US 12,110,106 B2
Aerial vehicle with differential control mechanisms
Thomas Akers, Templeton, CA (US); Peter Kalogiannis, Tehachapi, CA (US); Mark Moore, Henderson, NV (US); Robert Alan McDonald, San Luis Obispo, CA (US); and Ian Andreas Villa, San Francisco, CA (US)
Assigned to Joby Aero, Inc., Santa Cruz, CA (US)
Filed by Joby Aero, Inc., Santa Cruz, CA (US)
Filed on Oct. 28, 2020, as Appl. No. 16/949,414.
Claims priority of provisional application 62/927,099, filed on Oct. 28, 2019.
Prior Publication US 2021/0122466 A1, Apr. 29, 2021
Int. Cl. B64C 27/52 (2006.01); B64C 29/00 (2006.01); B64C 29/02 (2006.01); B64U 10/25 (2023.01); B64U 30/20 (2023.01); B64U 50/19 (2023.01); B64U 70/80 (2023.01)
CPC B64C 29/02 (2013.01) [B64C 27/52 (2013.01); B64C 29/0033 (2013.01); B64U 10/25 (2023.01); B64U 30/20 (2023.01); B64U 50/19 (2023.01); B64U 70/80 (2023.01)] 9 Claims
OG exemplary drawing
 
1. An aerial vehicle comprising:
a fuselage having:
a nose end, and
a tail end;
a first wing member extending from the fuselage in a first direction, the first wing member comprising:
a first drive motor coupled to a first rotor,
a second drive motor coupled to a second rotor, and
a third drive motor coupled to a third rotor,
wherein, in a second direction perpendicular to the first direction, the first wing member and the third drive motor are positioned between the first drive motor and the second drive motor;
a second wing member extending from the fuselage substantially opposite the first wing member;
a first wing rotation motor coupled to rotate the first wing member about a first axis substantially perpendicular to a fuselage axis extending from the nose end to the tail end;
a second wing rotation motor coupled to rotate the second wing member about a second axis substantially perpendicular to the fuselage axis; and
a controller circuit configured to;
differentially actuate the first motor and the second motor;
detect a rotation failure of the second wing member based on one or more sensors that generate a signal based on a position of the second wing member; and
responsive to the detecting of the failure, determine a combination of rotor speeds for the first, second, and third rotors and rotation positions for the first wing member that brings about a desired thrust vector and/or moment of torque for the aerial vehicle.