferred embodiment, the receptacle 100 has a cover 110 that keeps the unmanned flying device 10 of the present invention protected from the elements (e.g. see Figs. 13 A, 13B).

[0134] In a specific preferred embodiment, the cover 110 is removed by the motion of the vehicle as it is lifted inside the receptacle (e.g. Fig. 13B). In another specific preferred embodiment, the cover 110 is removed by means of an electro-mechanical system, prior to lifting the vehicle. In yet another specific preferred embodiment, the cover 110 is removed by means of a pneumatic actuator, prior to lifting the vehicle. In still another specific preferred embodiment, the cover 110 is removed by means of a hydraulic actuator, prior to lifting the vehicle. In yet another specific preferred embodiment, the cover is removed by means of a pre-loaded spring actuator, prior to lifting the vehicle. In still another specific preferred embodiment, the cover 110 is removed by means of a magnetic actuator, prior to lifting the vehicle. All such means disclosed above are generally indicated at 105 in Fig. 13A.

[0135] As also broadly illustrated and disclosed in Fig. 13B, in yet another specific preferred embodiment, the unmanned flying device 10 is lifted by means of an electro-mechanical system. In another specific preferred embodiment, the unmanned flying device 10 is lifted by means of a pneumatic actuator. In yet another specific preferred embodiment, the unmanned flying device 10 is lifted by means of a hydraulic actuator. In still another specific preferred embodiment, the unmanned flying device 10 is lifted by means of a pre-loaded spring actuator. All such means disclosed above are generally indicated at 120 in Fig. 13B.

[0136] In yet another specific preferred embodiment, the unmanned flying device 10 is lifted by means of a magnetic actuator 125 (e.g. see Fig. 16).

[0137] In another specific preferred embodiment, the receptacle 100 has a mechanism 200 to protect the bottom half of the unmanned flying device 10 from the elements and prevent water from filling up the receptacle (e.g. see Fig. 17). In a specific preferred embodiment, the protection mechanism 200 comprises a flexible skirt that sits between the body of the unmanned flying device 10 and the end of the receptacle 100 (e.g. see Fig. 17). In another specific preferred embodiment, the protection

[0138] {N6050069} 19mechanism 200 comprises a seal that is preferably (but need not be) inflatable that sits between the body of the unmanned flying device 10 and the end of the receptacle 100. In yet another specific preferred embodiment, the protection mechanism 200 comprises a gasket that is preferably (but need not be) rubber that sits between the body of the unmanned flying device 10 and the end of the receptacle 100. It should be understood that Fig. 17 is intended to generally, but not simultaneously, indicate all such protection mechanisms alternatives.

[0139] In another specific preferred embodiment, the unmanned flying device 10 is secured to the receptacle assembly 100 to prevent it from leaving the receptacle 100 prematurely (e.g. see Fig. 16).

[0140] In another specific preferred embodiment, a preferred method of the present invention permits and provides for a user to hold the body of the unmanned flying device 10 without risking injury from blades collapsing down as they slow down, as illustrated in respective Figs. 14A, 14B, 14C. And in accordance with another specific preferred embodiment, the user can hold the body of the vehicle without risking injury from blades as they speed up, as shown in reverse order of the Figs. 14C, 14B, 14A.

[0141] In the specific preferred embodiment as illustrated in Fig. 3, both rotors may preferably be spun up simultaneously.

[0142] In another specific preferred embodiment, a preferred method of the present invention comprises the step of dropping the unmanned flying device 10 from an aircraft in flight (e.g. see Fig.

[0143] 18). In another specific preferred embodiment, a preferred method of the present invention comprises the step of ejecting the unmanned flying device 10 vehicle from an aircraft in flight to minimize the chance of a collision, also implied / shown in Fig. 18.

[0144] In another specific preferred embodiment, a preferred method of the present invention comprises the step of ejecting preferred embodiments of the unmanned flying device 10 from a ground vehicle (e.g. see Fig. 19). In another specific preferred embodiment, a preferred method comprises the step of ejecting preferred embodiments of the unmanned flying device 10 from a sea vessel (e.g. see Fig. 19A).

[0145] In another specific preferred embodiment, preferred embodiments of the unmanned flying device 10 rotor start is commanded based on a measurement of the barometric altitude of preferred embodiments of the unmanned flying device.

[0146] In another specific preferred embodiment, preferred embodiments of the unmanned flying device 10 rotor start is commanded based on an externally generated command.

[0147] {N6050069} 20In another specific preferred embodiment, preferred embodiments of the unmanned flying device 10 rotor start is commanded based on a measurement of the acceleration of preferred embodiments of the unmanned flying device.

