Vehicles configured for navigating surface transitions

• US 10,464,620 B2
• Filed: 06/30/2016
• Issued: 11/05/2019
• Est. Priority Date: 06/30/2016
• Status: Active Grant

• Current Assignee: ETH Zurich
• Original Assignee: Disney Enterprises Incorporated (The Walt Disney Company)
• Inventors: Arigoni, Michael, Simpson, Robert, Fuhrer, Silvan, Beardsley, Paul, Mammolo, Dario, Burri, Michael, Bischoff, Michael, Stastny, Thomas, Rodgers, Lennon, Krummenacher, David, Siegwart, Roland
• Primary Examiner(s): Rocca, Joseph M
• Assistant Examiner(s): Williams, Maurice L
• Application Number:
  US15/199,897
• Publication Number:
  US 20180001945A1
• Time in Patent Office: 1,223 Days
• CPC Class Codes: B62D 57/024 specially adapted for moving on inclined or vertical surfaces endless-track vehicles for ascending or descending stairs B62D55/075; hand-carts with provision for travelling up or down stairs B62B5/02
• CPC Class Codes: B62D 57/04 having other than ground-engaging propulsion means, e.g. having propellers arrangement of jet-propulsion units B60K
• CPC Class Codes: G05D 1/027 comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165
• CPC Class Codes: G05D 1/08 Control of attitude, i.e. control of roll, pitch, or yaw
• CPC Class Codes: G05D 1/0891 specially adapted for land vehicles
• CPC Class Codes: G05D 1/10 Simultaneous control of position or course in three dimensions G05D1/12 takes precedence

Abstract

A vehicles configured for navigating surface transitions. Navigation of surface transitions is controlled by information obtained by sensors carried by the vehicle. The vehicle may be propelled forward using force generated by tiltable propellers carried by the vehicle.

Claims

1. A vehicle configured for navigating surface transitions, the vehicle comprising:

a chassis having a first end and a second end;

a first set of support components connected at or near the first end of the chassis, the first set of support components configured for contact with a surface on which the vehicle is navigating;

a second set of support components connected at or near the second end of the chassis, the second set of support components configured for contact with the surface on which the vehicle is navigating;

a first drive component comprising a first motor and a first propeller, the first drive component being connected to the chassis via a first carrier component, the first carrier component being configured to provide at least two degrees of rotational freedom of the first propeller with respect to the chassis;

a second drive component comprising a second motor and a second propeller, the second drive component being connected to the chassis via a second carrier component, the second carrier component being configured to provide at least two degrees of rotational freedom of the second propeller with respect to the chassis;

at least one proximity sensor configured to generate an output signal conveying a distance from the chassis to one or more objects detected in the vicinity of the chassis;

at least one orientation sensor configured to generate an output signal conveying an angle between the chassis and the surface in contact with the second set of support components;

a gravitational sensor configured to generate an output signal conveying a direction of a gravitational force upon the vehicle; and

a controller configured to control individual ones of the first set of support components, the first drive component, the second drive component, the first carrier component, and the second carrier component based on output signal from the at least one proximity sensor, the at least one orientation sensor, and the gravitational sensor to facilitate transitioning between surfaces;

wherein the controller is further configured such that navigating a surface transition between a first surface in contact with the first set of support components and the second set of support components and a second surface comprises;

determining the first set of support components has made contact with the second surface based on the output signal from the at least one proximity sensor; and

adjusting orientation of the first carrier component and the second carrier component to control thrust generated by the first drive component and the second drive component based on an angle between the chassis and the first surface, such that;

based on a determination that the angle is between a first value and a second value, the first drive component is controlled to generate a first thrust force, the first carrier component is controlled to direct the first thrust force perpendicular to the chassis, the second drive component is controlled to generate a second thrust force, and the second carrier component is controlled to direct the second thrust force parallel to the chassis;

based on a determination that the angle is between the second value and a third value, the first drive component is controlled to generate a third thrust force, the first carrier component is controlled to direct the third thrust force parallel to the chassis, the second drive component is controlled to generate a fourth thrust force, and the second carrier component is controlled to direct the fourth thrust force parallel to the chassis; and

based on a determination that the angle is between the third value and a fourth value, the first drive component is controlled to generate a fifth thrust force, control the first carrier component is controlled to direct the fifth thrust force parallel to the chassis, the second drive component is controlled to generate a sixth thrust force, and the second carrier component is controlled to direct the sixth thrust force parallel to the chassis.

2. The vehicle of claim 1, wherein the first carrier component comprises a first chassis mount, a second chassis mount, a first orbital support, and a first propeller support;

wherein the first orbital support is connected to the chassis via the first chassis mount and the second chassis mount, wherein the connection between the first chassis mount and the second chassis mount and the orbital support is configured to facilitate rotation of the first orbital support about a first axis of rotation;

wherein the rotation of the first orbital support is facilitated by a first motor;

wherein the first drive component is connected to the first orbital support via the first propeller support; and

wherein the first propeller support is rotationally connected to the first orbital support to facilitate rotation of the first propeller support about a second axis of rotation.

3. The vehicle of claim 1, wherein the second carrier component comprises a third chassis mount, a fourth chassis mount, a second orbital support, and a second propeller support;

wherein the second orbital support is connected to the chassis via the third chassis mount and the fourth chassis mount, wherein the connection between the third chassis mount and the fourth chassis mount and the orbital support is configured to facilitate rotation of the second orbital support about a first axis of rotation;

wherein the rotation of the second orbital support is facilitated by a second motor;

wherein the second drive component is connected to the second orbital support via the second propeller support; and

wherein the second propeller support is rotationally connected to the second orbital support to facilitate rotation of the second propeller support about a second axis of rotation.

