AIRCRAFT

RELATED APPLICATIQN/S

This application claims the benefit of priority of U.S. Provisional Patent Application No. 63/254,587 filed on October 12, 2021, the contents of which are incorporated herein by reference in their entirety.

FIELD AND BACKGROUND OF THE INVENTION

The present invention, in some embodiments thereof, relates to an aircraft for transporting passengers and/or goods and, more particularly, but not exclusively, to an autonomous detachable aircraft for transporting passengers and/or goods in populated areas.

Additional background art includes International Patent Application Publication No. WO2017146666A1 disclosing an aircraft adapted for saving passengers in the event of an emergency consists of an upper and a lower part. The upper part is designed to be capable of controlled flight in the absence of the lower part, and comprises a fuselage, a cockpit, a tail assembly, engines and landing gear. The lower part of the fuselage is configured in the form of a passenger compartment and is equipped with means for autonomous soft landing after detachment from the upper part of the fuselage. A vehicle is proposed for transporting a flight-ready lower fuselage part within an airport, and also for coupling said lower part to an upper fuselage part. The vehicle comprises a chassis, a spring-loaded platform, a powertrain, a transmission, running gear, steering mechanisms, a frame, a braking system and a driver's compartment. The vehicle is equipped with a spring-loaded platform, and the chassis is provided with independent electric wheel drives and means for inflating the wheels with air. The inventions are directed toward reducing the time required to prepare an aircraft for flight at an airport terminal.

International Patent Application Publication No. W02004078588A1 disclosing an aircraft, such as passenger or cargo transport aircraft. The patent document also discloses a system for loading and unloading aircraft of this type at airports. The patent document additionally discloses passenger or cargo modules that can be used in these aircraft or in systems of this type for loading and unloading. The patent document discloses an invention that is characterized in that the aircraft is divided into a propulsion and lift unit and at least one module, which can be coupled to this propulsion and lift unit and which serves to accommodate passengers and/or cargo. The aircraft and the module are designed so that a coupling and decoupling of the module ensues without any significant movement of parts of the propulsion and lift unit.

International Patent Application Publication No. WO0151355A1 disclosing means for blasting the airplane body apart in an accident so as to enable separate passengers’ cabin sections to break away automatically from the airplane. The breakaway passengers’ cabin sections will form independent sealed units similar to unhitched train carts passing through a tunnel so as to protect the passengers who may remain sitting in each cabin.

Canadian Patent No. CA2403158A1 discloses an aircraft with a detachable cabin that serves to rescue its passengers as a result of the aircraft's sudden fall either due to its malfunction or fire. The cabin escapes either smoothly or by means of fast ejection and descends slowly to the Earth with the aid of a parachute; during a crash on the ground or in the sea external airbags with which it is equipped and which are located in its lower part are inflated thus absorbing the loads that are developed during the crash. In addition a conventional aircraft of the type being already in use is also described and in which the parachute equipment has already been applied; however, the proposed equipment of the airbag boxes is adapted to it for the absorption of the energy produced due to its crash on Earth in case of its sudden fall.

International Patent Application Publication No. W02017123106A1 discloses a method and seating system for protecting passengers in particular from effects of excessive load force in objects impacted by rapid acceleration, which result in inertia influencing the aforementioned objects. The method protecting crew/passengers from effects of excessive loads is characterized by passenger compartment of the object influenced by the force is divided into firm sphere or cylinder shaped capsules. The seating system protecting passengers from effects of excessive load, where the passenger capsule under the torque caused by the acceleration of the vehicle or aircraft change of velocity, which induces excessive load forces. The device to protect passengers against the effects of excessive loads in vehicles and aircrafts characterized by the fact that it consists of two elements, fixed cabin shell and rotating unit, where the fixed cabin element is sphere or cylinder shaped and provides a bearing for rotating unit, which is a hollow sphere or cylinder shaped encompassed by the fixed part and forms a capsule with passenger seats with safety belts to fasten passengers inside.

U.S. Patent No. US2986361A discloses an arrangement for an aircraft, and more particularly to a means for housing the pilot and for operating the controls of the aircraft.

U.S. Patent No. US3863869 discloses a flight capsule in the form of a hollow capsule body or enclosure for a pilot having a central axis adapted to be disposed vertically when the capsule is at rest with a jet engine at the upper end of the capsule embodying thrust nozzles directing thrust gases in the direction of the capsule adjustably between an included angle of 180 degrees at right angles to said axis and an included angle of about 60 degrees in such manner that the capsule body is located entirely within the thrust streams from said nozzles. U.S. Patent No. US3904156 discloses a load stabilization system. The apparatus provided apparently improves external load modal damping, apparently provides the pilot command control augmentation of the load, and apparently minimizes pilot induced oscillation, but is apparently universally adaptable to a wide variety of helicopters. The apparatus contemplates rigid pendants which damp load motion in response to a sensor.

U.S. Patent No. US4378919 discloses an apparatus for use in an aircraft, such as a helicopter, for controlling rotation of a load suspended from a cable and for permitting the cable to swing relative to the helicopter. A frame includes a first or upper assembly which is mounted on the helicopter for pivotal movement about a first pivot axis. The frame also includes a second or lower assembly connected to the upper assembly which is pivotal about a second pivot axis extending transversely to the first pivot axis. A spreader bar is suspended within the frame and is isolated during helicopter pitch and roll. Helicopter yaw imparts positioning of the spreader bar relative to a vertical axis so that the load may be selectively oriented.

U.S. Patent No. US10647427B2 discloses a tether compensated unmanned aerial vehicle (UAV). In one embodiment, the UAV includes a winch with a tether to lower an item from the UAV for delivery, a tether compensation mechanism configured to contact the tether as it extends from the winch, and a flight controller to control a flight path of the UAV. The flight controller is also configured to direct the tether compensation mechanism to clamp the tether based on the flight path of the UAV. Further, based on movement identified in the tether using a sensor, a tether response controller can determine a complementary response and direct the tether compensation mechanism to brace the tether against the movement. Thus, the tether compensation mechanism can help stabilize sway or movement in the tether, which can help prevent the tether from undesirable swinging.

International Patent Application Publication No. W02020139307A1 discloses a flying machine, which consists of an autonomous flying machine, which is connected to a transport device with the aid of coupling means and at least one cable wound by at least one winch on one drum. With the aid of the winch, the flying machine is capable of lowering and raising the transport device. Also claimed is a transport device, which can have a wheeled chassis, an engine, and a passenger compartment or cargo capsule, and which couples to an autonomous flying machine. Proposed are methods of using said flying machine. The group of inventions is intended to allow the convenient embarkation/disembarkation of passengers or the loading/unloading of cargo among buildings in a residential area. SUMMARY OF THE INVENTION

Following is a non-exclusive list including some examples of embodiments of the invention. The invention also includes embodiments which include fewer than all the features in an example and embodiments using features from multiple examples, also if not expressly listed below.

Example 1. A transport vehicle, comprising: a. an unmanned aerial vehicle (UAV) configured to operate autonomously; b. a compartment sized and shaped to hold at least one passenger; and c. an adaptor arm for selectively interconnecting the UAV and the compartment, so that the compartment is carried below the UAV.

Example 2a. The transport vehicle according to example 1, wherein said adaptor arm is a 6-axis parallel robot arrangement comprising 6 arms.

Example 2. The transport vehicle according to example 1 or example 2a, wherein the adaptor arm comprises a telescopic mechanism.

Example 3. The transport vehicle according to example 1 or example 2 or example 2a, wherein the adaptor arm comprises a pantograph mechanism.

Example 4. The transport vehicle according to any one of examples 1-3, wherein the adaptor arm extends to a length of from about Im about 10m.

Example 5. The transport vehicle according to any one of examples 1-4, wherein the transport vehicle comprises more than one adaptor arm.

Example 6. The transport vehicle according to any one of examples 1-5, wherein the adaptor arm comprises a coupling assembly at a distal end of the adaptor arm for selectively interconnecting the adaptor arm to the compartment.