[0148] In yet another specific preferred embodiment, preferred embodiments of the unmanned flying device 10 rotor start is commanded based on a measurement from a range finder.

[0149] In still another specific preferred embodiment, preferred embodiments of the unmanned flying device 10 rotor start is commanded based on an estimation of the attitude of preferred embodiments of the unmanned flying device 10.

[0150] In yet another specific preferred embodiment, preferred embodiments of the unmanned flying device 10 rotor start is commanded based on a visual estimation of the altitude of preferred embodiments of the unmanned flying device 10.

[0151] In still another specific preferred embodiment, preferred embodiments of the unmanned flying device 10 rotor start is commanded based on GPS measurements of the position of preferred embodiments of the unmanned flying device 10.

[0152] In yet another specific preferred embodiment, preferred embodiments of the unmanned flying device 10 rotor start is commanded based on a predetermined delay.

[0153] And in another specific preferred embodiment, preferred embodiments of the unmanned flying device rotor 10 start is commanded based on a combination of one or more criterions disclosed above.

[0154] In another specific preferred embodiment, the trajectory of preferred embodiments of the unmanned flying device 10 is stabilized by means of a drogue chute, generally indicated at 300, that is released before the rotors start spinning (e.g. see the sequence of steps in Figs. 20 A, 20B, 20C, 20D).

[0155] In another specific preferred embodiment, the trajectory of preferred embodiments of the unmanned flying device 10 is stabilized by means of a fin 140 that forces preferred embodiments of the unmanned flying device to remain at least essentially vertical before the motors are engaged (e.g. see Figs. 21A, 21B).

[0156] In another specific preferred embodiment, the trajectory of preferred embodiments of the unmanned flying device 10 is stabilized by means of a gyroscopic stabilization system. In yet another specific preferred embodiment, the trajectory of preferred embodiments of the unmanned flying device 10 is stabilized by means of pre-spin imparted to the body before the release of preferred embodiments of the unmanned flying device 10 from the aircraft.

[0157] {N6050069} 21As can now be seen, the present invention provides for increased and improved and / or alternative (as the case and / or situation dictates) versality, advantages, and construction, among other advantages, over those designs and constructions known in the art. For example and not limitation, the present invention incorporates improved constructions and methodologies as disclosed herein.

[0158] While the present invention has been described with respect to preferred embodiments, those skilled in the art will readily appreciate that various changes and / or modifications can be made to the invention without departing from the spirit or scope of the invention.

[0159] Moreover the terms “about,” “substantially” and / or “essentially” are measurable values such as a parameter, an amount, and the like and includes variations of + / - 15% or less, preferably variations of + / -10% or less, more preferably variations of + / -5% or less, even more preferably variations of + / -1% or less of and from the particularly recited value, in so far as such variations are appropriate to perform in the invention described herein. Furthermore, the value to which the foregoing modifiers refer is itself specifically disclosed herein.

[0160] It is also reminded that while many different embodiments are disclosed above, unless explicitly indicated, any one of the disclosed embodiments need not have more than one feature, structure, and / or function as indicated above. In fact, unless indicated to the contrary herein, each of the foregoing features, structures, and / or functions may be incorporated individually or in combination into any of the embodiments disclosed herein. And again, as exemplified in Fig. 13 by way of example and not limitation, any one of the embodiments disclosed herein may include one or more of any such features, functionality, and / or embodiments individually and / or in combination with one or more of any of the other features, functionality, and / or embodiments disclosed herein. That is, any and all embodiments herein may include any one or more of such features, functions and / or embodiments disclosed herein, but need not simultaneously include more than one such feature, embodiment, and / or function. It is thus reserved that additional and / or different claims may be added and filed that claim different combinations of features, functions, and / or embodiments disclosed herein.

[0161] It will thus be seen that the objectives set forth above, among those made apparent from the preceding description and the description provided in the accompanying drawing sheets and made a part hereof, are efficiently attained and, since certain changes may be made in the above constructions and methodologies without departing from the spirit and scope of the invention, it is intended that all matter contained in the above / accompanying description or shown in the accompanying Figures shall be interpreted as illustrative and not in a limiting sense.

[0162] {N6050069} 22It should also be understood that the following claims are intended to cover all of the generic and specific features of the invention described herein and all statements of the scope of the invention that as a matter of language might fill therebetween.

[0163] As should now be understood, the present invention overcomes deficiencies that may exist in the prior art while also providing the advantages mentioned herein as well as those advantages that should be understood by those skilled in the art. Other advantages and objectives are deemed to be apparent from the disclosure herein. It should also be appreciated that the present invention can be implemented and utilized in numerous ways.

