Six degree of freedom aerial vehicle with a ring wing
Described is an apparatus and method of an aerial vehicle, such as an unmanned aerial vehicle (“UAV”) that can operate in either a vertical takeoff and landing (VTOL) orientation or a horizontal flight orientation. The aerial vehicle includes a plurality of propulsion mechanisms that enable the aerial vehicle to move in any of the six degrees of freedom (surge, sway, heave, pitch, yaw, and roll) when in the VTOL orientation. The aerial vehicle also includes a ring wing that surrounds the propulsion mechanisms and provides lift to the aerial vehicle when the aerial vehicle is operating in the horizontal flight orientation.
1. An aerial vehicle navigation method, comprising:
receiving a command to navigate an aerial vehicle in a direction that includes a horizontal component;
determining that the aerial vehicle is in a vertical takeoff and landing (VTOL) orientation such that:
a fuselage of the aerial vehicle is in a non-vertical orientation; and
a ring wing of the aerial vehicle is aligned in a first plane that is substantially horizontal;
generating a first force by a first propulsion mechanism of a plurality of propulsion mechanisms that cause a pitch of the aerial vehicle to increase such that the aerial vehicle rotates from a VTOL orientation to a horizontal flight orientation such that:
the fuselage of the aerial vehicle is in a horizontal orientation in a direction of travel of the aerial vehicle;
the ring wing is offset such that a lower segment of the ring wing is in a leading wing position and an upper segment of the ring wing is in a rear wing position;
a second propulsion mechanism of the plurality of propulsion mechanisms is oriented substantially horizontally to produce a second force in a substantially horizontal direction; and
a third propulsion mechanism of the plurality of propulsion mechanisms is oriented substantially horizontally to produce a third force in the substantially horizontal direction;
generating the second force and the third force from the second propulsion mechanism and the third propulsion mechanism to cause the aerial vehicle to surge in a horizontal direction while the aerial vehicle is in the horizontal flight orientation; and
wherein the ring wing of the aerial vehicle produces a lift sufficient to maintain the aerial vehicle at an altitude when the aerial vehicle is in the horizontal flight orientation and surging in the horizontal direction.
2. The method of claim 1 , further comprising:
determining that the pitch of the aerial vehicle exceeds a pitch threshold;
determining that a horizontal airspeed of the aerial vehicle exceeds a horizontal airspeed threshold; and
in response to determining that the pitch of the aerial vehicle exceeds the pitch threshold and that the horizontal airspeed of the aerial vehicle exceeds the horizontal airspeed threshold, terminating a force produced by each of the first propulsion mechanism, a fourth propulsion mechanism of the aerial vehicle, a fifth propulsion mechanism of the aerial vehicle, and a sixth propulsion mechanism of the aerial vehicle.
3. The method of claim 2 , wherein:
the first propulsion mechanism, the fourth propulsion mechanism, the fifth propulsion mechanism, and the sixth propulsion mechanism are oriented to produce forces in a substantially non-horizontal direction when the aerial vehicle is in the horizontal flight orientation.
4. The method of claim 3 , wherein:
the first propulsion mechanism, the second propulsion mechanism, the third propulsion mechanism, the fourth propulsion mechanism, the fifth propulsion mechanism, and the sixth propulsion mechanism are each aligned to produce a respective force that includes a horizontal component and a vertical component when the aerial vehicle is in the VTOL orientation.
5. The method of claim 4 , wherein the first propulsion mechanism, the second propulsion mechanism, the third propulsion mechanism, the fourth propulsion mechanism, the fifth propulsion mechanism, and the sixth propulsion mechanism are each aligned such that a net force may be produced from the first propulsion mechanism, the second propulsion mechanism, the third propulsion mechanism, the fourth propulsion mechanism, the fifth propulsion mechanism, and the sixth propulsion mechanism that will cause the aerial vehicle to move in any of six degrees of freedom, when the aerial vehicle is in the VTOL orientation.
6. The method of claim 1 , further comprising:
receiving a second command to navigate in a second direction that includes a vertical component;
determining that the aerial vehicle is in the horizontal flight orientation;
causing a pitch of the aerial vehicle to decrease such that the aerial vehicle rotates from the horizontal flight orientation to the VTOL orientation; and
producing forces from each of the plurality of propulsion mechanisms of the aerial vehicle to maintain flight of the aerial vehicle while the aerial vehicle is in the VTOL orientation.
7. The method of claim 1 , wherein:
the aerial vehicle includes at least six propulsion mechanisms;
at least one of the at least six propulsion mechanisms is oriented in a first direction; and
at least one of the at least six propulsion mechanisms is oriented in a second direction, wherein the first direction is different than the second direction.
8. A method, comprising:
determining that an aerial vehicle is in a vertical takeoff and landing (VTOL) orientation such that:
a fuselage of the aerial vehicle is aligned in a non-vertical orientation; and
a ring wing of the aerial vehicle is aligned in a first plane that is substantially horizontal;
generating a first force by a first propulsion mechanism of a plurality of propulsion mechanisms that cause a pitch of the aerial vehicle to increase such that the aerial vehicle rotates from a VTOL orientation to a horizontal flight orientation such that:
the fuselage of the aerial vehicle is in a substantially horizontal orientation in a direction of travel of the aerial vehicle;
a first sub-plurality of propulsion mechanisms of the plurality of propulsion mechanisms are oriented to produce forces in a substantially horizontal direction; and
a second sub-plurality of propulsion mechanisms of the plurality of propulsion mechanisms are oriented to produce forces in a substantially non-horizontal direction; and
generating a second force from the first sub-plurality of propulsion mechanisms to cause the aerial vehicle to surge in the substantially horizontal direction while the aerial vehicle is in the horizontal flight orientation.