Example 7. The transport vehicle according to any one of examples 1-6, wherein the transport vehicle further comprises an auxiliary element for securing the compartment to the UAV.

Example 8. The transport vehicle according to any one of examples 1-7, wherein the auxiliary element comprises a hoisting device comprising a cable; the cable is operatively connected to the coupling assembly.

Example 9. The transport vehicle according to any one of examples 1-8, wherein the adaptor arm comprises a first gimbal, the gimbal comprising a proximal end and a distal end.

Example 10. The transport vehicle according to any one of examples 1-9, wherein the proximal end of the first gimbal is permanently connected to the UAV.

Example 11. The transport vehicle according to any one of examples 1-10, wherein the adaptor arm is permanently connected to the distal end of the first gimbal. Example 12. The transport vehicle according to any one of examples 1-11, wherein the adaptor arm comprises a second gimbal at the distal end of the adaptor arm and the coupling assembly is permanently connected to the second gimbal.

Example 13. The transport vehicle according to any one of examples 1-12, wherein the compartment comprises a compartment connector for reversibly interconnect with the coupling assembly of the adaptor arm.

Example 14. The transport vehicle according to any one of examples 1-13, wherein the coupling assembly comprises one or more guides for aligning the coupling assembly to the compartment connector.

Example 15. The transport vehicle according to any one of examples 1-14, wherein the compartment connector comprises one or more guides for aligning the compartment connector to the coupling assembly.

Example 16. The transport vehicle according to any one of examples 1-15, wherein the coupling assembly and the compartment connector comprise power sockets for transferring power from the UAV to the compartment and vice versa.

Example 17. The transport vehicle according to any one of examples 1-16, wherein the coupling assembly and the compartment connector comprise data sockets for transferring data from the UAV to the compartment and vice versa.

Example 18. The transport vehicle according to any one of examples 1-17, wherein the coupling assembly and the compartment connector comprise interlocking elements for reversibly lock the coupling assembly and the compartment connector to each other.

Example 19. The transport vehicle according to any one of examples 1-18, wherein the coupling assembly comprises a probe for allowing linear actuation of the coupling assembly towards the compartment connector.

Example 20. The transport vehicle according to any one of examples 1-19, wherein the compartment connector comprises a linear actuation mechanism for capturing the probe and for providing linear actuation of the coupling assembly towards the compartment connector.

Example 21. The transport vehicle according to any one of examples 1-20, wherein the compartment is sized and shaped to carry at least one passenger.

Example 22. The transport vehicle according to any one of examples 1-21, wherein the compartment is sized and shaped to carry goods.

Example 23. The transport vehicle according to any one of examples 1-22, wherein the compartment comprises one or more safety systems. Example 24. The transport vehicle according to any one of examples 1-23, wherein the safety systems comprise are one or more of a separation mechanism, parachute, and air bags.

Example 25. The transport vehicle according to any one of examples 1-24, wherein the transport vehicle is configured to traveling at heights of from about 0m (landing) to about 1000m.

Example 26. The transport vehicle according to any one of examples 1-25, wherein the transport vehicle is configured to traveling at heights above 1000m.

Example 27. The transport vehicle according to any one of examples 1-26, wherein the transport vehicle is configured to traveling distances of from about IKm to about 500Km.

Example 28. The transport vehicle according to any one of examples 1-27, wherein the UAV comprises at least one rotor, a propeller and/or a turbine.

Example 29. The transport vehicle according to any one of examples 1-28, wherein the UAV is a fixed-winged UAV.

Example 30. The transport vehicle according to any one of examples 1-29, wherein the UAV is a vectored thrust UAV.

Example 31. The transport vehicle according to any one of examples 1-30, wherein the

UAV comprises one or more thrusts for changing a flight direction of the UAV.

Example 32. The transport vehicle according to any one of examples 1-31, wherein the

UAV is a hybrid UAV comprising one or more rotors, fixed wings and vectored thrusts.

Example 33. The transport vehicle according to any one of examples 1-32, wherein the UAV is powered by one or more of electricity, hydrogen, or any other fuel.

Example 34. The transport vehicle according to any one of examples 1-33, wherein the arm adaptor is configured to carry the compartment’s weight.

Example 35. The transport vehicle according to any one of examples 1-34, wherein the arm adaptor is configured to withstand forces developing between the UAV and the compartment.

Example 36. The transport vehicle according to any one of examples 1-35, wherein the arm adaptor is characterized by having a vertical range to compensate for movement of the UAV.

Example 37. The transport vehicle according to any one of examples 1-36, wherein the arm adaptor comprises a degree of dexterity to accurately engage/disengage the compartment connector.

Example 38. The transport vehicle according to any one of examples 1-37, wherein the arm adaptor comprises one or more suspension elements for the compartment.

Example 39. A transport vehicle comprising: a. an unmanned aerial vehicle (UAV); b. a connector, permanently connected to the UAV; the connector comprising; i. an arm, comprising a first proximal end and a first distal end ; ii. a coupling assembly connected to the first distal end of the arm and to the second distal end of the auxiliary element; c. a compartment, reversibly connected to the connector.

Example 40a. The transport vehicle according to example 39, wherein said arm is a 6-axis parallel robot arrangement comprising 6 arms.

Example 40. The transport vehicle according to example 39 or example 40a, wherein the connector further comprises an auxiliary element, comprising a second proximal end and a second distal end.

Example 41. The transport vehicle according to example 39 or example 40a or example 40, wherein the arm comprises a telescopic mechanism.

Example 42. The transport vehicle according to any one of examples 39-41, wherein the arm comprises a pantograph mechanism.

Example 43. The transport vehicle according to any one of examples 39-42, wherein the arm extends to a length of from about Im to about 10m.

Example 44. The transport vehicle according to any one of examples 39-43, wherein the connector comprises more than one arm.

Example 45. The transport vehicle according to any one of examples 39-44, wherein the arm comprises a coupling assembly at its distal end for selectively interconnecting the arm to the compartment.

Example 46. The transport vehicle according to any one of examples 39-45, wherein the auxiliary element is one or more of at least one cable, at least one hook, at least one interlocking mechanism.

Example 47. The transport vehicle according to any one of examples 39-46, wherein the auxiliary element further comprises a hoisting device comprising a cable; the cable is operatively connected to the coupling assembly.

Example 48. The transport vehicle according to any one of examples 39-47, wherein the arm comprises a first gimbal, the gimbal comprising a third proximal end and a third distal end.

Example 49. The transport vehicle according to any one of examples 39-48, wherein the third proximal end of the gimbal is permanently connected to the UAV.

Example 50. The transport vehicle according to any one of examples 39-49, wherein the arm is permanently connected to the third distal end of the gimbal. Example 51. The transport vehicle according to any one of examples 39-50, wherein the arm comprises a second gimbal at a distal end of the arm and the coupling assembly is permanently connected to the second gimbal.

Example 52. The transport vehicle according to any one of examples 39-51, wherein the compartment comprises a compartment connector for reversibly interconnect with the coupling assembly of the adaptor arm.

Example 53. The transport vehicle according to any one of examples 39-52, wherein the coupling assembly comprises one or more guides for aligning the coupling assembly to the compartment connector.

Example 54. The transport vehicle according to any one of examples 39-53, wherein the compartment connector comprises one or more guides for aligning the compartment connector to the coupling assembly.

Example 55. The transport vehicle according to any one of examples 39-54, wherein the coupling assembly and the compartment connector comprise power sockets for transferring power from the UAV to the compartment and vice versa.

Example 56. The transport vehicle according to any one of examples 39-55, wherein the coupling assembly and the compartment connector comprise data sockets for transferring data from the UAV to the compartment and vice versa.

Example 57. The transport vehicle according to any one of examples 39-56, wherein the coupling assembly and the compartment connector comprise interlocking elements for reversibly lock the coupling assembly and the compartment connector to each other.

Example 58. The transport vehicle according to any one of examples 39-57, wherein the coupling assembly comprises a probe for allowing linear actuation of the coupling assembly towards the compartment connector.

