Unmanned aerial vehicle suspended propulsion systems and methods
Systems and methods directed to suspended propulsion systems for an unmanned aerial vehicle (UAV) are provided. A system may include a UAV having a body and a center of gravity (CG), and a suspended propulsion system coupled to the UAV. The suspended propulsion system may include a power source for the UAV, and a harness coupled to the UAV to suspend at least a portion of the power source under the CG of the UAV. The harness may be a rigid or flexible harness configured to decouple an inertia of the suspended propulsion system from an inertia of the UAV. Additional systems and related methods are also provided.
1 . A system comprising:
an unmanned aerial vehicle (UAV) having a body with a rigidly attached propulsion system and having a center of gravity (CG);
wherein the system comprises a propulsion system comprising the rigidly attached propulsion system comprising one or more thrusters to move the UAV;
wherein the propulsion system further comprises a suspended propulsion system coupled to the body of the UAV, the suspended propulsion system comprising:
a power source for providing energy to the one or more thrusters, and
a harness coupled to the UAV to suspend at least a portion of the power source under the CG of the UAV.
2 . The system of claim 1 , wherein the harness is configured to decouple an inertia of the suspended propulsion system from an inertia of the UAV;
wherein at least one of the one or more thrusters provides a lift to the UAV.
3 . The system of claim 2 , wherein the harness comprises an inflexible harness configured to provide at least two rotational degrees of freedom between the UAV and the power source.
4 . The system of claim 3 , wherein the inflexible harness comprises an arc-shaped hoop attached to the body at a pair of joints, the hoop configured to pivot about a horizonal axis defined by the pair of joints, the power source coupled to the hoop to slide along the hoop between the pair of joints.
5 . The system of claim 2 , wherein the harness comprises a non-rigid harness attached to the UAV under the CG to provide an additional rotational degree of freedom between the UAV and the power source.
6 . The system of claim 5 , wherein the power source comprises a plurality of elements suspended along the non-rigid harness.
7 . The system of claim 6 , wherein at least a lowermost element of the plurality of elements is configured to decouple from the harness during flight of the UAV.
8 . The system of claim 5 , wherein:
the power source is replaceable while the UAV is hovering during a UAV flight; and
the UAV comprises a built-in power source to power the UAV flight during a replacement of the power source.
9 . The system of claim 5 , wherein the system is configured to rest the power source on the ground while the UAV hovers during flight.
10 . The system of claim 1 , wherein the power source comprises at least one of a battery, a fuel cell, or a solar panel; and
the system further comprises an electric cable configured to provide power from the power source to the UAV.
11 . A method comprising:
coupling a suspended propulsion system to an unmanned aerial vehicle (UAV) having a body with a rigidly attached propulsion system and having a center of gravity (CG) to form a system which comprises a propulsion system comprising:
the suspended propulsion system; and
the rigidly attached propulsion system comprising one or more thrusters to move the UAV;
wherein the suspended propulsion system comprises:
a power source for providing energy to the one or more thrusters, and
a harness coupled to the UAV to suspend at least a portion of the power source under the CG of the UAV.
12 . The method of claim 11 , wherein the coupling comprises decoupling an inertia of the suspended propulsion system from an inertia of the UAV;
wherein at least one of the one or more thrusters provides a lift to the UAV.
13 . The method of claim 11 , further comprising operating the UAV with the suspended propulsion system suspended beneath the UAV.
14 . The method of claim 13 , wherein the operating comprises decoupling a lowermost element of a plurality of elements of the power source from the harness during flight of the UAV.
15 . The method of claim 11 , further comprising replacing the power source while the UAV is hovering during a UAV flight, wherein the UAV comprises a built-in power source to power the UAV flight during replacement of the power source.
16 . The method of claim 11 , further comprising resting the power source on the ground while the UAV hovers during flight.
17 . The method of claim 11 , further comprising detecting, by a controller, the suspended propulsion system, wherein the detecting comprises resolving, by a mass-inertia model, a total mass of the UAV and a total inertia of the UAV based on an average RPM command and an incremental RPM command to maintain a level flight at a constant altitude.
18 . The method of claim 11 , wherein the harness comprises an inflexible harness comprising an arc-shaped hoop attached to a body of the UAV at a pair of joints, the hoop configured to pivot about a horizonal axis defined by the pair of joints to provide a first rotational degree of freedom between the suspended propulsion system and the UAV, the power source coupled to the hoop to slide along the hoop between the pair of joints to provide a second rotational degree of freedom between the suspended propulsion system and the UAV.
19 . The method of claim 11 , wherein the harness comprises a non-rigid harness attached to the UAV under the CG to provide three degrees of rotational freedom between the suspended propulsion system and the UAV.
20 . The method of claim 11 , wherein the power source comprises at least one of a battery, a fuel cell, or a solar panel; and
the method comprises providing propulsion power from the power source to the UAV via an electric cable.