Aerial vehicle having two self-sufficient subsystems
According to the present invention there is provided an aerial vehicle that is operable to fly, the aerial vehicle having at least a first and second subsystem that are operably connected, wherein the first subsystem comprises a first flight module, first one or more effectors that are selectively operable to generate a first force sufficient to cause the aerial vehicle to fly; and the second subsystem comprises a second flight module, second one or more effectors that are selectively operable to generate a second force sufficient to cause the aerial vehicle to fly; such that the first or second subsystem can be selectively used to fly the aerial vehicle not relying on the one or more effectors of the other subsystem. There is further provided a corresponding method for controlling an aerial vehicle.
1 . A system comprising:
a first self-sufficient subsystem comprising:
first one or more effectors; and
a first flight module operable to generate control signals for operating the first one or more effectors to cause the first self-sufficient subsystem to fly; and
a second self-sufficient subsystem comprising:
second one or more effectors; and
a second flight module operable to generate control signals for operating the second one or more effectors to cause the second self-sufficient subsystem to fly, wherein:
the first and second self-sufficient subsystems are attachable to each other to form an aerial vehicle;
the first flight module is operable to generate control signals for operating the first and second one or more effectors to cause the aerial vehicle to fly; and
the second flight module is operable to, in response to detecting a failure in the first self-sufficient subsystem, compute control signals for the second one or more effectors.
2 . The system of claim 1 , wherein the first self-sufficient subsystem is capable of degraded flight when unattached to the second flight module.
3 . The system of claim 1 , wherein the first self-sufficient subsystem is only partially controllable in yaw when unattached to the second flight module.
4 . The system of claim 1 , wherein the first self-sufficient subsystem is attachable to the second self-sufficient subsystem via a mechanical connection to form the aerial vehicle.
5 . The system of claim 4 , wherein the first self-sufficient subsystem is further attachable to the second self-sufficient subsystem via a physical communication channel.
6 . The system of claim 5 , wherein the physical communication channel communicatively couples the first flight module and the second flight module together.
7 . The system of claim 1 , wherein:
the first one or more effectors comprises two effectors; and
the second one or more effectors comprises two effectors.
8 . The system of claim 1 , further comprising:
a third self-sufficient subsystem comprising:
third one or more effectors; and
a third flight module operable to generate control signals for operating the third one or more effectors to cause the third self-sufficient subsystem to fly, wherein:
the first, second, and third self-sufficient subsystems are attachable to each other to form the aerial vehicle; and
the first, second, or third flight module is operable to generate control signals for operating the first, second, and third one or more effectors to cause the aerial vehicle to fly.
9 . The system of claim 1 , wherein:
the first self-sufficient subsystem further comprises first one or more sensors for sensing at least a position, orientation, or velocity of the aerial vehicle relative to an external reference frame; and
the second self-sufficient subsystem further comprises second one or more sensors for sensing at least a position, orientation, or velocity of the aerial vehicle relative to an external reference frame.
10 . The system of claim 1 , further comprising a coordination unit operable to select which control signals are forwarded to which effectors.
11 . The system of claim 1 , wherein:
the first self-sufficient subsystem further comprises a first power source; and
the second self-sufficient subsystem further comprises a second power source.
12 . A method for controlling the aerial vehicle of claim 1 , comprising:
computing, using the first flight module, a first set of control signals for the first one or more effectors; and
computing, using the first flight module, a second set of control signals for the second one or more effectors.
13 . The method of claim 12 , further comprising:
communicating the second set of control signals from the first flight module to the second flight module.
14 . The method of claim 12 , further comprising:
detecting the failure in the first self-sufficient subsystem.
15 . The method of claim 14 , further comprising:
in response to detecting the failure, disabling the first one or more effectors.
16 . The method of claim 14 , further comprising:
in response to detecting the failure, computing, using the second flight module, the control signals for the second one or more effectors.
17 . The method of claim 16 , further comprising:
in response to detecting the failure, switching a switch of the second self-sufficient subsystem from a first position where it passes the second set of control signals to the second one or more effectors and a second position where it passes the control signals generated by the second flight module to the second one or more effectors.
18 . The method of claim 12 , further comprising:
computing, using the first flight module, a set of control signals for degraded flight when the first self-sufficient subsystem is unattached to the second flight module.
19 . The method of claim 18 , wherein the degraded flight is only partially controllable in yaw.
20 . The method of claim 12 , further comprising:
sensing, using one or more sensors of the first self-sufficient subsystem, at least a position, orientation, or velocity of the aerial vehicle relative to an external reference frame.