Example 59. The transport vehicle according to any one of examples 39-58, wherein the compartment connector comprises a linear actuation mechanism for capturing the probe and for providing linear actuation of the coupling assembly towards the compartment connector.

Example 60. The transport vehicle according to any one of examples 39-59, wherein the compartment is sized and shaped to carry at least one passenger.

Example 61. The transport vehicle according to any one of examples 39-60, wherein the compartment is sized and shaped to carry goods.

Example 62. The transport vehicle according to any one of examples 39-61, wherein the compartment comprises one or more safety mechanisms. Example 63. The transport vehicle according to any one of examples 39-62, wherein the safety mechanisms are one or more of a parachute, separation mechanism, floating mechanism and air bags.

Example 64. The transport vehicle according to any one of examples 39-63, wherein the transport vehicle is configured to traveling at heights of from about 0m (landing) to about 1000m.

Example 65. The transport vehicle according to any one of examples 39-64, wherein the transport vehicle is configured to traveling at heights above 1000m.

Example 66. The transport vehicle according to any one of examples 39-65, wherein the transport vehicle is configured to traveling distances of from about IKm to about 500Km.

Example 67. The transport vehicle according to any one of examples 39-66, wherein the UAV comprises at least one rotor.

Example 68. The transport vehicle according to any one of examples 39-67, wherein the UAV is a fixed-winged UAV.

Example 69. The transport vehicle according to any one of examples 39-68, wherein the UAV is a vectored thrust UAV.

Example 70. The transport vehicle according to any one of examples 39-69, wherein the UAV comprises one or more thrusts for changing a flight direction of the UAV.

Example 71. The transport vehicle according to any one of examples 39-70, wherein the UAV is a hybrid UAV comprising one or more rotors, fixed wings and vectored thrusts.

Example 72. The transport vehicle according to any one of examples 39-71, wherein the UAV is powered by one or more of electricity, hydrogen, or any other fuel.

Example 73. The transport vehicle according to any one of examples 39-72, wherein the arm is configured to carry the compartment’s weight.

Example 74. The transport vehicle according to any one of examples 39-73, wherein the arm is configured to withstand forces developing between the UAV and the compartment.

Example 75. The transport vehicle according to any one of examples 39-74, wherein the arm is characterized by having with a vertical range to compensate for movement of the UAV.

Example 76. The transport vehicle according to any one of examples 39-75, wherein the arm comprises a degree of dexterity to accurately engage/disengage the compartment connector.

Example 77. The transport vehicle according to any one of examples 39-76, wherein the arm comprises one or more suspension elements for the compartment.

Example 78. A transportation system, comprising: a. a plurality of transport vehicles, comprising: i. a plurality of unmanned aerial vehicles (UAV), each comprising a connector for reversibly interconnecting a UAV to a compartment according to example 1 or example 39; and ii. a plurality of compartments according to example 1 or example 34; b. a central operation unit for coordinating the activities of the plurality of UAVs and the plurality of compartments to provide transportation services to at least one passenger and/or good.

Example 79. The transport system according to example 78, wherein any of the plurality of UAV are configured to interconnect with any of the plurality of compartments.

Example 80. The transport system according to example 78 or example 79, further comprising a plurality of vertiports configured for receiving one or more of the plurality transport vehicles.

Example 81. A method of flight of a transport system, the transport system comprising a plurality of UAVs and a plurality of compartments; comprising: a. taking off from a base; b. climbing to a determined height; c. cruising towards a destination d. commencing descent; e. hovering over the destination f. performing an ‘in and out’ procedure, comprising: i. approaching the destination; ii. connecting the UAV to the compartment by means of a connector ; iii. lifting the compartment; and iv. leaving the destination.

Example 82. A method of connecting between a UAV and a compartment during flight, comprising: a. unlocking a connector from the UAV ; b. extending the connector of the UAV; c. acquiring a compartment connector of the compartment; d. locking the connector with the compartment connector; e. retracting the connector.

Example 83. A method of connecting between a connector of an UAV with a compartment connector of a compartment, comprising: a. acquiring the compartment connector, comprising: b. performing soft connection between the connector and the compartment connector; c. aligning a coupling assembly of the connector with the compartment connector; d. locking the connector with the compartment connector; e. connecting data/power sockets between the UAV and the compartment; f. transmitting clearance for lift to the UAV.

Unless otherwise defined, all technical and/or scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the invention pertains. Although methods and materials similar or equivalent to those described herein can be used in the practice or testing of embodiments of the invention, exemplary methods and/or materials are described below. In case of conflict, the patent specification, including definitions, will control. In addition, the materials, methods, and examples are illustrative only and are not intended to be necessarily limiting.

BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS

Some embodiments of the invention are herein described, by way of example only, with reference to the accompanying drawings. With specific reference now to the drawings in detail, it is stressed that the particulars shown are by way of example and for purposes of illustrative discussion of embodiments of the invention. In this regard, the description taken with the drawings makes apparent to those skilled in the art how embodiments of the invention may be practiced.

In the drawings:

Figure la is a schematic representation of the system, according to some embodiments of the invention;

Figure lb is a schematic representation of an exemplary system, according to some embodiments of the invention;

Figure 2a is a schematic representation of a UAV comprising rotors, according to some embodiments of the invention;

Figure 2b is a schematic representation of a UAV comprising wings, according to some embodiments of the invention;

Figure 3 a is a schematic representation of an exemplary connector, according to some embodiments of the invention;

Figure 3b is a schematic representation of an exemplary connector, according to some embodiments of the invention;

Figure 3c is a schematic representation of an exemplary upper part of the connector, according to some embodiments of the invention; Figure 4a is a schematic representation of an exemplary arm in an open configuration and a close configuration and vice versa, according to some embodiments of the invention;

Figure 4b is a schematic close-up representation of the arm in a closed configuration, according to some embodiments of the invention;

Figure 4c is a schematic close-up representation of the arm closing into a closed and locked configuration, according to some embodiments of the invention;

Figure 4d is a schematic representation of an exemplary connector comprising two arms, according to some embodiments of the invention;

Figures 5a-f are schematic representations of an exemplary coupling assemblies, according to some embodiments of the invention;

Figures 5g-h are schematic representations of an exemplary connector having a 6-axis parallel robot arrangement comprising 6 arms, according to some embodiments of the invention;

Figure 6 is a schematic representation of an exemplary compartment, according to some embodiments of the invention;

Figures 7a-c are schematic representations of the exchange of functionalities of the parts of the connector in case of failure, according to some embodiments of the invention;

Figure 7d is a schematic representation of a compartment and crashing safety features, according to some embodiments of the invention;

Figure 8 is a schematic representation of an exemplary mission profile of UAV, according to some embodiments of the invention;

Figure 9 is a flowchart of an exemplary method of flight of UAV, according to some embodiments of the invention;

Figure 10 is a hybrid flowchart / schematic illustration of an exemplary method of the actions performed by the connector during flight, according to some embodiments of the invention; and

Figure 11 is a flowchart of an exemplary method of interlocking between the coupling assembly and the compartment connector, according to some embodiments of the invention.

