US 11,787,540 B2
Unmanned flight systems and control systems thereof
Xian Su, HangZhou (CN); Chenhui Qian, HangZhou (CN); and Tong Zhang, HangZhou (CN)
Assigned to HANGZHOU ZERO ZERO TECHNOLOGY CO., LTD., Zhejiang (CN)
Appl. No. 16/759,155
Filed by HANGZHOU ZERO ZERO TECHNOLOGY CO., LTD., HangZhou (CN)
PCT Filed Nov. 27, 2019, PCT No. PCT/CN2019/121276
§ 371(c)(1), (2) Date Apr. 24, 2020,
PCT Pub. No. WO2020/151361, PCT Pub. Date Jul. 30, 2020.
Claims priority of provisional application 62/795,942, filed on Jan. 23, 2019.
Claims priority of application No. 201911070318.6 (CN), filed on Nov. 5, 2019.
Prior Publication US 2021/0221501 A1, Jul. 22, 2021
Int. Cl. B64C 39/02 (2023.01); B64D 47/08 (2006.01); B64C 27/08 (2023.01); B64C 27/50 (2006.01); G05D 1/10 (2006.01); B64U 30/20 (2023.01); B64U 101/30 (2023.01)
CPC B64C 39/024 (2013.01) [B64D 47/08 (2013.01); B64C 27/08 (2013.01); B64C 27/50 (2013.01); B64U 30/20 (2023.01); B64U 2101/30 (2023.01); B64U 2201/20 (2023.01); G05D 1/101 (2013.01)] 19 Claims
OG exemplary drawing
 
1. An unmanned flight system, comprising:
a body and a lift mechanism connected to the body, wherein the lift mechanism consists two rotor assembly arm structures respectively provided on two sides of the body,
wherein each of the two rotor assembly arm structures includes: an arm, a pivotable rotor assembly, a motor for driving the rotor assembly to pivot about a pivot axis, a motor base for mounting the motor, and two blades attached to the rotor assembly wherein each blade has a length at least two third of a length of the body, wherein one end of the arm is pivotally connected to one side of the body, and the motor base is pivotally provided on the other end of the arm,
wherein a rotor assembly arm structure is movable between an arm-unfolded position and an arm-folded position,
in the arm-unfolded position, the motor base is in an upright position, and a rotational axis of the motor base is higher than a center of gravity of the unmanned flight system;
and in the arm-folded position, the motor base is in an upside-down position, wherein an angle P between the rotational axis of the motor base and a rotational axis of the motor is in a range of 0 to 90°, an angle J defined by the rotational axis of the motor base and a vertical axis is greater than or equal to 90 degrees, an angle K defined by the rotational axis of the motor base and a motor axis is greater than or equal to 90 degrees,
wherein the two rotor assembly arm structures are controlled to be at a forward flight position in which the motor base pivots towards a front end of the unmanned flight system by an angle E between the motor axis and the vertical axis being greater than or equal to zero,
wherein the two rotor assembly arm structures are controlled to be at a backward flight position in which the motor base pivots towards a back end of the unmanned flight system by an angle F between the motor axis and the vertical axis being greater than or equal to zero,
and wherein a cooperation of the angle P, the angle J, the angle K, the angle E, and the angle F is configured to achieve a flight stability of the unmanned flight system.