Multi-rotor Vehicle with Yaw Control and Autorotation

Abstract

An improved vehicle with superior performance and reliability. The vehicle, such as an unmanned aerial vehicle, is capable of vertical takeoff and landing, uses three swashless, variable-pitch vertical lift main rotors with a yaw tail rotor system. Two rear main rotors are optionally tiltrotors, which pivot to increase forward speed without the increased coefficient of drag inherent in tilting the entire vehicle. The three main rotors are positioned in an equilateral triangular configuration, improving balance, increasing load-bearing strength, and making it more compact in size. Movements are controlled through changes in pitch of the rotors, allowing the motors to maintain constant governed rotations per minute, maximizing drivetrain efficiency. Vehicle configurations disclosed herein allow for smaller vehicle size with greater performance than prior art vehicles.

That which is claimed: 
     
         1 . A vehicle comprising
 a main rotor system;   a yaw rotor system; and   a fuselage;   where the main rotor system comprises three independent rotor systems, where each independent rotor system comprises a swashless variable pitch rotor and a variable speed motor; where each rotor system is connected to the fuselage and is equidistant from the other rotor systems of the main rotor system;   where the yaw rotor system comprises a yaw arm, a swashless variable pitch rotor, and a variable speed motor, where the yaw rotor system is located between two of the three rotor systems of the main rotor system.   
     
     
         2 . The vehicle of  claim 1 , wherein two of the three rotor systems of the main rotor system are tiltrotor systems. 
     
     
         3 . The vehicle of  claim 1 , wherein each rotor system of the main rotor system comprises a servo for controlling the pitch of the variable pitch rotor. 
     
     
         4 . The vehicle of  claim 1 , wherein each rotor system of the main rotor system comprises multiple servos for controlling the pitch of the variable pitch rotor. 
     
     
         5 . The vehicle of  claim 1 , wherein each rotor system of the main rotor system further comprises an autorotation hub. 
     
     
         6 . The vehicle of  claim 1 , wherein each rotor system of the main rotor system comprises a gear, where the variable speed motor drives the gear, where the gear in turn drives the variable pitch rotor. 
     
     
         7 . The vehicle of  claim 1 , wherein each rotor system of the main rotor system further comprises an autorotation hub and a gear, where the variable speed motor drives the gear, where the gear in turn drives the autorotation hub, which in turn drives the variable pitch rotor. 
     
     
         8 . The vehicle of  claim 1 , wherein each of the rotor systems of the main rotor system is one-hundred twenty degrees away from the other two rotor systems of the main rotor system. 
     
     
         9 . The vehicle of  claim 1 , wherein the yaw rotor system provides rotational control over the vehicle. 
     
     
         10 . The vehicle of  claim 1 , wherein the variable pitch rotor of each rotor system of the main rotor system comprises a pitch slider. 
     
     
         11 . The vehicle of  claim 1 , wherein each rotor system of the main rotor system comprises multiple servos, wherein the variable pitch rotor of each rotor system of the main rotor system comprises a pitch slider, where each servo drives the pitch slider of its respective rotor system of the main rotor system. 
     
     
         12 . An unmanned aerial system comprising
 a main rotor system;   a yaw rotor system; and   a fuselage;   where the main rotor system comprises three independent rotor systems, where each independent rotor system comprises a swashless variable pitch rotor, multiple servos, a variable speed motor, and an autorotation hub, where the multiple servos control the pitch of the variable pitch rotor, where each rotor system is connected to the fuselage and is equidistant from the other rotor systems of the main rotor system;   where the yaw rotor system comprises a yaw arm, a swashless variable pitch rotor, and a variable speed motor, where the yaw rotor system is located between two of the three rotor systems of the main rotor system.   
     
     
         13 . The unmanned aerial system of  claim 12 , wherein two of the three rotor systems of the main rotor system are tiltrotor systems. 
     
     
         14 . The unmanned aerial system of  claim 12 , wherein each rotor system of the main rotor system further comprises a gear, where the variable speed motor drives the gear, where the gear in turn drives the autorotation hub, which in turn drives the variable pitch rotor. 
     
     
         15 . The unmanned aerial system of  claim 12 , wherein each of the rotor systems of the main rotor system is one-hundred twenty degrees away from the other two rotor systems of the main rotor system. 
     
     
         16 . The unmanned aerial system of  claim 12 , wherein the yaw rotor system provides rotational control over the unmanned aerial system. 
     
     
         17 . The unmanned aerial system of  claim 12 , wherein the variable pitch rotor of each rotor system of the main rotor system comprises a pitch slider, where the multiple servos drive the pitch slider to control the pitch of the variable pitch rotor. 
     
     
         18 . An unmanned aerial system comprising
 a main rotor system;   a yaw rotor system; and   a fuselage;   where the main rotor system consists of three independent rotor systems, where each independent rotor system comprises a swashless variable pitch rotor, multiple servos, a variable speed motor, and an autorotation hub, where the variable speed motor drives the autorotation hub, which in turn drives the variable pitch rotor, where the multiple servos control the pitch of the variable pitch rotor, where each rotor system is connected to the fuselage and is equidistant and one-hundred twenty degrees away from the other rotor systems of the main rotor system;   where the yaw rotor system comprises a yaw arm, a swashless variable pitch rotor, and a variable speed motor, where the yaw rotor system is located between two of the three rotor systems of the main rotor system, and where the yaw rotor system provides rotational control over the unmanned aerial system.   
     
     
         19 . The unmanned aerial system of  claim 18 , wherein two of the three rotor systems of the main rotor system are tiltrotor systems. 
     
     
         20 . The unmanned aerial system of  claim 18 , wherein the variable pitch rotor of each rotor system of the main rotor system comprises a pitch slider, where the multiple servos drive the pitch slider to control the pitch of the variable pitch rotor.