DESCRIPTION OF SPECIFIC EMBODIMENTS OF THE INVENTION

The present invention, in some embodiments thereof, relates to an aircraft for transporting passengers and/or goods and, more particularly, but not exclusively, to an autonomous detachable aircraft for transporting passengers and/or goods in populated areas. Overview

An aspect of some embodiments of the invention relates to unmanned aerial vehicles for the transport of people and/or goods from one or more locations to one or more other locations. In some embodiments, the vehicles comprise a compartment, which is configured to contain the people and/or goods, which is detachable from the flying machine. In some embodiments, a plurality of autonomous flying machines are configured to transport a plurality of compartments. For example, in a city, there might be hundreds of compartments segregated all over the city, and dozens of autonomous flying machines move them from one location to another. In some embodiments, the flying machines potentially enable passengers to travel through airspace using car-like machines (compartments). In some embodiments, unlike airplanes and helicopters, the transportation system of the invention potentially enable a plurality of passengers to travel by air to their destinations in masses and on demand. In some embodiments, the flying machine is an eVTOL machine (Electric Vertical Take-off and Landing) or a VTOL machine (Vertical Take-off and Landing). In some embodiments, the flying machines are configured for large scale deployment in cities and dense urban environments. In some embodiments, having a compartment that separated from the flying machine potentially provides highly flexibility in dividing complex system into manageable components for regulation, development, and operation. In some embodiments, separation potentially improves the operational efficiency by reducing the downtime involved in passenger boarding/deboarding, battery charging/swapping and maintenance activity. In some embodiments, to maintain the ability to pick-up and land the vehicle safely, the flying machine is equipped with an adaptor capable of connecting/disconnecting quickly and accurately. In some embodiments, the connector is configured to have some degree of dexterity, for example, by means of airborne arms and grippers. In some embodiments, the system comprises a flying robot, a connector and a vehicle or compartment. In some embodiments, the flying robot picks-up and carries a (optionally) manned passenger vehicle to form a new mean of transportation. In some embodiments, the system comprises a plurality of safety features. In some embodiments, the transportation system comprises a VTOL lift section configured to operate autonomously; a passenger compartment sized and shaped to hold at least one human sitting passenger; a connector optionally comprising an arm for selectively interconnecting the VTOL lift section and the passenger compartment, so that the passenger compartment is carried below the VTOL section. In some embodiments, the connector carries the vehicle weight and withstand the forces developing between the flying robot and vehicle. In some embodiments, the connector is fixed to the flying robot and includes at least one connector mechanism to the vehicle. In some embodiments, the connector comprises an articulated mechanism used to control the degrees of freedom (DOF) of the connector. In some embodiments, the connector is configured with a vertical range to compensate for movement of the flying robot. In some embodiments, the connector applies a fixed predefined force on the connector mechanism to ensure repeatability of engagement/disengagement. In some embodiments, the connector is configured to have a degree of dexterity to accurately engage/disengage the connector mechanism. In some embodiments, the connector comprises at least one emergency separation mechanism, including but not limited to explosive bolts and/or any other fast action mechanism. In some embodiments, the connector comprises a hoisting mechanism, allowing the vehicle to be hoisted until rigidly coupled with the flying robot. In some embodiments, the connector comprises suspension for the vehicle. In some embodiments, the connector conveys power and communications between the vehicle, robot and charging stations.

Before explaining at least one embodiment of the invention in detail, it is to be understood that the invention is not necessarily limited in its application to the details of construction and the arrangement of the components and/or methods set forth in the following description and/or illustrated in the drawings and/or the Examples. The invention is capable of other embodiments or of being practiced or carried out in various ways.

Referring now to Figure la, showing a schematic representation of the system 100, according to some embodiments of the invention. In some embodiments, the system 100 comprises three or more of the following parts: a flying robot 102, a connector 104 and a compartment 106. In some embodiments, the connector 104 is irreversibly connected to the flying robot 102. In some embodiments, the connector 104 is configured to reversibly connect between the flying robot 102 and the compartment 106.

Referring to Figure lb, showing a schematic representation of an exemplary system 100, according to some embodiments of the invention. Similar/same parts are provided with same numerals for convenience. As disclosed above, in some embodiments, the system 100 comprises three (or more) parts: a flying robot 102, which comprises, for example, one or more flyingallowing mechanisms, a connector 104, which comprises, for example, one or more mechanical arms and/or a cable and/or a mechanical connector and a compartment 106, configured, for example, to enclose passengers and/or goods.

Exemplary Flying Robot 102

In some embodiments, the flying robot is an unpiloted aircraft, also referred, and will be referred hereinafter, as Unmanned Aerial Vehicle (UAV). The terms “flying robot”, “unmanned aerial vehicle”, “UAV”, “eVTOE”, “Electric Vertical Take-off and Landing”, “VTOL”, “Vertical Take-off and Landing” are all terms used to describe the flying robot, and those terms are interchangeable when describing an unpiloted aircraft. In some embodiments, the UAV is configured to operate without a pilot on board. In some embodiments, the UAV is configured to operate with different levels of autonomy. In some embodiments, the UAV’s autonomy level ranges from remotely piloted (a human controls its movements) to advanced autonomy, which means that, for example, it relies on a system of sensors and/or LIDAR detectors (or other autonomous flying systems) to calculate its movement. In some embodiments, the UAV is configured for traveling at varying heights and distances, for example, heights of from about Im to about 100m, optionally from about 0.5m to about 500m, optionally from about 0m (landing) to about 1000m; optionally above 1000m; and distances of from about 5Km to about 50Km, optionally from about 3Km to about lOOKm, optionally from about IKm to about 500Km.

In some embodiments, the UAV comprises a single rotor. In some embodiments, the UAV comprises a plurality of rotors, as shown for example in Figure 2a. In some embodiments, the UAV is a fixed-winged UAV. In some embodiments, fixed wing UAV look like, for example, normal airplanes, where the wings provide the lift instead of rotors, as shown for example in Figure 2b. In some embodiments, the UAV is a vectored thrust UAV. In some embodiments, the UAV comprises one or more thrusts configured to change direction to allow the UAV to change direction. In some embodiments, the UAV is a hybrid UAV comprising one or more rotors, fixed wings and vectored thrusts.

In some embodiments, the UAV configurations are flexible and scalable, meaning, the UAV can be configured with one or more features, and can be made at different sizes, according to the needs (payload and distance). In some embodiments, the configuration and sizes of the UAV dictate the scope of the UAV in manners of type of payload, quantity of payload and distance.

In some embodiments, the UAV is powered by one or more of electricity, hydrogen, or any other fuel.

Exemplary Connector 104

In some embodiments, irreversibly attached to the UAV there is a connector 104. In some embodiments, the connector 104 is configured to reversibly attach the UAV 102 to the compartment 106. In some embodiments, the connector 104 is located on the UAV 102 and the UAV 102 is configured to interconnect with compartment 106 by means of the connector 104. In some embodiments, the connector 104 is located on the compartment 106 and the UAV 102 is configured to interconnect with the connector 104, therefore interconnecting with the compartment 106. In some embodiments, the connector comprises an articulated mechanism configured to allow control the degrees of freedom (DoF) of the connector. In some embodiments, the flying robot requires time to securely connect to the compartment using the connector. In some embodiments, the connector comprises one or more arms to allow the necessary movements to take place without applying excess forces on the components taking place in the coupling activity, which can optionally take time in the order of few seconds. Usually, flying robots carrying people or equivalent payloads have significant inertia and are typically slow to react to sudden external forces (like wind gusts) in addition to changes in movement, and this makes them move around the location they are attempting to hover about, and this movement can be centimeters or even meters. In some embodiments, the connector is a mechanical (optionally robotic) element having components that provide dexterity configured to enable the connector to compensate for the changes in motion between the flying robot and the static (non-moving) compartment. In some embodiments, the flying robot movements are determined by its performance and design, hence the connector comprises various DoF control capabilities. In some embodiments, the connector is configured to apply a fixed predefined force on the compartment connector to ensure repeatability of engagement/disengagement. In some embodiments, for a repeatable and safe coupling action, the UAV and the connector act together to apply a fixed force on the coupling assembly (for example about 25 Kg) to evenly push against the compartment connector (for example controlled via the connector’s actuators (active) or springs (passive)). In some embodiments, a potential advantage of this is that it potentially prevents any potential damages from repeatedly use and potentially ensures a repeatable action.

Referring now to Figures 3a-3b, showing an exemplary connector 104, according to some embodiments of the invention. In some embodiments, the connector 104 comprises an arm 302 and a cable 304, as shown for example in Figure 3a. In some embodiments, the arm 302 and the cable 304 work together to allow the connection between a flying UAV and a compartment 106 located on a surface (for example the floor or a top of a building).

In some embodiments, the cable 304 carries the load of the compartment 106, while the arm 302 limits the freedom of movement of the connector 106, which can potentially facilitate and/or improve the connection process between the UAV 102 and the compartment 106.

