Reconfigurable unmanned aircraft system

Abstract

A reconfigurable unmanned aircraft system is disclosed. A system and method for configuring a reconfigurable unmanned aircraft and system and method for operation and management of a reconfigurable unmanned aircraft in an airspace are also disclosed. The aircraft is selectively reconfigurable to modify flight characteristics. The aircraft comprises a set of rotors. The position of at least one rotor relative to the base can be modified by at least one of translation of the rotor relative to the boom, pivoting of the boom relative to the base, and translation of the boom relative to the base; so that flight characteristics can be modified by configuration of position of at least one rotor relative to the base. A method of configuring an aircraft having a set of rotors on a mission to carry a payload comprises the steps of determining properties of the payload including at least mass properties, determining the manner in which the payload will be coupled to the aircraft, determining configuration for each of the rotors in the set of rotors at least partially in consideration of the properties of the payload, and positioning the set of rotors in the configuration for the aircraft to perform the mission.

1 . An aircraft for unmanned flight that is selectively reconfigurable to modify flight characteristics comprising:
 (a) a base;   (b) a first rotor on a first boom coupled to the base;   (c) a second rotor on a second boom coupled to the base;   (d) a third rotor on a third boom coupled to the base;   wherein position of at least one rotor relative to the base can be modified by at least one of (1) translation of the rotor relative to the boom; (2) pivoting of the boom relative to the base; (3) translation of the boom relative to the base;   so that flight characteristics can be modified by configuration and reconfiguration of position of at least one rotor relative to the base.   
     
     
         2 . The aircraft of  claim 1  wherein position of the rotor relative to the base can be modified by at least one of (4) retraction of the boom relative to the base; (5) pivoting of the rotor relative to the boom; (6) raising the height of the boom relative to the base; (7) lowering the height of the boom relative to the base; (8) rotation of the rotor relative to boom; and (9) rotation of the boom relative to the base. 
     
     
         3 - 8 . (canceled) 
     
     
         9 . The aircraft of  claim 1  wherein the base comprises at least one of a reference point for determining rotor position, a structure, a frame, an attachment point for an article such as payload, a power plant, energy storage for powering a rotor, and a center of mass. 
     
     
         10 - 18 . (canceled) 
     
     
         19 . The aircraft of  claim 1  wherein at least one boom comprises at least one of an arm, a member, and a space frame. 
     
     
         20 - 31 . (canceled) 
     
     
         32 . The aircraft of  claim 1  wherein flight characteristics comprise at least one of aerodynamic profile, maneuverability, available thrust, available lift, energy consumption, energy efficiency, mass, mass properties, center of mass, center of gravity, balance point, stability, controllability, control axes, maximum relative ground velocity, maximum relative air speed, ascent rate, descent rate, sink rate, flight altitude, aerodynamic drag, number of operational rotors, control system type, equipment status. 
     
     
         33 - 36 . (canceled) 
     
     
         37 . The aircraft of  claim 1  wherein flight characteristics can be modified at least one of in response to operating conditions for a mission and at a time a payload is associated with a base of the aircraft. 
     
     
         38 . The aircraft of  claim 37  wherein operating conditions for a mission comprise at least one of operability of each rotor, energy storage capacity, remaining energy storage, payload profile, payload mass, payload type, payload shape, payload size, payload changes, route, altitude, traffic, weather conditions, weather effects, wind velocity, wind direction, distance of mission, remaining distance of mission, time for mission, remaining time for mission, fuel storage capacity, remaining fuel, energy storage capacity, remaining stored energy. 
     
     
         39 . The aircraft of  claim 1  wherein the aircraft comprises a power plant to operate each rotor and energy storage for the power plant, the power plant and energy storage comprising at least one of an electric motor and a battery system, respectively, and an engine and fuel, respectively. 
     
     
         40 - 41 . (canceled) 
     
     
         42 . The aircraft of  claim 1  wherein a payload is at least one of supportable with the base, securable to the base, containable within the base, attachable to the base, externally mountable to the base, supportable under the base, positionable under the base, and securable on the base. 
     
     
         43 - 51 . (canceled) 
     
     
         52 . The aircraft of  claim 1  wherein at least one boom comprises at least one of a robotic arm and an adjustable boom. 
     
