Systems, devices, and methods for: an unmanned aerial vehicle (UAV); at least one sensorless motor of the UAV, the at least one sensorless motor comprising a set of windings and a rotor; at least one propeller connected to the at least one sensorless motor; a microcontroller in communication with the at least one sensorless motor, wherein the microcontroller is configured to: determine a rotation rate of the at least one propeller; determine a rotation direction of the at least one propeller; provide an output to stop the at least one propeller if at least one of: the determined rotation rate is not a desired rotation rate and the determined rotation direction is not a desired rotation direction; and provide an output to start the at least one propeller if the at least one propeller is stopped at the desired rotation rate and the desired rotation direction.

A fractal unmanned aircraft system (200) includes a first module (100), a second module (100) and a third module, (100) each having a top member (120) and a first thruster (130) affixed thereto. Each module (100) is laterally coupled to each other. A fourth module (100) has a bottom that is affixed to the top members (120) of the first module(100), the second module (100) and the third module (100) so as to form a tetrahedral structure. A power source (220) supplies power to the first thrusters (130). A control circuit (222) controls the unmanned aircraft system so as to cause the fractal unmanned aircraft system (200) to fly in a controlled manner.

To provide a technique for accurately taking off and landing at the takeoff and landing port of an aircraft. The takeoff and landing system according to the present invention includes an aircraft having a takeoff and landing unit 5 with a takeoff and landing area and having a predetermined outer diameter in a side surface view, and a takeoff and landing port 10 wherein, when the takeoff and landing area of the takeoff and landing unit 5 of the aircraft 1 is included in and makes contact with the takeoff and landing surface of the takeoff and landing port 10, a predetermined outer diameter in a side surface view is larger than the length at the outer edge of the takeoff and landing surface.

Flying body including body portion and a plurality of propellers radially disposed to be laterally symmetrical from body portion is provided with: a plurality of motors respectively rotating the plurality of propellers; a plurality of power storage packs respectively supplying currents to the plurality of motors; and sub power storage pack connected to the plurality of power storage packs by power wirings, respectively. The same number of motors of the plurality of motors are installed on each of the left and right sides, and the same number of power storage packs of the plurality of power storage packs are installed on each of the left and right sides. Sub power storage pack is installed on a lateral center line of body portion.

An insect-like jumping-flying robot is provided, which includes a flying module, a driving module and biomimetic bouncing legs. The flying module provides flying power via a propeller and a miniature model airplane motor, and front wings and rear wings provide lift, and moment required for attitude change. The driving module provides power with high power density via a brushless motor and is provided with two stages of deceleration to amplify the torque provided by the brushless motor. The first stage of deceleration is performed by a synchronous wheel set, and the second stage of deceleration is performed by a gear set. A driving push rod is used to transmit the power provided by the brushless motor to the biomimetic bouncing legs.

The present invention provides a flying apparatus that can accurately measure a weight of a transported objected in a simple configuration. The flying apparatus 10 includes rotors 11, motors 12, a flight sensor 13, an electric power conversion unit 14, and a computation control unit 15. The flight sensor 13 measures physical quantities acting on a fuselage base portion 16. The computation control unit 15 generates instruction signals based on the physical quantities to cause the fuselage base portion 16 to be at a predetermined position in a predetermined attitude. The electric power conversion unit 14 adjusts amounts of electric power supplied to the motors 121 and the like based on the received instruction signals. Moreover, the computation control unit 15 calculates an estimated weight that is an estimation value of a weight of the transported object, based on magnitudes of the instruction signals.

The present invention provides a flying apparatus that can accurately measure a weight of a transported objected in a simple configuration. The flying apparatus 10 includes rotors 11, motors 12, a flight sensor 13, an electric power conversion unit 14, and a computation control unit 15. The flight sensor 13 measures physical quantities acting on a fuselage base portion 16. The computation control unit 15 generates instruction signals based on the physical quantities to cause the fuselage base portion 16 to be at a predetermined position in a predetermined attitude. The electric power conversion unit 14 adjusts amounts of electric power supplied to the motors 121 and the like based on the received instruction signals. Moreover, the computation control unit 15 calculates an estimated weight that is an estimation value of a weight of the transported object, based on magnitudes of the instruction signals.

A base station is disclosed that is configured for use with a UAV. The base station includes: an enclosure with an outer housing that defines a roof section and an inner housing that is connected to the outer housing; one or more heating elements that are supported by the enclosure and which are configured to heat the roof section; one or more fiducials that are supported by the enclosure; an illumination system that is supported by the enclosure and which is configured to illuminate the one or more fiducials; and a visualization system that is supported by the enclosure.

In some examples, an unmanned aerial vehicle (UAV) may determine, based on a three-dimensional (3D) model including a plurality of points corresponding to a scan target, a scan plan for scanning at least a portion of the scan target. For instance, the scan plan may include a plurality of poses for the UAV to assume to capture images of the scan target. The UAV may capture with one or more image sensors, one or more images of the scan target from one or more poses of the plurality of poses. Further, the UAV may determine an update to the 3D model based at least in part on the one or more images. Additionally, the UAV may update the scan plan based at least in part on the update to the 3D model.

Spring-integrated rotors are disclosed. A disclosed example apparatus includes a bracket defining a first rotational axis and coupled to a motor for rotating the bracket about the first rotational axis, a pivot body defining a second rotational axis extending along a direction different than the first rotational axis, the pivot body coupled to the bracket for rotation about the second rotational axis, and at least one spring device positioned at the bracket, the at least one spring device urging the pivot body toward a central position when the bracket is rotating.