In some embodiments, an exemplary connector 106, comprising an arm 302 and a cable 304, comprises one or more of the following parts, as schematically shown in Figure 3b:

In some embodiments, the connector 106 comprises a hoisting device 306, for example a winch, for raising and lowering the compartment 106, and in the case of a winch, to wind in and wind out the cable 304. In some embodiments, other suitable mechanism can be used for raising and lowering the compartment 106. In some embodiments, the hoisting device 306 comprises one or more of pulleys and gears, which work either manually or mechanically, using a power supply, for example electric or fuel.

In some embodiments, the connector 106 comprises the cable 304 that is made of metal alloys, for example steel, and/or any other natural or synthetic fibers and composites.

In some embodiments, the connector 106 comprises an upper pivoted support 308, for example a gimbal, located at the top part of the connector 104 and in communication with the UAV 102. In some embodiments, the gimbal allows partial or total rotation of the arm 302 about one or more axis. In some embodiments, the gimbal 308 is a controllable gimbal, which allows control of the positioning of the arm 302.

In some embodiments, the arm 302 comprises a plurality of parts for allowing flexing the arm 302, for example:

In some embodiments, the arm 302 comprises an upper part 310, connected to the UAV 102 and/or the gimbal 308.

In some embodiments, the arm 302 comprises a lower part 312, connected to the upper part of the arm 310, on one side, and to a coupling assembly 320, on the other.

In some embodiments, the arm 302 comprises an auxiliary arm 314, configured to allow the control of the motion of the flexing of the arm 302, and optionally, potentially prevents passage of excess forces from the compartment 106 over the arm into the UAV 102.

In some embodiments, the arm 302 optionally comprises a differential mechanical resistor 316, for dumping excessive forces on the arm and allows controlling the arms motion through linkage with the auxiliary arm 314.

In some embodiments, the arm 302 comprises a lower pivoted support 318, for example also gimbal, located at the bottom part of the connector 104 and mechanically coupled with the lower part of the arm 312. In some embodiments, the lower gimbal 318 allows the freedom of movement necessary for the coupling assembly 320 when engaging the compartment 106.

In some embodiments, the arm 302 comprises a coupling assembly 320, configured to engage the compartment 106.

Referring now to Figure 3c, showing a schematic detailed representation of an exemplary upper part of the connector 106, according to some embodiments of the invention. In some embodiments, on the upper part of the connector 106, the connector 106 comprises one or more of:

In some embodiments, as mentioned above, the connector 106 comprises a hoisting device 306, for example a winch, configured for raising and lowering the compartment 106, and in the case of a winch, to wind in and wind out the cable 304. In some embodiments, other suitable mechanism can be used for raising and lowering the compartment 106. In some embodiments, the hoisting device 306 comprises one or more of pulleys and gears, which work either manually or mechanically, using a power supply, for example electric or fuel.

In some embodiments, as mentioned above, the connector 106 comprises a cable 304.

In some embodiments, as mentioned above, the connector 106 comprises an upper pivoted support 308, for example a gimbal, located at the top part of the connector 104 and in communication with the UAV 102. In some embodiments, the upper pivoted support 308 comprises an upper part 322, which is connected to the frame of the UAV 102, optionally a plurality of actuators 324 and a lower part 326, which is connected to the an upper part of the arm 310.

In some embodiments, as mentioned above, the connector 106 optionally comprises a differential mechanical resistor 316, configured to dump excessive forces on the arm and allows controlling the arms motion through linkage with the auxiliary arm 314.

In some embodiments, as mentioned above, the connector 106 optionally comprises an auxiliary arm 314, configured to allow the control of the motion of the flexing of the arm 302, and optionally, potentially prevents passage of excess forces from the compartment 106 over the arm into the UAV 102.

Exemplary Arm articulation

In some embodiments, the arm 302 is configured to flex from an open configuration to a close configuration and vice versa, as shown for example in Figure 4a. In some embodiments, the flexing of the arm 302 allows the arm 302 to extend to a certain distance h defined by the length of the parts if the arm 302. In some embodiments, the distance h is from about 0m to about 2m, optionally to about 5m, optionally to about 10m, optionally to more than 10m. Figure 4b shows a schematic close-up representation of the arm 302 in a closed configuration. In some embodiments, when the arm 302 is in a closed configuration, it allows to secure and lock the compartment 106 to the UAV 102, for example by mechanical means, as schematically shown in Figure 4c. In some embodiments, securing and locking the compartment 106 to the UAV 102 allows to generate a single aerodynamic unit and protect its components in flight (much like commercial aviation landing gears).

In some embodiments, as shown for example in Figures lb, 2a-b, 3a-b and 4a-b, the arm 302 comprises a single pantograph-like arm. In some embodiments, the arm 302 comprises a double pantograph-like arm 402, as shown for example in Figure 4d. In some embodiments, the arm 302 may comprise any multi arm solution or other articulations, for example, Delta robots (3 arms), Stewart platforms (6 arms), and so on. It should be understood that those and others are covered by the scope of the present invention.

Exemplary coupling assembly 320

In some embodiments, the connector 104 comprises a coupling assembly 320 attached to a distal end of the cable 304. Referring now to Figures 5a-e, showing schematic representations of an exemplary coupling assembly 320, according to some embodiments of the invention.

Referring now to Figure 5a, showing a schematic representation of a lower part of a connector 104, according to some embodiments of the invention. In some embodiments, as mentioned above, at the bottom part of the connector 104 there is the bottom part of the lower arm 312, connected to a lower gimbal 318. In some embodiments, the cable 304 runs down until meeting (but not in connection with) the lower gimbal 318. In some embodiments, attached to the distal end of the cable 304 there is the coupling assembly 320. In some embodiments, the coupling assembly 320 is also connected to the lower gimbal 318, which means that the coupling assembly 320 is connected to the bottom part of the lower arm 312 via the lower gimbal 318 and also connected to the cable 304. Also shown in Figure 5a, a probe 404 exiting the coupling assembly 320 (see below explanations about probe 404).

In some embodiments, the coupling assembly 320 is configured to reversibly interconnect with a compartment connector 510. Figure 5b, shows a schematic representation of an exemplary coupling assembly 320 and a compartment connector 510, according to some embodiments of the invention. In some embodiments, the coupling assembly 320 comprises a base 514, which comprises a plurality of features, for example: one or more guides 504, power and data sockets 506, a probe 404 and one or more interconnecting locking mechanisms 508 (for example one or more hooks).

In some embodiments, the one or more guides 504, assist in guiding and aligning the coupling assembly 320 and the compartment connector 510 towards each other and potentially enabling the aligning of other features (for example the power and data sockets 506 and/or the interconnecting locking mechanisms 508), as will be further explained below.

In some embodiments, power and data sockets 506, which are also found on the compartment connector 510 but are not shown, are used to transfer data and/or power from the UAV 102 to the compartment 106 and vice versa. For example, in some embodiments, transfer of data relates to one or more of correct connection between the UAV 102 and the compartment 106, status of the compartment 106, status of the UAV 102 to be shown, for example, on one or more displays inside the compartment, information about the compartment performance, peripheral camera feeds, camera feeds from inside the compartment, avionics, communications, charging status, environmental conditions, proximity to objects and more.

In some embodiments, when the compartment 106 requires to be powered up externally because do not comprise an extensive source of power due to safety reasons (see below) and/or the internal source of power does not work and/or the UAV 102 requires power, the power sockets are adapted to transfer power from the UAV 102 to the compartment 106 and/or vice versa.

In some embodiments, the probe 404 is used to facilitate the reversibly connection between the coupling assembly 320 and the compartment connector 510. In some embodiments, the probe 404 allows for a ‘soft connection’ between the coupling assembly 320 and the compartment connector 510, which means that a first connection between the two parts is performed by using the probe 404 just to direct one side towards the other, and not to actually perform the connection that will hold the two parts together. In some embodiments, the compartment connector 510 comprises a mechanism (for example a linear mechanism) that catches the probe 404 and pulls it towards the compartment connector 510, therefore guiding the coupling assembly 320 towards the compartment connector 510. In some embodiments, the fine tuning guidance is provided by the one or more guides 504 located on both the coupling assembly 320 and the compartment connector 510. In some embodiments, the ‘soft connection’ between the coupling assembly 320 and the compartment connector 510 is performed by one or more magnets.