     
         53 - 54 . (canceled) 
     
     
         55 . The aircraft of  claim 1  further comprising at least one of a control system for configuring rotor position and a control system comprising a first system configured to change in rotor rotational speed and a second system configured to change rotor position. 
     
     
         56 . The aircraft of  claim 1  further comprising a monitoring system for at least one of operating conditions and each rotor. 
     
     
         57 - 69 . (canceled) 
     
     
         70 . The aircraft of  claim 1  wherein a change in rotor position relative to the base comprises at least one of (1) translation of the rotor relative to the boom; (2) pivoting of the boom relative to the base; (3) translation of the boom relative to the base; (4) retraction of the boom relative to the base; (5) pivoting of the rotor relative to the boom; (6) raising the height of the boom relative to the base; (7) lowering the height of the boom relative to the base; (8) rotation of rotor relative to boom; and (9) rotation of the boom relative to the base. 
     
     
         71 - 77 . (canceled) 
     
     
         78 . The aircraft of  claim 1  wherein the reconfiguration of position of at least one rotor can be performed at least one of before operation of the aircraft in response to at least one of anticipated operating conditions, desired flight characteristics, and a payload, and during operation of the aircraft in response to at least one of disability of a rotor, anticipated disability of a rotor, malfunction of a rotor, and changed performance of a rotor. 
     
     
         79 - 85 . (canceled) 
     
     
         86 . The aircraft of  claim 1  further comprising a sensor configured to detect at least one of disability of a rotor and malfunction of a rotor. 
     
     
         87 - 91 . (canceled) 
     
     
         92 . The aircraft of  claim 1  wherein the reconfiguration of position of at least one rotor is at least one of a commandable change upon detection of a potential malfunction, a commandable change upon detection of an actual malfunction, occurable over time to allow gradual response to a gradually developing malfunction, performable during operation in response to changed flight characteristics, performable during operation to modify flight dynamics, performable during operation to modify dray, performable during operation to reduce energy use, performable during operation to improve performance, performable during operation to increase maximum velocity, performable during operation to counteract weather effects, and performable during operation to balance mass properties of the aircraft. 
     
     
         93 - 95 . (canceled) 
     
     
         96 . The aircraft of  claim 1  wherein at least one rotor is at least one of configured with adjustable vanes and configured to modify pitch. 
     
     
         97 - 107 . (canceled) 
     
     
         108 . The aircraft of  claim 1  wherein the boom comprises at least one of a pivoting member, a translating member, a pivoting and translating member, a boom attached to the base by a coupling, a boom directly coupled to the base, a first member and a second member movable relative to the first member, an articulable arm, a robotic arm, and a boom that is repositionable relative to the base. 
     
     
         109 - 114 . (canceled) 
     
     
         115 . The aircraft of  claim 1  wherein the base is includes at least one of a structure, a frame, and a frame member. 
     
     
         116 - 127 . (canceled) 
     
     
         128 . The aircraft of  claim 1  wherein the rotor is at least one of repositionable relative to the boom, coupled to the boom by a joint, movable inward along the boom, movable outward along the boom, extendable and retractable on the boom, a rotor that includes a set of blades rotating on an axis, and an adjustable pitch rotor. 
     
     
         129 - 137 . (canceled) 
     
     
         138 . The aircraft of  claim 1  wherein flight characteristics can be modified by at least one of (1) translation of the rotor relative to the boom; (2) pivoting of the boom relative to the base; (3) translation of the boom relative to the base; (4) retraction of the boom relative to the base; (5) pivoting of the rotor relative to the boom; (6) raising the height of the boom relative to the base; (7) lowering the height of the boom relative to the base; (8) rotation of a rotor relative to the base; (9) rotational twist of the boom relative to the base; (10) changing spacing of the rotor relative to another rotor; (11) changing incline of the rotor; (12) changing horizontal position of the rotor relative to the base; (13) changing the vertical position of the rotor relative to the base; (14) moving the rotor inward relative to the base; (15) moving the rotor outward relative to the base; (16) tilting the rotor; (17) changing the rotor thrust; (18) disabling the rotor; (19) adjusting the pitch of vanes of a rotor; (20) changing the rotation speed of the rotor; and (21 changing position of a rotor relative to at least one other rotor. 
     
