A drone includes a surrounding cage which can be disassembled from a propeller-carrying internal base. In another aspect, a drone includes at least one fastening clip which attaches arcuate external ribs to a periphery of a central and internal frame, whereafter the fastening clip can be removed for disassembly of the ribs from the frame. Yet another aspect provides a flying drone employs a fastening clip including a snap fit and a generally U-shaped body. A further embodiment has a flying drone with at least one light externally mounted adjacent a periphery of a central propeller-carrying base, located between a pair of external ribs.

Various embodiments for a foldable quad-rotor (FQR) inspired by an origami mechanism are disclosed herein. The FQR can fold its arms during flight to enable aggressive turning maneuvers and operations in cluttered environments. A dynamic model of folding is built for this system with the collected data, and a feedback controller is designed to control the position and orientation of the FQR. Lyapunov stability analysis is conducted to show that the system is stable during arm folding and extension, and motion planning of the FQR is achieved based on a modified minimum-snap trajectory generation method.

An embodiment of the present disclosure relates to an unmanned flying robotic object that contains a wheeled mechanism that encircles its spherical exoskeleton. This feature allows the flying spherical vehicle to readily transform into a ground maneuverable vehicle. A robotic motor with differential speed capability is used to operate each wheel to provide effective ground maneuverability. There are examples provided herein of wheel configurations suitable for use with an embodiment. One is the straight- (or parallel) wheel design, and another is tilted-wheel design as are illustrated and discussed hereinafter. One embodiment of an unmanned flying robotic object taught herein is foldable.

An embodiment of the present disclosure relates to an unmanned flying robotic object that contains a wheeled mechanism that encircles its spherical exoskeleton. This feature allows the flying spherical vehicle to readily transform into a ground maneuverable vehicle. A robotic motor with differential speed capability is used to operate each wheel to provide effective ground maneuverability. There are examples provided herein of wheel configurations suitable for use with an embodiment. One is the straight- (or parallel) wheel design, and another is tilted-wheel design as are illustrated and discussed hereinafter. One embodiment of an unmanned flying robotic object taught herein is foldable.

An unmanned aerial vehicle according to certain embodiments generally includes a chassis, a power supply mounted to the chassis, a control system operable to receive power from the power supply, at least one rotor operable to generate lift under control of the control system, and a winch mounted to the chassis. The winch includes a reel and a motor. The reel has a line wound thereon, the line having a free end. The reel includes a circumferential channel in which a wound portion of the line is wound onto the reel. The circumferential channel includes an inner portion, an outer portion, and a passage connecting the inner portion and the outer portion. The motor is operable to rotate the reel under control of the control system to thereby cause the line to wind onto and off of the reel, thereby causing the free end of the line to raise and lower.

An unmanned aerial vehicle according to certain embodiments generally includes a chassis, a power supply mounted to the chassis, a control system operable to receive power from the power supply, at least one rotor operable to generate lift under control of the control system, and a winch mounted to the chassis. The winch includes a reel and a motor. The reel has a line wound thereon, the line having a free end. The reel includes a circumferential channel in which a wound portion of the line is wound onto the reel. The circumferential channel includes an inner portion, an outer portion, and a passage connecting the inner portion and the outer portion. The motor is operable to rotate the reel under control of the control system to thereby cause the line to wind onto and off of the reel, thereby causing the free end of the line to raise and lower.

This disclosure describes an unmanned aerial vehicle that may be configured during flight to optimize for agility or efficiency.

This disclosure describes an unmanned aerial vehicle that may be configured during flight to optimize for agility or efficiency.

The present invention relates to the field of air vehicle technologies and provides an unmanned aerial vehicle (UAV), including a vehicle body and arms connected to the vehicle body. The arm is hinged to the vehicle body by using a spherical hinge portion and may be folded or unfolded relative to the vehicle body. Through the forgoing manner, the arm is connected to the vehicle body of the UAV by using the spherical hinge. The arm can be folded and unfolded smoothly without interference, which conforms to known operation habits of users, so that after the entire UAV is folded, the structure becomes more compact and easier to carry. In addition, it can be effectively avoided that the UAV is damaged due to impact in the carrying process.

The present invention relates to the field of air vehicle technologies and provides an unmanned aerial vehicle (UAV), including a vehicle body and arms connected to the vehicle body. The arm is hinged to the vehicle body by using a spherical hinge portion and may be folded or unfolded relative to the vehicle body. Through the forgoing manner, the arm is connected to the vehicle body of the UAV by using the spherical hinge. The arm can be folded and unfolded smoothly without interference, which conforms to known operation habits of users, so that after the entire UAV is folded, the structure becomes more compact and easier to carry. In addition, it can be effectively avoided that the UAV is damaged due to impact in the carrying process.