In some embodiments, the one or more interconnecting locking mechanisms 508, as shown for example as one or more hooks, are configured to reversibly lock between the coupling assembly 320 and the compartment connector 510. Figure 5c, schematically shows a cross-section of the interlocked coupling assembly 320 and the compartment connector 510, according to some embodiments of the invention. In some embodiments, both sides, the coupling assembly 320 and the compartment connector 510, comprise hooks 508 (or any other interconnecting locking mechanisms) that are fastened together and secured in a locked position.

Exemplary alternative embodiments of connector 104

Referring now to Figure 5d, showing schematic representations of exemplary alternative connectors, according to some embodiments of the invention. In some embodiments, the connector 104 does not comprise a combination of an arm 302 and a cable 304. In some embodiments, the connector 104 comprises only an arm 302, as shown for example on the right side of Figure 5d. In some embodiments, the connector 104 does not comprise an arm 302 nor a cable 304, but comprises a static dumped (comprising a dumper) / suspended coupling assembly 502, as shown for example on the left side of Figure 5d. Referring now to Figure 5e showing schematic representations of an exemplary deployable coupling assembly 502, according to some embodiments of the invention. In some embodiments, the deployable coupling assembly 502 comprises the coupling assembly 320, as previously described, connected to a Stewart platform adaptor 504 (also called six-axis platform or 6-DoF platform or hexapod platform). In some embodiments, the Stewart platform adaptor 504 is a controllable adaptor that allows movement of the coupling assembly 320 in the six degrees of freedom in which it is possible for a freely- suspended body to move: three linear movements x, y, z (lateral, longitudinal, and vertical), and the three rotations (pitch, roll, and yaw). In some embodiments, the platform adaptor comprises less than 6-DoF, for example 5-DoF, 4-DoF, 3-DoF, 2-DoF, 1-DoF or none.

Referring now to Figure 5f showing schematic representations of another exemplary static dumped (comprising a dumper) / suspended coupling assembly 502, according to some embodiments of the invention. In some embodiments, the deployable coupling assembly 502 comprises the coupling assembly 320, as previously described, connected to a Springed / Compliant gimbal adaptor 506. In some embodiments, the "spring gimbal" passively dumps access forces forming in the connector (between the aircraft and compartment). In some embodiments, it is springing rotations in all axes (pitch, roll, yaw) with limited spring / dump translation (X, Y, and Z movements) respectively. In some embodiments, the spring gimbal uses the degrees of freedom of the flying robot therefore, optionally, it requires no active control.

In some embodiments, the vertical range of the adaptor 504 is determined by differences of aircrafts and mission characteristics, for example, the arm 302 comprises a vertical range of from about 2m to about 5m, optionally from about 1.5m to about 7m, optionally from about Im to about 10m. In some embodiments, for example, the Stewart platform adaptor 504 comprises a vertical range of from about 0.5m to about Im, optionally from about 0.3m to about 1.5m, optionally from about 0. Im to about 3m. In some embodiments, for example, the Springed gimbal adaptor 506 comprises a vertical range of from about 10cm to about 20cm, optionally from about 5cm to about 25cm, optionally from about 1cm to about 30cm.

In some embodiments, either configuration of the adaptor 504 may include or not include the cable 304.

Referring now to Figures 5g and 5h, showing schematic representations of an exemplary connector, according to some embodiments of the invention. In some embodiments, the connector comprises a 6-axis parallel robot arrangement comprising 6 arms 522 with a coupling assembly 320 at distal end. In some embodiments, the connector comprises a 6-DoF mechanisms at its distal end. In some embodiments, the connector is actively controlled (for example with one or more motors) or passively controlled (for example with one or more springs), depending on the UAV capabilities. In some embodiments, the connector is characterized by having minimal space requirements for a maximum length to stretch the arms. In some embodiments, the 6-axis parallel arm confer an inherent redundancy, which potentially increases the safety of the system. In some embodiments, the connector is light weight (for example from about 2% of the aircraft total weight to about 5% of the total weight) as, in some embodiments, is made of composite materials.

Figure 5h schematically shows the connector in three exemplary positions:

1. Top - Close configuration. In some embodiments, at this configuration the connector is rigidly coupled with the UAV. In some embodiments, the connector is mechanically locked by means of geometry. In some embodiments, the connector at this configuration requires minimal space since it is flat.

2. Middle - Half way extended configuration. In some embodiments, this position allows the full 6-DoF movement of the distal end, as performance envelope increases at the middle section of the connector. In some embodiments, this helps to compensate for the UAV’s movement while engaging the compartment.

3. Bottom - Fully extended configuration - Full stretch of the arms and therefore the adaptor, which is also the maximum distance between the AUV and the compartment.

Exemplary compartment 106

In some embodiments, the compartment 106 can be any structure adapted to carry payload (goods and/or people), which comprises a dedicated compartment connector 510 that can be connected to a coupling assembly 320 of a connector 104. In some embodiments, the compartment 106 is a passengers’ compartment. In some embodiments, the compartment 106 comprises a form of a capsule and/or pod. In some embodiments, the compartment 106 is a rigid capsule, equipped with all necessary features to ensure passenger safety and comfort. In some embodiments, the compartment 106 includes, but is not limited to one or more of landing gears, internal temperature control (like air-conditioning), power (including but not limited to main batteries, fuels, motors, or engines), ventilation, sound equipment, a plurality of users’ interfaces and/or vehicle information displays. In some embodiments, the compartment 106 does not carry main batteries, fuels, motors, or engines. In some embodiments, a potential advantage of not carrying any kind of explosive materials within the compartment 106, is that the compartment 106 will not explode and/or bum in case of crashing, therefore potentially augmenting the chances of survival of the passengers (see below Exemplary Safety Features). In some embodiments, the compartment 106 is designed to withstand crash-landing impacts and protect its occupants in case of emergency. In some embodiments, compartments 106 are optionally located on vertiports/vertipads and UAVs 102 move the compartments 106 between dedicated vertipads. The term ‘vertiport’ or ‘vertipad’ refers hereinafter to an area of land, water, or structure used or intended to be used for the landing and take-off of compartments 106 and/or the UAV 102. In some embodiments, compartments are configured to land and take-off from any surface (not necessarily a vertipad).

In some embodiments, the compartment is configured to carry disabled people, as shown for example in Figure 6.

Exemplary Controller

In some embodiments, the UAV comprises a controller configured to perform control and monitor all aspects of the flight of the system. For example, the controller is connected to a plurality of sensors, for example, for monitoring the different parts of the UAV, for monitoring external conditions that can affect the flight, for monitoring the connection to the compartment, and more.

In some embodiments, the controller is also in communication with a main flight control station that monitors the activity of a plurality of flying vehicles.

In some embodiments, the controller is also responsible for flying the UAV (with/without compartment), and is responsible for the actions as disclosed in Figure 8, which comprises for example, keeping the UAV steady during approaches, gentle flight when connected to the compartment, and other.

Exemplary Safety Features

In some embodiments, the system comprises a plurality of safety features, which increase the safety of the passengers.

Exemplary redundancy in function of parts as safety mechanism

In some embodiments, one of the safety mechanisms is already shown in the connector 106, by the use of a cable 304 and an arm 314. In some embodiments, as mentioned above, the coupling assembly 320 is connected to the bottom part of the lower arm 312 via the lower gimbal 318 and also connected to the cable 304. In some embodiments, each of these (arm and cable) is configured to sustain the weight of the compartment 106 by itself. In some embodiments, in the rare case of one of them failing, the other is adapted to carry the critical forces, thereby maintaining safety for the compartment and its occupants. In some embodiments, both the hoisting mechanism and articulated arm are secured to the UAV’s 102 frame at separate locations, thereby potentially avoiding any possible single point of failure.

In some embodiments, as mentioned above in the rare event of a failure in one of the connector 104 parts (cable or arm), the counterpart component will carry the main loads, preventing any unplanned detachment of the compartment 106 from the UAV’s 102.

