According to a first aspect of the invention, there is provided a method for operating a multicopter experiencing a failure during flight, the multicopter comprising a body, and at least four effectors attached to the body, each operable to produce both a torque and a thrust force which can cause the multicopter to fly when not experiencing said failure. The method may comprise the step of identifying a failure wherein the failure affects the torque and/or thrust force produced by an effector, and in response to identifying a failure carrying out the following steps, (1) computing an estimate of the orientation of a primary axis of said body with respect to a predefined reference frame, wherein said primary axis is an axis about which said multicopter rotates when flying, (2) computing an estimate of the angular velocity of said multicopter, (3) controlling one or more of said at least four effectors based on said estimate of the orientation of the primary axis of said body with respect to said predefined reference frame and said estimate of the angular velocity of the multicopter. The step of controlling one or more of said at least four effectors may be performed such that (a) said one or more effectors collectively produce a torque along said primary axis and a torque perpendicular to said primary axis, wherein (i) the torque along said primary axis causes said multicopter to rotate about said primary axis, and (ii) the torque perpendicular to said primary axis causes said multicopter to move such that the orientation of said primary axis converges to a target orientation with respect to said predefined reference frame, and (b) such that said one or more effectors individually produce a thrust force along said primary axis.

A rotary aircraft includes a cover, a driving shaft in the cover, an electric control board on the cover, and a flight assembly mounted on the driving shaft and coupled electrically with the electrical control board, a driving assembly mounted on the flight assembly and coupled electrically with the electrical control board, connected with the driving shaft and driving it to rotate so as to rotate the cover, and a light bar mounted on the cover and coupled electrically with the electrical control board, used for displaying a presetting pattern or text, which achieves enlightening education and improves the enjoyment of the flight toy and satisfies the demands of the users.

An engine assembly having an improved mounting system or assembly is disclosed. Features of this mounting system include having crankcase arms that are integrally formed with a crankcase of the engine assembly, having multiple mounting legs that each have a dedicated vibration damping subassembly and where the stiffness of at least two of the mounting legs is different (by varying the configurations of the corresponding vibration damping subassemblies), and using a mounting ring or base with having differently oriented mounting pads for securement of the corresponding mounting leg relative thereto.

An aeronautical vehicle that rights itself from an inverted state to an upright state has a self-righting frame assembly has a protrusion extending upwardly from a central vertical axis. The protrusion provides an initial instability to begin a self-righting process when the aeronautical vehicle is inverted on a surface. A propulsion system, such as rotor driven by a motor can be mounted in a central void of the self-righting frame assembly and oriented to provide a lifting force. A power supply is mounted in the central void of the self-righting frame assembly and operationally connected to the at least one rotor for rotatably powering the rotor. An electronics assembly is also mounted in the central void of the self-righting frame for receiving remote control commands and is communicatively interconnected to the power supply for remotely controlling the aeronautical vehicle to take off, to fly, and to land on a surface.

According to a first aspect of the invention, there is provided a method for operating a multicopter experiencing a failure during flight, the multicopter comprising a body, and at least four effectors attached to the body, each operable to produce both a torque and a thrust force which can cause the multicopter to fly when not experiencing said failure. The method may comprise the step of identifying a failure wherein the failure affects the torque and/or thrust force produced by an effector, and in response to identifying a failure carrying out the following steps, (1) computing an estimate of the orientation of a primary axis of said body with respect to a predefined reference frame, wherein said primary axis is an axis about which said multicopter rotates when flying, (2) computing an estimate of the angular velocity of said multicopter, (3) controlling one or more of said at least four effectors based on said estimate of the orientation of the primary axis of said body with respect to said predefined reference frame and said estimate of the angular velocity of the multicopter. The step of controlling one or more of said at least four effectors may be performed such that (a) said one or more effectors collectively produce a torque along said primary axis and a torque perpendicular to said primary axis, wherein (i) the torque along said primary axis causes said multicopter to rotate about said primary axis, and (ii) the torque perpendicular to said primary axis causes said multicopter to move such that the orientation of said primary axis converges to a target orientation with respect to said predefined reference frame, and (b) such that said one or more effectors individually produce a thrust force along said primary axis.

A hovering remote-control flying craft having a molded frame assembly includes a plurality of arms extending from a center body with an electric motor and corresponding propeller on each arm. In various embodiments, the motor and propeller are mounted downward-facing at a distal portion of each arm with a motor cover over the motor. The center body can be formed of a two-piece molded structure that sandwiches a circuit board to provide structural support for the frame. The circuit board can include a plurality of tabs that facilitate mounting of wire connectors, and can also provide antennas and emitters for both IR and RF communications. In some embodiments, a removable safety ring protects the propellers from lateral contact.

A self-righting flier includes a battery residing at a rounded bottom of a flier body, propellor blades and louvers below the propellor blades. The louvers include rounded projections extending down of bottom most corners. The bottom location of the battery and the louvers provide the self-righting of the flier. The flier further includes a top most guard preventing or reducing damage from ceiling impacts.

Aircraft are configured to facilitate propeller blade pitch adjustability. According to one example, an aircraft can include a plurality of propellers, where each propeller includes plurality of blades. At least one pitch adjust mechanism may be associated with at least on propeller, where the pitch adjust mechanism is configured to adjust a pitch of the plurality of blades for at least one propeller in response to airflow from at least one other propeller influencing an airflow at the at least one propeller. Other aspects, embodiments, and features are also included.

A self-righting aeronautical vehicle comprising a hollowed frame and a lift mechanism. The exterior of the frame and center of gravity are adapted to self-right the vehicle. The frame can include sealed, hollowed sections for use in bodies of water. The frame can be spherical in shape enabling inspection of internal surface of partially or fully enclosed structures. Inspection equipment can be integrated into the vehicle and acquired data can be stored or wirelessly communicated to a server. A controlled or other mass can be pivotally assembled to a pivot axle spanning across the interior of the frame. The pivot axis can rotate about a vertical axis (an axis perpendicular to the elongated axis). The propulsion mechanisms can be adapted for use as a terrestrial vehicle when enclosed in a sealed spherical shell.

A collapsible flying device is provided having a housing including first and second housing sections forming an enclosure, and a motorized assembly that includes a drive motor and a drive shaft driven by the drive motor. The drive shaft matingly receives the first housing section and is coupled to the second housing section, wherein operation of the drive motor drives the drive shaft to move the first housing section from a closed position adjacent the second housing section to an open position spaced from the second housing section. A rotor hub is rotatingly driven by the drive motor. At least two rotor blades are coupled thereto and positioned within the enclosure in a collapsed position when the first housing section is in the closed position, and extend beyond the enclosure in an expanded position when the first housing section is in the open position.