A rotary wing aerial vehicle including: first and second rotary wings including fixed pitch propellers. A rotational frequency of the first wing has a lower limit, which is controlled at or above the lower limit while flying. A rotational frequency of the second wing is decreasable to or below a frequency where gyro effect or lift force is lost. Also: a plurality of horizontal rotary wings with fixed pitch propellers; and a controller including: all driving mode wherein the vehicle flies with all horizontal wings; and partial driving mode wherein: a rotational frequency of one or more of the horizontal wings is decreased to or below a frequency where gyro effect or lift force is lost; and the vehicle flies using the other wings. If the rotational frequency of a horizontal wing becomes less than a predetermined threshold in all driving mode, the controller automatically switches to partial driving mode.
ROTARY WING AERIAL VEHICLE
2021-01-28
Patent
Elektronische Ressource
Englisch
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