There is provided a propeller-type vertical take-off and land aircraft with a torque removal and balancing function, the aircraft comprising: a body; a body support frame to support the body; at least one main rotor blade provided out of the body; a rotation rotor coupled centrally to the main rotor blade; a rotation drive axis operatively coupled to the rotation rotor; a main rotor motor operatively coupled to the rotation drive axis; and a counter-torque and balancing wheel disposed under the body support frame to be coupled to a torque-removal inverse motor to be configured to rotate in an opposite direction to a rotation of the main rotor blade, wherein the counter-torque and balancing wheel is housed in the body.

There is provided a propeller-type vertical take-off and land aircraft with a torque removal and balancing function, the aircraft comprising: a body; a body support frame to support the body; at least one main rotor blade provided out of the body; a rotation rotor coupled centrally to the main rotor blade; a rotation drive axis operatively coupled to the rotation rotor; a main rotor motor operatively coupled to the rotation drive axis; and a counter-torque and balancing wheel disposed under the body support frame to be coupled to a torque-removal inverse motor to be configured to rotate in an opposite direction to a rotation of the main rotor blade, wherein the counter-torque and balancing wheel is housed in the body.

A heavy-weight object such as a motor is installed separately from a movable portion to reduce the weight of the movable portion. The invention includes a support unit, a movable unit to which equipment is attached, and a drive unit interposed between the support unit and the movable unit. The movable unit has a first rotating member rotatably attached to the support unit about a first rotation axis line and a second rotating member rotatably attached to the first rotating member about a second rotation axis line orthogonal to the first rotation axis line. The support unit is provided with paired first brackets positioned so as to sandwich the first rotating member, and these first brackets are each provided with a first shaft configuring the first rotation axis line. The second rotating member is provided with paired second brackets positioned so as to sandwich the first rotating member from a direction orthogonal to the paired first brackets, and the second brackets are each provided with a second shaft configuring the second rotation axis line and causing the first rotating member to rotatably support the second rotating member. The drive unit includes paired motors attached to the support unit and having a rotation axis line parallel to each of the first shafts, an endless belt wound between a pulley and each of the motors, and paired gears respectively attached to the first shaft and the second shaft adjacent to each other as a set and converting rotation about the first rotation axis line into rotation about the second rotation axis line. One of the gears is fastened to the pulley and is rotatably attached to the first rotating member, the other gear is fastened to the second bracket of the second rotating member, and to the first shaft to which the gear is not attached, the pulley provided to this first shaft and the first rotating member are fastened.

A heavy-weight object such as a motor is installed separately from a movable portion to reduce the weight of the movable portion. The invention includes a support unit, a movable unit to which equipment is attached, and a drive unit interposed between the support unit and the movable unit. The movable unit has a first rotating member rotatably attached to the support unit about a first rotation axis line and a second rotating member rotatably attached to the first rotating member about a second rotation axis line orthogonal to the first rotation axis line. The support unit is provided with paired first brackets positioned so as to sandwich the first rotating member, and these first brackets are each provided with a first shaft configuring the first rotation axis line. The second rotating member is provided with paired second brackets positioned so as to sandwich the first rotating member from a direction orthogonal to the paired first brackets, and the second brackets are each provided with a second shaft configuring the second rotation axis line and causing the first rotating member to rotatably support the second rotating member. The drive unit includes paired motors attached to the support unit and having a rotation axis line parallel to each of the first shafts, an endless belt wound between a pulley and each of the motors, and paired gears respectively attached to the first shaft and the second shaft adjacent to each other as a set and converting rotation about the first rotation axis line into rotation about the second rotation axis line. One of the gears is fastened to the pulley and is rotatably attached to the first rotating member, the other gear is fastened to the second bracket of the second rotating member, and to the first shaft to which the gear is not attached, the pulley provided to this first shaft and the first rotating member are fastened.

An unmanned aerial vehicle (UAV) is provided. The UAV includes a main body, a plurality of motors connected to the main body, each of the plurality of motors having a rotor blade, a plurality of ultrasonic sensors located at least one of the plurality of motors and the main body, and transmitting and receiving ultrasonic waves to and from a ground surface, and measuring distances from the ground surface, a gyro sensor disposed at the main body and maintaining the UAV in a horizontal state, and a controller disposed at the main body, detecting an unevenness of the ground surface based on the distances from the plurality of ultrasonic sensors to the ground surface, generating a control signal whether to land on the ground surface or not in response to the detection of the unevenness, and transmitting the control signal to the plurality of motors.

An unmanned aerial vehicle (UAV) is provided. The UAV includes a main body, a plurality of motors connected to the main body, each of the plurality of motors having a rotor blade, a plurality of ultrasonic sensors located at least one of the plurality of motors and the main body, and transmitting and receiving ultrasonic waves to and from a ground surface, and measuring distances from the ground surface, a gyro sensor disposed at the main body and maintaining the UAV in a horizontal state, and a controller disposed at the main body, detecting an unevenness of the ground surface based on the distances from the plurality of ultrasonic sensors to the ground surface, generating a control signal whether to land on the ground surface or not in response to the detection of the unevenness, and transmitting the control signal to the plurality of motors.

A machine and process for control of rotation of a vehicle about an axis of the vehicle is shown. A flight control system includes control laws that control the rotation of the vehicle around the axis of the vehicle. An estimate is derived for an inertia about the axis. The estimated inertia is derived from sensed quantities of material in a component of the vehicle. An inertia gain schedule and filter are added to enhance, using the estimated inertia, the accuracy of the control laws that control the rotation of the vehicle around the axis of the vehicle.

Systems and methods for a gyroscopic rotational wing for an aircraft are disclosed. In one embodiment, a safety and stability device for an aircraft comprises an inner ring, an outer ring that rotates relative to the inner ring, and a motor connected to the inner ring that drives rotation of the outer ring relative to the inner ring. In some embodiments, the safety and stability device rotates in a substantially horizontal plane and at a rotational speed sufficient to provide gyroscopic stability for the aircraft.

Systems and methods for a gyroscopic rotational wing for an aircraft are disclosed. In one embodiment, a safety and stability device for an aircraft comprises an inner ring, an outer ring that rotates relative to the inner ring, and a motor connected to the inner ring that drives rotation of the outer ring relative to the inner ring. In some embodiments, the safety and stability device rotates in a substantially horizontal plane and at a rotational speed sufficient to provide gyroscopic stability for the aircraft.

The objective of the present invention is to provide a control moment gyroscope which can be provided in a limited space since the volume thereof can be reduced without change in performance by optimizing the shapes and mounting positions of each component. To this end, the control moment gyroscope of the present invention is a control moment gyroscope for generating torque in the orthogonal directions to both of two shafts which are perpendicularly disposed to each other by rotating the two shafts, and the control moment gyroscope comprises: a gimbal motor formed in a hollow cylinder shape and supplying momentum; spin motor provided inside the gimbal motor and supplying momentum in a perpendicular direction to the momentum of the gimbal motor; and a flywheel provided in the inside of the gimbal motor and supplied with the rotational force of the gimbal motor and the rotational force of the spin motor.