[0164] {N6050069} 23

Claims

CLAIMS1. An unmanned flying device comprising;a body;a first motor;a top rotor assembly driven by the first motor;at least first and second blades coupled to the top rotor assembly;a second motor;at least a bottom rotor assembly driven by the second motor;at least third and fourth blades coupled to the bottom rotor assembly;a central shaft;wherein the top and bottom rotor assemblies are mounted on the center shaft;wherein the at least first and second blades are rotateable about the body,wherein the at least third and fourth blades are rotateable about the body,wherein the at least first and second blades, are deployable away from the body via rotation of the at least first and second blades about the body; andwherein the at least third and fourth blades, are deployable away from the body via rotation of the at least third and fourth blades about the body; andwherein when a centrifugal force acting upon the at least first and second blades to deploy the at least first and second blades away from the body is less than the force applied by the rotor assembly, the at least first and second blades will collapse upwards toward the body.

2. The unmanned flying device as claimed in claim 1, wherein when a centrifugal force acting upon the at least third and fourth blades to deploy the at least third and fourth blades away from the body is less than the force applied by the rotor assembly, the at least third and fourth blades will collapse upwards toward the body.

3. The unmanned flying device as claimed in claim 1, wherein when a centrifugal force acting upon the at least third and fourth blades to deploy the at least third and fourth blades away from the body is less than the force applied by the rotor assembly, the at least third and fourth blades will collapse downward toward the body.{N6050069} 244. The unmanned flying device as claimed in claim 1, wherein the top rotor assembly comprises at least a first and second rotor arm, each rotor arm having a first end and a second end, wherein the first end of the rotor arm is hingedly coupled to a rotor bracket, and the second end of the rotor arm is coupled to the at least first or second blade; wherein the unmanned flying device further comprises a spring positioned at the hinge coupling the first end of the rotor arm to the rotor bracket, wherein said spring biases the at least first or second blade toward the body to thereby urge the at least first or second blade toward the body.

5. The unmanned flying device as claimed in claim 4, wherein without a sufficient force acting upon the at least third and fourth blade to deploy the at least third and fourth blade away from the body, the force applied by the rotor assembly will cause the at least third and fourth blade to collapse upwards toward the body.

6. The unmanned flying device as claimed in claim 1, wherein the bottom rotor assembly comprises at least a third and fourth rotor arm, each rotor arm having a first end and a second end, wherein the first end of the rotor arm is hingedly coupled to a rotor bracket, and the second end of the rotor arm is coupled to the alt least third and fourth blade; wherein the unmanned flying device further comprises a spring positioned at the hinge coupling the first end of the rotor arm to the rotor bracket, wherein said spring biases the at least third and fourth blade toward the body to thereby urge the at least third and fourth blade toward the body.

7. A method of landing the unmanned flying device as claimed in claim 1, wherein the method comprises the steps of:flying the device toward a receptacle;performing a controlled descent to partially introduce the bottom of the body in said receptacle; stopping the rotation of the top and bottom rotor simultaneously; andcollapsing the rotor blades upwards along the body as the device slides into the receptacle.

8. A method of landing the unmanned flying device in claim 1, wherein the method comprises the steps of:flying the device toward a receptacle;performing a controlled flight to position the body of the device above the receptacle; {N6050069} 25stopping the rotation of the top and bottom rotor at least essentially simultaneously; and collapsing the rotor blades upwards along the body as the device slides into the receptacle.

9. The method as claimed in claim 8, including the step of using one or more of the following: (i) a visual-navigation solution to position itself above the landing receptacle, (ii) a Real-Time Kinematic (RTK) GPS correction to position itself above the landing receptacle, (iii) visible, ultraviolet or Infrared beacons to position itself above the landing receptacle, (iv) ultra-wideband location hardware to position itself above the landing receptacle, (v) lidar to position itself above the landing receptacle, (vi) sonar to position the unmanned flying device above the landing receptacle.

10. The method as claimed in claim 8, wherein the step of forcing the unmanned flying device towards the receptable by means of a magnetic field and / or a tether.

11. A method of launching the unmanned flying device as claimed in claim 1, wherein the method comprises the steps of:lifting the flying device from inside a receptacle;increasing the rotation of the aft rotor such that the at least third and fourth blade are deployed away from the body;increasing the rotation of the top rotor such that the at least first and second blade are deployed away from the body; andincreasing the rotation of both rotors to produce enough thrust to remove the unmanned flying device from the receptacle.