Referring now to Figures 7a-c, showing a schematic representation of the exchange of functionalities of the parts of the connector in case of failure, according to some embodiments of the invention.

In some embodiments, when the system functions normally, the cable 304 is responsible for carrying the main load of the compartment 106, while the arm 302 is responsible for limiting the degrees of freedom of movement of the coupling assembly 320, which are optionally necessary for the easy alignment and connection of the UAV’s 102 with the compartment 106 (see below), as shown for example in Figure 7a. In some embodiments, as mentioned above, there is a potential redundancy in the function of carrying the load between the cable 304 and the arm 302, since both are connected to the coupling assembly 320. In some embodiments, a potential advantage of this is that it potentially contributes to comfort for the passengers by means of a smoother "ride quality", which in turn potentially makes the system safer.

In some embodiments, in case of failure, there is a change of functionalities between the components, as each is configured to sustain the load and possibly some of the degrees of freedom of movement, as schematically shown in Figures 7b and 7c.

In some embodiments, the compartment connector 510 comprises an emergency separation mechanism 512 (shown in Figure 5b), for example an explosive bolt, nut and/or other pyrotechnic devices, as well for example as frangibolts or any other fast action mechanisms for separating the compartment 106 from the connector 104 in case of emergency.

Exemplary crashing safety devices

In some embodiments, similarly to a car, a plane or a space capsule, the compartment 106 comprises a plurality of passenger safety devices that are used in case of crashing. In some embodiments, in the rare event of an accident, the compartment 106 will separate from the UAV 102 to prevent harm to its occupants and lower the vehicle safely to the ground.

Referring now to Figure 7d, showing a schematic representation of a compartment and crashing safety features, according to some embodiments of the invention. In some embodiments, in the rare event of an accident, the compartment 106 is equipped with a full recovery suit, covering possible separation at any given height of the flight path. In some embodiments, the recovery suit uses a multitude of recovery systems for each possible separation height, including but not limited to landing gears, impact absorbing seats 706, airbags 704, ballistic parachute 702, floats, and any other suitable technology. In some embodiments, the compartment 106 and recovery systems are designed with the primary goal of saving lives of both compartment occupants and non-involved individuals. In some embodiments, the compartment 106 is also adapted of crash landing on water allowing the vehicle to float for safe recovery of its passengers.

In some embodiments, the compartment 106 comprises a parachute, optionally a ballistic parachute 702, harnessed to the compartment 106. In some embodiments, the compartment 106 comprises one or more airbags 704, at the bottom of the compartment 106.

In some embodiments, the system in general, withstand all safety regulations for civil aircraft airworthiness of its class. In some embodiments, as mentioned above, in the rare event of a destructive accident on which the UAV 102 cannot perform a safe landing of its occupants, the compartment 106 separates from the UAV 102 to safely lower its occupants to the ground. In some embodiments, the separation of the compartment 106 from the UAV 102 potentially improves the vertical impact velocity control and surviv ability of the occupants, as well as the control of crash landing location for both the compartment 106 and the UAV 102.

In some embodiments, the compartment 106 and the UAV 102 safety values combines in a way of multiplication, pending on the adaptor performance factor:

Adp * (10 ^A -9 -10 ^A -3.) = Adp * (10 ^A -12)

Where:

Adp - Adaptor performance factor

Required safety for commercial manned aircraft = 10 ^A -9

Safety of compartment (assumed) = 10 ^A -3

It is important to note that this safety scheme improves the safety factors by multiple orders of magnitude. In some embodiments, it allows the development of particularly safe systems given the potentially high numbers of flying vehicles, takeoffs and landings and the short distances covered by average urban transport (comparing to aviation safety per passenger-miles traveled).

Exemplary relationship between technical characteristics of the system and regulation

In some embodiments, the system complies with safety regulations of local and international safety agencies, for example the European Union Aviation Safety Agency (EASA), the Federal Aviation Administration (FAA), the International Air Transport Association (IATA) and/or the International Civil Aviation Organization (ICAO).

In some embodiments, an exemplary relationship between system technical characteristics with regards to safety regulation might look as follows (the data in the table is imaginary and is provided as an example to enable a person having skills in the art to understand the invention and is not intended to be limiting in any way):

Classes A, B, C, D, A’, B’, C’, D’ are arbitrary names for the groups. In some embodiments, a main difference in vertipad infrastructure requirements between cargo vehicles and passenger vehicles are safety features, for example for cargo vehicles the infrastructure requirement can be defines as the load bearing capacity of the vertipad, also have requirements for safe aircraft accesses, lighting, communications, wind speed measurement, etc. In some embodiments, for passenger vehicles the requirements differ in the sense of supporting both the vehicle weight and passengers’ safety (safe access, stairs and walkways, handrails, fire protection, escape routes etc.). Exemplary methods

Referring now to Figure 8, showing a schematic representation of an exemplary mission profile of UAV 102, according to some embodiments of the invention. In some embodiments, the system is configured to automatically fly the UAV 102 between destinations. In some embodiments, the UAVs 102 are stored in a base (like a garage or a hangar) where they are fueled and/or charged and maintained. In some embodiments, the UAV 102, optionally without passengers and/or compartment 106, take off from a vertiport at or near the base. In some embodiments, the UAV 102 then climbs to a determined height. In some embodiments, the UAV 102 then cruises towards a destination as provided by the system. In some embodiments, once in proximity to the destination, the UAV 102 commences its descent, which optionally is part of the approach procedure. In some embodiments, during takeoff from base, climbing, cruising and descending the connector 104 is in a closed configuration. In some embodiments, once the approach procedure begins, the connector 104 is operated to be in an open configuration, which allows the connection between the UAV 102 and the compartment 106. In some embodiments, the connector 104 does not comprise an open/close configuration and it is always ready to be connected with a compartment 106. In some embodiments, the UAV 102 optionally hovers over the destination to assess the approaching conditions (for example wind, obstacles, status of the compartment 106). In some embodiments, the UAV 102 then performs an ‘in and out’ procedure which comprises approaching the destination, for example a compartment 106, connecting the UAV 102 to the compartment 106 by means of the connector 104, lifting the compartment 106 and leaving the destination zone where the compartment 106 was located. In some embodiments, after the ‘in and out’ procedure, where relevant, the connector 104 moves from an open configuration to a close configuration, for the next phases of the flight. In some embodiments, the UAV 102 then performs the same actions of climbing, cruising, descending, hovering and so on, as many times as required.

Referring now to Figure 9, showing a flowchart of an exemplary method of flight of UAV 102, according to some embodiments of the invention. In some embodiments, the UAV 102, optionally without passengers and/or compartment 106, take off from a vertiport at or near the base. 902. In some embodiments, the UAV 102 then climbs to a determined height 904. In some embodiments, the UAV 102 then cruises towards a destination as provided by the system 906. In some embodiments, the UAV 102 then cruises towards a destination as provided by the system. In some embodiments, once in proximity to the destination, the UAV 102 commences its descent 908. In some embodiments, the UAV 102 optionally hovers over the destination to assess the approaching conditions (for example wind, obstacles, status of the compartment 106) 910. In some embodiments, the UAV 102 then performs an ‘in and out’ procedure which comprises approaching the destination, for example a compartment 106, connecting the UAV 102 to the compartment 106 by means of the connector 104, lifting the compartment 106 and leaving the destination zone where the compartment 106 was located 912. In some embodiments, after the ‘in and out’ procedure, where relevant, the connector 104 moves from an open configuration to a close configuration, for the next phases of the flight. In some embodiments, the UAV 102 then performs the same actions of climbing, cruising, descending, hovering and so on, as many times as required 914. In some embodiments, once all the flights are completed, the UAV 102 can optionally return to base 916.

