Multicopter with self-adjusting rotors
In response to a change in a state of at least some part of a vehicle, a control signal associated with countering the change in the state while the vehicle is in an occupant change state is generated. The control signal is sent to a rotor in the vehicle while the vehicle is in the occupant change state, wherein the control signal causes the rotor to move in a manner that is counter to the change in the state and the rotor rotates about a substantially vertical axis of rotation and enables the vehicle to perform vertical takeoffs and landings.
1. A vehicle, comprising:
a flight controller, wherein:
in response to a change in a state of at least some part of the vehicle, including a rotor in the vehicle moving from a previous position while the vehicle is in an occupant change state, the flight controller generates a control signal associated with countering the change in the state while the vehicle is in the occupant change state; and
the flight controller sends the control signal to the rotor in the vehicle while the vehicle is in the occupant change state; and
the rotor, wherein:
the control signal causes the rotor to move in a manner that is counter to the change in the state, including by returning to the previous position while the vehicle is in the occupant change state;
the rotor rotates about a substantially vertical axis of rotation and enables the vehicle to perform vertical takeoffs and landings; and
the rotor rotates throughout the occupant change state.
2. The vehicle of claim 1 , wherein the rotor has a blade with a diameter that is greater than or equal to 10 feet.
3. The vehicle of claim 1 , wherein the rotor is at a height that is greater than or equal to 10 feet.
4. The vehicle of claim 1 , wherein the vehicle is in the occupant change state while on the ground.
5. The vehicle of claim 1 , wherein:
the vehicle further includes a vertical beam attached at a first end to a fuselage and attached at a second end to a horizontal crossbar to which the rotor is attached; and
the vertical beam is flexible.
6. The vehicle of claim 1 , wherein the vehicle is a battery powered, single seat, and autonomously flown vehicle.
7. The vehicle of claim 1 , wherein:
the vehicle is in the occupant change state while hovering in the air; and
the vehicle further includes a visual indicator that indicates when the vehicle is in the occupant change state.
8. The vehicle of claim 1 , wherein:
the vehicle is in the occupant change state while hovering in the air; and
a height at which the vehicle hovers in the air during the occupant change state is adjustable by an occupant prior to entering.
9. The vehicle of claim 1 , wherein:
the vehicle further includes a vertical beam attached at a first end to a fuselage and attached at a second end to a horizontal crossbar to which the rotor is attached; and
the vertical beam is foldable.
10. The vehicle of claim 1 , wherein the rotor includes a canted rotor with an angle within a range of 5°-20°, inclusive.
11. A method, comprising:
in response to a change in a state of at least some part of a vehicle, including a rotor in the vehicle moving from a previous position while the vehicle is in an occupant change state, generating a control signal associated with countering the change in the state while the vehicle is in the occupant change state; and
sending the control signal to the rotor in the vehicle while the vehicle is in the occupant change state, wherein:
the control signal causes the rotor to move in a manner that is counter to the change in the state, including by returning to the previous position while the vehicle is in the occupant change state;
the rotor rotates about a substantially vertical axis of rotation and enables the vehicle to perform vertical takeoffs and landings; and
the rotor rotates throughout the occupant change state.
12. The method of claim 11 , wherein the rotor has a blade with a diameter that is greater than or equal to 10 feet.
13. The method of claim 11 , wherein the rotor is at a height that is greater than or equal to 10 feet.
14. The method of claim 11 , wherein the vehicle is in the occupant change state while on the ground.
15. The method of claim 11 , wherein:
the vehicle further includes a vertical beam attached at a first end to a fuselage and attached at a second end to a horizontal crossbar to which the rotor is attached; and
the vertical beam is flexible.
16. The method of claim 11 , wherein the vehicle is a battery powered, single seat, and autonomously flown vehicle.
17. The method of claim 11 , wherein:
the vehicle is in the occupant change state while hovering in the air; and
the vehicle further includes a visual indicator that indicates when the vehicle is in the occupant change state.
18. The method of claim 11 , wherein:
the vehicle is in the occupant change state while hovering in the air; and
a height at which the vehicle hovers in the air during the occupant change state is adjustable by an occupant prior to entering.
19. The method of claim 11 , wherein:
the vehicle further includes a vertical beam attached at a first end to a fuselage and attached at a second end to a horizontal crossbar to which the rotor is attached; and
the vertical beam is foldable.
20. The method of claim 11 , wherein the rotor includes a canted rotor with an angle within a range of 5°-20°, inclusive.
21. A computer program product, the computer program product being embodied in a non-transitory computer readable storage medium and comprising computer instructions for:
in response to a change in a state of at least some part of a vehicle, including a rotor in the vehicle moving from a previous position while the vehicle is in an occupant change state, generating a control signal associated with countering the change in the state while the vehicle is in the occupant change state; and
sending the control signal to the rotor in the vehicle while the vehicle is in the occupant change state, wherein:
the control signal causes the rotor to move in a manner that is counter to the change in the state, including by returning to the previous position while the vehicle is in the occupant change state;
the rotor rotates about a substantially vertical axis of rotation and enables the vehicle to perform vertical takeoffs and landings; and
the rotor rotates throughout the occupant change state.