12. The method as claimed in claim 11, wherein the receptacle has a cover, and including the step of removing the cover by at least one of the following: the motion of the unmanned flying device as it is lifted inside the receptacle, an electro-mechanical system prior to lifting the unmanned flying device, a pneumatic actuator prior to lifting the unmanned flying device, a hydraulic actuator prior to lifting the unmanned flying device, a pre-loaded spring actuator prior to lifting the unmanned flying device, a magnetic actuator prior to lifting the unmanned flying device.{N6050069} 2613. The method as claimed in claim 11, including the step of lifting the unmanned flying device by at least one of the following: an electro-mechanical system, a pneumatic actuator, a hydraulic actuator, a pre-loaded spring actuator, a magnetic actuator.

14. The method as claimed in claim 11, wherein the receptacle has a protective mechanism to protect the bottom half of the device from the elements and prevent water from filling up the receptacle, wherein the protection mechanism comprises at least one of the following: a flexible skirt that sits between the body of the unmanned flying device and the end of the receptacle, a seal that sits between the body of the unmanned flying device and the end of the receptacle, a gasket that sits between the body of the unmanned flying device and the end of the receptacle.

15. A method of launching the unmanned flying device in claim 1, including the step of having both rotors spun up at least essentially simultaneously.

16. The method of claim 15, wherein the unmanned flying device rotor start is commanded based on at least one of the following: an externally generated command, a measurement of the barometric altitude of the unmanned flying device, a measurement of the acceleration of the unmanned flying device, a measurement from a range finder, an estimation of the attitude of the unmanned flying device, a visual estimation of the altitude of the unmanned flying device, GPS measurements of the position of the unmanned flying device, a predetermined delay.

17. The method as claimed in claim 15, wherein the unmanned flying device is dropped or ejected from an aircraft in flight and the method comprises the step of stabilizing the trajectory of the unmanned flying device by at least one of the following: a drogue chute that is released before the rotors start spinning, at least one fin that forces the unmanned flying device to remain at least essentially vertical before the motors are engaged, a gyroscopic stabilization system, pre-spin imparted to the body before the release of the unmanned flying device from the aircraft.

18. An unmanned flying device launching system, comprising:an unmanned flying device as claimed in claim 1; and{N6050069} 27a receptacle that houses the unmanned flying device prior to launch, wherein the receptacle has a cover and wherein the cover is removed by at least one of the following: the motion of the unmanned flying device as it is lifted inside the receptacle, an electro-mechanical system prior to lifting the unmanned flying device, a pneumatic actuator prior to lifting the unmanned flying device, a hydraulic actuator prior to lifting the unmanned flying device, a pre-loaded spring actuator prior to lifting the unmanned flying device, a magnetic actuator prior to lifting the unmanned flying device.

19. An unmanned flying device launching system, comprising:an unmanned flying device as claimed in claim 1; anda receptacle that houses the unmanned flying device prior to launch, wherein the receptacle has a protective mechanism to protect the bottom half of the device from the elements and prevent water from fdling up the receptacle, wherein the protection mechanism comprises at least one of the following: a flexible skirt that sits between the body of the unmanned flying device and the end of the receptacle, a seal that sits between the body of the unmanned flying device and the end of the receptacle, a gasket that sits between the body of the unmanned flying device and the end of the receptacle.

20. The unmanned flying device as claimed in claim 1, wherein the unmanned flying device comprises a rotor start that is commanded based on at least one of the following: a measurement of the barometric altitude of the unmanned flying device, a measurement of the acceleration of the unmanned flying device, a measurement from a range finder, an estimation of the attitude of the unmanned flying device, a visual estimation of the altitude of the unmanned flying device, GPS measurements of the position of the unmanned flying device, a predetermined delay.

21. The unmanned flying device as claimed in claim 1, wherein the unmanned flying device comprises at least one of the following: a drogue chute that is released before the rotors start spinning, at least one fin that forces the unmanned flying device to remain at least essentially vertical before the motors are engaged, or a gyroscopic stabilization system.{N6050069} 2822. The unmanned flying device as claimed in claim 1 , comprising one or more of the following: (i) a visual-navigation solution to position the unmanned flying device above the landing receptacle, (ii) a Real-Time Kinematic (RTK) GPS correction to position the unmanned flying device above the landing receptacle, (iii) visible, ultraviolet or Infrared beacons to position the unmanned flying device above the landing receptacle, (iv) ultra-wideband location hardware to position the unmanned flying device above the landing receptacle, (v) lidar to position the unmanned flying device above the landing receptacle, (vi) sonar to position the unmanned flying device above the landing receptacle.{N6050069} 29

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