9. The method of claim 8 , further comprising:
determining that the pitch of the aerial vehicle exceeds a pitch threshold;
determining that a horizontal airspeed of the aerial vehicle exceeds a horizontal airspeed threshold; and
in response to determining that the pitch of the aerial vehicle exceeds the pitch threshold and that the horizontal airspeed of the aerial vehicle exceeds the horizontal airspeed threshold, terminating an operation of at least one of the plurality of propulsion mechanisms.
10. The method of claim 8 , wherein at least one of the plurality of propulsion mechanisms is aligned to produce a force that includes a horizontal component and a vertical component when the aerial vehicle is in the VTOL orientation.
11. The method of claim 8 , wherein the plurality of propulsion mechanisms are aligned such that a net force may be produced from the plurality of propulsion mechanisms that will cause the aerial vehicle to move in any of six degrees of freedom, when the aerial vehicle is in the VTOL orientation.
12. The method of claim 8 , further comprising:
receiving a second command to navigate in a second direction that includes a vertical component;
determining that the aerial vehicle is in the horizontal flight orientation;
causing a pitch of the aerial vehicle to decrease such that the aerial vehicle rotates from the horizontal flight orientation to the VTOL orientation; and
producing a net force from the plurality of propulsion mechanisms of the aerial vehicle to maintain flight of the aerial vehicle while the aerial vehicle is in the VTOL orientation.
13. The method of claim 8 , wherein:
the aerial vehicle includes at least six propulsion mechanisms;
at least one of the at least six propulsion mechanisms is oriented in a first direction; and
at least one of the at least six propulsion mechanisms is oriented in a second direction, wherein the first direction is different than the second direction.
14. The method of claim 8 , wherein:
when the aerial vehicle is in the horizontal flight orientation, the ring wing is offset such that a lower segment of the ring wing is in a leading wing position and an upper segment of the ring wing is in a rear wing position.
15. A method, comprising:
receiving a command to navigate an aerial vehicle in a direction that includes a horizontal component;
generating a first force with at least one of a plurality of propulsion mechanisms of the aerial vehicle that causes a pitch of the aerial vehicle to increase such that the aerial vehicle rotates from a VTOL orientation to a horizontal flight orientation such that a first propulsion mechanism of the plurality of propulsion mechanisms is oriented substantially horizontally to produce a second force in a substantially horizontal direction that causes the aerial vehicle to surge in a horizontal direction while the aerial vehicle is in the horizontal flight orientation;
terminating, while the aerial vehicle is in the horizontal flight orientation, an operation of a second propulsion mechanism, wherein the second propulsion mechanism is oriented in a direction that is different than the substantially horizontal orientation of the first propulsion mechanism; and
wherein a wing of the aerial vehicle produces a lift sufficient to maintain the aerial vehicle at an altitude when the aerial vehicle is in the horizontal flight orientation and surging in the horizontal direction.
16. The method of claim 15 , further comprising:
determining that the pitch of the aerial vehicle exceeds a pitch threshold;
determining that a horizontal airspeed of the aerial vehicle exceeds a horizontal airspeed threshold; and
wherein terminating the operation of the second propulsion mechanism is based at least in part in response to determining that the pitch of the aerial vehicle exceeds the pitch threshold and that the horizontal airspeed of the aerial vehicle exceeds the horizontal airspeed threshold.
17. The method of claim 15 , wherein:
a net force produced by the plurality of propulsion mechanisms includes a horizontal component and a vertical component when the aerial vehicle is in the VTOL orientation.
18. The method of claim 15 , wherein:
a net force produced by the plurality of propulsion mechanisms cause the aerial vehicle to move in any of six degrees of freedom when the aerial vehicle is in the VTOL orientation.
19. The method of claim 15 , further comprising:
receiving a second command to navigate in a second direction that includes a vertical component;
determining that the aerial vehicle is in the horizontal flight orientation;
causing a pitch of the aerial vehicle to decrease such that the aerial vehicle rotates from the horizontal flight orientation to the VTOL orientation; and
producing forces from each of the plurality of propulsion mechanisms of the aerial vehicle to maintain flight of the aerial vehicle while the aerial vehicle is in the VTOL orientation.
20. The method of claim 15 , wherein:
the aerial vehicle includes at least six propulsion mechanisms;
at least one of the at least six propulsion mechanisms is oriented in a first direction; and
at least one of the at least six propulsion mechanisms is oriented in a second direction, wherein the first direction is different than the second direction.
21. The method of claim 15 , further comprising:
causing the aerial vehicle to be oriented such that a ring wing of the aerial vehicle, when the aerial vehicle is in the horizontal flight orientation, is offset with a lower segment of the ring wing in a leading wing position and an upper segment of the ring wing is in a rear wing position.