     
         139 . The aircraft of  claim 1  further comprising a system to perform at least one of (a) monitor rotational speed of rotor, (b) monitor force at rotor bearings, (c) monitor force applied at rotor mount, (d) monitor vibration at rotor, (e) monitor temperature of rotor motor system, (f) anticipate disability of a rotor, and (g) anticipate a rotor malfunction so that reconfiguration of the rotor occurs before malfunction. 
     
     
         140 - 142 . (canceled) 
     
     
         143 . A selectively reconfigurable aircraft for unmanned flight providing flight characteristics comprising:
 [1] a base;   [2] a first rotor on a first boom coupled to the base;   [3] a second rotor on a second boom coupled to the base;   wherein position of the first rotor relative to the base can be modified by at least one of (1) translation of the rotor relative to the boom; (2) pivoting of the boom relative to the base; (3) translation of the boom relative to the base;   wherein position of the second rotor relative to the base can be modified by at least one of (1) translation of the rotor relative to the boom; (2) pivoting of the boom relative to the base; (3) translation of the boom relative to the base;   so that flight characteristics can be modified by reconfiguration of the position of at least one rotor relative to the base.   
     
     
         144 . The aircraft of  claim 143  wherein position of a rotor can be modified by at least one of (4) retraction of the boom relative to the base; (5) pivoting of the rotor relative to the boom; (6) raising the height of the boom relative to the base; (7) lowering the height of the boom relative to the base; (8) rotation of rotor relative to boom; and (9) rotation of the boom relative to the base. 
     
     
         145 - 147 . (canceled) 
     
     
         148 . The aircraft of  claim 143  further comprising at least one of a third rotor on a third boom coupled to the base, a fourth rotor on a fourth boom coupled to the base, a fifth rotor on a fifth boom coupled to the base, a sixth rotor on a sixth boom coupled to the base, a seventh rotor on a seventh boom coupled to the base, and an eighth rotor on an eighth boom coupled to the base. 
     
     
         149 - 158 . (canceled) 
     
     
         159 . The aircraft of  claim 143  further comprising a system to monitor at least one of (a) rotational speed of rotor, (b) force at rotor bearings, (c) force applied at rotor mount, (d) vibration at rotor, (e) temperature of rotor motor system. 
     
     
         160 . The aircraft of  claim 143  wherein each rotor comprises a set of blades rotating on an axis. 
     
     
         161 . The aircraft of  claim 160  wherein the pitch of blades of the rotor is adjustable. 
     
     
         162 . The aircraft of  claim 143  wherein data from the system is used to anticipate a rotor malfunction so that reconfiguration of the rotor occurs before malfunction. 
     
     
         163 - 306 . (canceled) 
     
     
         307 . A selectively reconfigurable aircraft for unmanned flight providing flight characteristics comprising:
 (a) a base;   (b) a first rotor on a first boom coupled to the base;   (c) a second rotor on a second boom coupled to the base;   wherein position of the first rotor relative to the base can be modified by at least one of (1) translation of the rotor relative to the boom; (2) pivoting of the boom relative to the base; (3) translation of the boom relative to the base;   wherein position of the second rotor relative to the base can be modified by at least one of (1) translation of the rotor relative to the boom; (2) pivoting of the boom relative to the base; (3) translation of the boom relative to the base;   wherein the first rotor and the second rotor are coupled so the first rotor and the second rotor can be repositioned in coordinated movement relative to the base;   so that flight characteristics can be modified by reconfiguration of the position of at least one rotor relative to the base.   
     
     
         308 . The aircraft of  claim 307  wherein the first rotor and the second rotor are mechanically coupled. 
     
     
         309 . The aircraft of  claim 307  wherein the first boom and the second boom are coupled for coordinated movement. 
     
     
         310 . (canceled) 
     
     
         311 . The aircraft of  claim 307  further comprising a control system for reconfiguration of the first rotor and the second rotor. 
     
     
         312 - 313 . (canceled) 
     
     
         314 . The aircraft of  claim 311  wherein the control system can be directed remote from the aircraft. 
     
     
         315 - 317 . (canceled) 
     
     
         318 . The aircraft of  claim 307  wherein the base comprises a space frame and the first boom and the second boom are coupled to the space frame. 
     
     
         319 - 322 . (canceled)