Referring now to Figure 10, showing a hybrid flowchart / schematic illustration of an exemplary method of the actions performed by the connector 104 during flight, according to some embodiments of the invention. In some embodiments, during approach 1002 the connector is unlocked from the UAV 102, allowing performing actions with the connector 104. In some embodiments, additionally during approach, where applicable, the connector 104 is extended. In some embodiments, during hovering 1004, the connector is in its fully extended configuration. In some embodiments, during the ‘In’ phase the connector 104 (using the coupling assembly 320) acquires the compartment connector 510 of the compartment 106. In this context, ‘acquiring’ means ‘coming in communication with’. In some embodiments, during the connection 1008 phase, the connector performs a soft connection between the coupling assembly 320 located on the connector 104 and the compartment connector 510 located on the compartment 106. In some embodiments, the soft connections are performed for example using pulling mechanisms and/or magnets. In some embodiments, then a hard connection is performed, as disclosed above, for example by using locking mechanism. In some embodiments, during the ‘Out’ phase, the connector 104 is retracted together with the compartment 106. In some embodiments, during the climb phase, the connector 104 is fully retracted and is securely locked again to the UAV 102. In some embodiments, in this configuration the UAV 102 with the compartment and the connector 104 fully secured and locked continues to the cruising 1014 phase.

Referring to Figure 11, showing a flowchart of an exemplary method of interlocking between the coupling assembly 320 and the compartment connector 510, according to some embodiments of the invention. In some embodiments, the coupler assembly 320 of the connector 104 acquires 1102 the compartment connector 510. In some embodiments, the compartment connector is actively controlled (for example with one or more actuators) or passively controlled (for example with a spring mechanism). In some embodiments, for example, when active control is used a visual (for example a camera) and/or Lidar system can be used and/or any other proximity sensing system. In some embodiments, for example, when a passive connector is used, the flying robot itself accurately aims the coupling assembly to engage the compartment connector. In some embodiments, a ‘soft connection’ is performed 1104 between the coupling assembly 320 and the compartment connector 510 by means for example of a probe 404 and/or magnets. In some embodiments, in case a probe 404 is used, the probe 404 is pulled 1106, for example, using a linear actuation mechanism. In some embodiments, then there is an alignment 1108 of the faces of the coupling assembly 320 and the compartment connector 510. In some embodiments, then the coupling assembly 320 and the compartment connector 510 are locked and secured 1110 to each other, for example by means of hooks. In some embodiments, then the Data and/or Power sockets are connected 1112. In some embodiments, then there is a transmission to the main system that there is clearance for lift 1114.

It is expected that during the life of a patent maturing from this application many relevant autonomous aircrafts will be developed; the scope of the term UAV is intended to include all such new technologies a priori.

As used herein with reference to quantity or value, the term “about” means “within ± 20 % of’.

The terms “comprises”, “comprising”, “includes”, “including”, “has”, “having” and their conjugates mean “including but not limited to”.

The term “consisting of’ means “including and limited to”.

The term “consisting essentially of’ means that the composition, method or structure may include additional ingredients, steps and/or parts, but only if the additional ingredients, steps and/or parts do not materially alter the basic and novel characteristics of the claimed composition, method or structure.

As used herein, the singular forms “a”, “an” and “the” include plural references unless the context clearly dictates otherwise. For example, the term “a compound” or “at least one compound” may include a plurality of compounds, including mixtures thereof.

Throughout this application, embodiments of this invention may be presented with reference to a range format. It should be understood that the description in range format is merely for convenience and brevity and should not be construed as an inflexible limitation on the scope of the invention. Accordingly, the description of a range should be considered to have specifically disclosed all the possible subranges as well as individual numerical values within that range. For example, description of a range such as “from 1 to 6” should be considered to have specifically disclosed subranges such as “from 1 to 3”, “from 1 to 4”, “from 1 to 5”, “from 2 to 4”, “from 2 to 6”, “from 3 to 6”, etc.; as well as individual numbers within that range, for example, 1, 2, 3, 4, 5, and 6. This applies regardless of the breadth of the range. Whenever a numerical range is indicated herein (for example “10-15”, “10 to 15”, or any pair of numbers linked by these another such range indication), it is meant to include any number (fractional or integral) within the indicated range limits, including the range limits, unless the context clearly dictates otherwise. The phrases “range/ranging/ranges between” a first indicate number and a second indicate number and “range/ranging/ranges from” a first indicate number “to”, “up to”, “until” or “through” (or another such range-indicating term) a second indicate number are used herein interchangeably and are meant to include the first and second indicated numbers and all the fractional and integral numbers therebetween.

Unless otherwise indicated, numbers used herein and any number ranges based thereon are approximations within the accuracy of reasonable measurement and rounding errors as understood by persons skilled in the art.

It is appreciated that certain features of the invention, which are, for clarity, described in the context of separate embodiments, may also be provided in combination in a single embodiment. Conversely, various features of the invention, which are, for brevity, described in the context of a single embodiment, may also be provided separately or in any suitable subcombination or as suitable in any other described embodiment of the invention. Certain features described in the context of various embodiments are not to be considered essential features of those embodiments, unless the embodiment is inoperative without those elements.

As will be appreciated by one skilled in the art, some embodiments of the present invention may be embodied as a system, method or computer program product. Accordingly, some embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment (including firmware, resident software, micro-code, etc.) or an embodiment combining software and hardware aspects that may all generally be referred to herein as a “circuit,” “module” or “system.” Furthermore, some embodiments of the present invention may take the form of a computer program product embodied in one or more computer readable medium(s) having computer readable program code embodied thereon. Implementation of the method and/or system of some embodiments of the invention can involve performing and/or completing selected tasks manually, automatically, or a combination thereof. Moreover, according to actual instrumentation and equipment of some embodiments of the method and/or system of the invention, several selected tasks could be implemented by hardware, by software or by firmware and/or by a combination thereof, e.g., using an operating system.

For example, hardware for performing selected tasks according to some embodiments of the invention could be implemented as a chip or a circuit. As software, selected tasks according to some embodiments of the invention could be implemented as a plurality of software instructions being executed by a computer using any suitable operating system. In an exemplary embodiment of the invention, one or more tasks according to some exemplary embodiments of method and/or system as described herein are performed by a data processor, such as a computing platform for executing a plurality of instructions. Optionally, the data processor includes a volatile memory for storing instructions and/or data and/or a non-volatile storage, for example, a magnetic hard-disk and/or removable media, for storing instructions and/or data. Optionally, a network connection is provided as well. A display and/or a user input device such as a keyboard or mouse are optionally provided as well.

Any combination of one or more computer readable medium(s) may be utilized for some embodiments of the invention. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated signal may take any of a variety of forms, including, but not limited to, electromagnetic, optical, or any suitable combination thereof. A computer readable signal medium may be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

Program code embodied on a computer readable medium and/or data used thereby may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

Computer program code for carrying out operations for some embodiments of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet Service Provider).

Some embodiments of the present invention may be described below with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer readable medium that can direct a computer, other programmable data processing apparatus, or other devices to function in a particular manner, such that the instructions stored in the computer readable medium produce an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks.

The computer program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks.

Some of the methods described herein are generally designed only for use by a computer, and may not be feasible or practical for performing purely manually, by a human expert. A human expert who wanted to manually perform similar tasks, such as coordinating flights of one or more UAVs, automatically connecting between UAVs and compartments, might be expected to use completely different methods, e.g., making use of expert knowledge and/or the pattern recognition capabilities of the human brain, which would be vastly more efficient than manually going through the steps of the methods described herein.

Although the invention has been described in conjunction with specific embodiments thereof, it is evident that many alternatives, modifications and variations will be apparent to those skilled in the art. Accordingly, it is intended to embrace all such alternatives, modifications and variations that fall within the spirit and broad scope of the appended claims.

It is the intent of the applicant(s) that all publications, patents and patent applications referred to in this specification are to be incorporated in their entirety by reference into the specification, as if each individual publication, patent or patent application was specifically and individually noted when referenced that it is to be incorporated herein by reference. In addition, citation or identification of any reference in this application shall not be construed as an admission that such reference is available as prior art to the present invention. To the extent that section headings are used, they should not be construed as necessarily limiting. In addition, any priority document(s) of this application is/are hereby incorporated herein by reference in its/their entirety.