Attachment sub-systems for vertically-stacked multicopters
A plurality of propellers generate vertical thrust at least some of the time. An attachment sub-system detachably couples to a vertical connector, where a plurality of vertically-stacked multicopters are configured to detachably couple to the vertical connector in order to transport a load at a bottom end of the vertical connector. There is an opening in a vehicle frame that is configured to: (1) receive the vertical connector prior to the attachment sub-system detachably coupling to the vertical connector and (2) hold the vertical connector while the attachment sub-system is detachably coupled to the vertical connector.
1. A system, comprising:
a plurality of propellers that generate vertical thrust at least some of the time;
an attachment sub-system that detachably couples to a vertical connector, wherein a plurality of vertically-stacked multicopters detachably couple to the vertical connector in order to transport a load at a bottom end of the vertical connector; and
an opening in a vehicle frame that: (1) receives the vertical connector prior to the attachment sub-system detachably coupling to the vertical connector and (2) holds the vertical connector while the attachment sub-system is detachably coupled to the vertical connector; wherein:
the system is included in a second-from-top multicopter in the plurality of vertically-stacked multicopters;
the attachment sub-system:
detaches from the vertical connector; and
after moving into a topmost position associated with the vertical connector, detachably couples to the vertical connector; and
the system further includes a flight controller that: after the attachment sub-system detaches from the vertical connector, generates one or more control signals for the plurality of propellers associated with moving to the topmost position.
2. The system of claim 1 , wherein:
the vertical connector includes a stopper; and
the attachment sub-system includes a passive holder that is open on at least one side where an opening of the passive holder is narrower than a width of the passive holder.
3. A system, comprising:
a plurality of propellers that generate vertical thrust at least some of the time;
an attachment sub-system that detachably couples to a vertical connector, wherein a plurality of vertically-stacked multicopters detachably couple to the vertical connector in order to transport a load at a bottom end of the vertical connector; and
an opening in a vehicle frame that: (1) receives the vertical connector prior to the attachment sub-system detachably coupling to the vertical connector and (2) holds the vertical connector while the attachment sub-system is detachably coupled to the vertical connector, wherein:
the attachment sub-system includes a non-load-bearing connector and a load-bearing connector, wherein the attachment sub-system further:
detaches the load-bearing connector from the vertical connector while keeping the non-load-bearing connector enclosed around the vertical connector; and
after flying vertically to a higher altitude, detachably couples the load-bearing connector to the vertical connector; and
the system further includes a flight controller that: after the load-bearing connector detaches from the vertical connector, generates one or more control signals for the plurality of propellers associated with flying vertically to the higher altitude.
4. The system recited in claim 3 wherein:
the system is included in a topmost multicopter in the plurality of vertically-stacked multicopters;
the flight controller further: while the attachment sub-system is detachably coupled to the vertical connector, generates one or more control signals for the plurality of propellers associated with moving to a safe position such that if the attachment sub-system were to detach from the vertical connector while in the safe position, a section of the vertical connector that is between the system and a second-from-top multicopter would be clear of one or more propellers in the second-from-top multicopter; and
the attachment sub-system further: while in the safe position, detaches from the vertical connector.
5. The system of claim 3 , wherein:
the vertical connector includes a stopper; and
the attachment sub-system includes a passive holder that is open on at least one side where an opening of the passive holder is narrower than a width of the passive holder.
6. A method, comprising:
providing a plurality of propellers that generates vertical thrust at least some of the time;
providing an attachment sub-system that detachably couples to a vertical connector, wherein a plurality of vertically-stacked multicopters are configured to detachably couple to the vertical connector in order to transport a load at a bottom end of the vertical connector; and
providing an opening in a vehicle frame that: (1) receives the vertical connector prior to the attachment sub-system detachably coupling to the vertical connector and (2) holds the vertical connector while the attachment sub-system is detachably coupled to the vertical connector, wherein:
the method is performed by a second-from-top multicopter in the plurality of vertically-stacked multicopters;
the attachment sub-system further:
detaches from the vertical connector; and
after moving into a topmost position associated with the vertical connector, detachably couples to the vertical connector; and
the second-from-top multicopter further includes a flight controller that: after the attachment sub-system detaches from the vertical connector, generates one or more control signals for the plurality of propellers associated with moving to the topmost position.
7. The method recited in claim 6 , wherein:
the vertical connector includes a stopper; and
the attachment sub-system includes a passive holder that is open on at least one side where an opening of the passive holder is narrower than a width of the passive holder.
8. A method, comprising:
providing a plurality of propellers that generates vertical thrust at least some of the time;
providing an attachment sub-system that detachably couples to a vertical connector, wherein a plurality of vertically-stacked multicopters are configured to detachably couple to the vertical connector in order to transport a load at a bottom end of the vertical connector; and
providing an opening in a vehicle frame that: (1) receives the vertical connector prior to the attachment sub-system detachably coupling to the vertical connector and (2) holds the vertical connector while the attachment sub-system is detachably coupled to the vertical connector, wherein:
the attachment sub-system includes a non-load-bearing connector and a load-bearing connector, wherein the attachment sub-system further:
detaches the load-bearing connector from the vertical connector while keeping the non-load-bearing connector enclosed around the vertical connector; and
after flying vertically to a higher altitude, detachably couples the load-bearing connector to the vertical connector; and
the method further includes providing a flight controller that: after the load-bearing connector detaches from the vertical connector, generates one or more control signals for the plurality of propellers associated with flying vertically to the higher altitude.
9. The method recited in claim 8 , wherein:
the method is performed by a topmost multicopter in the plurality of vertically-stacked multicopters;
the flight controller further: while the attachment sub-system is detachably coupled to the vertical connector, generates one or more control signals for the plurality of propellers associated with moving to a safe position such that if the attachment sub-system were to detach from the vertical connector while in the safe position, a section of the vertical connector that is between the topmost multicopter and a second-from-top multicopter would be clear of one or more propellers in the second-from-top multicopter; and
the attachment sub-system further: while in the safe position, detaches from the vertical connector.
10. The method recited in claim 8 , wherein:
the vertical connector includes a stopper; and
the attachment sub-system includes a passive holder that is open on at least one side where an opening of the passive holder is narrower than a width of the passive holder.