4. The vehicle of claim 1, wherein the first set of support components is connected at or near the first end of the chassis via a first strut and a second strut;

and

wherein the second set of support components is connected at or near the second end of the chassis via a third strut and a fourth strut.

5. The vehicle of claim 1, wherein the first set of support components comprise a steering assembly.

6. The vehicle of claim 1, wherein the third thrust force is greater than the fifth thrust force and the fourth thrust force is greater than the sixth thrust force.

7. The vehicle of claim 1, wherein the at least one orientation sensor is further configured to measure a turning rate of the second set of support components, or an additional orientation sensor is configured to measure the turning rate of the second set of support components.

8. A vehicle configured for navigating surface transitions, the vehicle comprising:

a chassis having a first end and a second end;

a first set of support components connected at or near the first end of the chassis, the first set of support components configured for contact with a surface on which the vehicle is navigating;

a second set of support components connected at or near the second end of the chassis, the second set of support components configured for contact with the surface on which the vehicle is navigating;

a first drive component comprising a first motor and a first propeller, the first drive component being connected to the chassis via a first carrier component, the first carrier component being configured to provide at least two degrees of rotational freedom of the first propeller with respect to the chassis;

a second drive component comprising a second motor and a second propeller, the second drive component being connected to the chassis via a second carrier component, the second carrier component being configured to provide at least two degrees of rotational freedom of the second propeller with respect to the chassis;

at least one proximity sensor configured to generate an output signal conveying a distance from the chassis to one or more objects detected in the vicinity of the chassis;

at least one orientation sensor configured to generate an output signal conveying an angle between the chassis and the surface in contact with the second set of support components;

a gravitational sensor configured to generate an output signal conveying a direction of a gravitational force upon the vehicle; and

a controller configured to control individual ones of the first set of support components, the first drive component, the second drive component, the first carrier component, and the second carrier component based on the output signal from the at least one proximity sensor, the at least one orientation sensor, and the gravitational sensor to facilitate transitioning between surfaces;

wherein the controller is further configured such that navigating a surface transition between a first surface in contact with the first set of support components and the second set of support components and a second surface comprises;

determining a distance of the vehicle from the second surface based on the output signal from the at least one proximity sensor;

adjusting orientation of the first carrier component and the second carrier component to control thrust generated by the first drive component and the second drive component based on the distance from the second surface, such that;

responsive to the distance being a first distance, the first drive component is controlled to generate a first thrust force, the first carrier component is controlled to direct the first thrust force perpendicular to the chassis, the second drive component is controlled to generate a second thrust force, and the second carrier component is controlled to direct the second thrust force parallel to the chassis, wherein the control of the first drive component and first carrier component is configured to raise the first end of the chassis off the first surface such that an angle between the chassis and the surface does not exceed a first value;

determining the first set of support components has made contact with the second surface based on the output signal from the at least one proximity sensor; and

adjusting orientation of the first carrier component and the second carrier component to control thrust generated by the first drive component and the second drive component based on the angle between the chassis and the first surface, such that;

based on a determination that the angle is between a second value and a third value, the first drive component is controlled to generate a third thrust force, the first carrier component is controlled to direct the third thrust force parallel to the chassis, the second drive component is controlled to generate a fourth thrust force, and the second carrier component is controlled to direct the fourth thrust force parallel to the chassis; and

based on a determination that the angle is between the third value and a fourth value, the first drive component is controlled to generate a fifth thrust force, the first carrier component is controlled to direct the fifth thrust force parallel to the chassis, the second drive component is controlled to generate a sixth thrust force, and the second carrier component is controlled to direct the sixth thrust force parallel to the chassis.

9. The vehicle of claim 8, wherein the first carrier component comprises a first chassis mount, a second chassis mount, a first orbital support, and a first propeller support;

wherein the first orbital support is connected to the chassis via the first chassis mount and the second chassis mount, wherein the connection between the first chassis mount and the second chassis mount and the orbital support is configured to facilitate rotation of the first orbital support about a first axis of rotation;

wherein the rotation of the first orbital support is facilitated by a first motor;

wherein the first drive component is connected to the first orbital support via the first propeller support; and

wherein the first propeller support is rotationally connected to the first orbital support to facilitate rotation of the first propeller support about a second axis of rotation.

10. The vehicle of claim 8, wherein the second carrier component comprises a third chassis mount, a fourth chassis mount, a second orbital support, and a second propeller support;

wherein the second orbital support is connected to the chassis via the third chassis mount and the fourth chassis mount, wherein the connection between the third chassis mount and the fourth chassis mount and the orbital support is configured to facilitate rotation of the second orbital support about a first axis of rotation;

wherein the rotation of the second orbital support is facilitated by a second motor;

wherein the second drive component is connected to the second orbital support via the second propeller support; and

wherein the second propeller support is rotationally connected to the second orbital support to facilitate rotation of the second propeller support about a second axis of rotation.

11. The vehicle of claim 8, wherein the first set of support components is connected at or near the first end of the chassis via a first strut and a second strut;

and

wherein the second set of support components is connected at or near the second end of the chassis via a third strut and a fourth strut.

12. The vehicle of claim 8, wherein the first set of support components comprise a steering assembly.

13. The vehicle of claim 8, wherein the third thrust force is greater than the fifth thrust force and the fourth thrust force is greater than the sixth thrust force.

14. A method for navigating surface transitions via a vehicle, the method comprising:

determining a first set of support components included within the vehicle in contact with a first surface has made contact with a second surface based on an output signal from at least one proximity sensor included within the vehicle;

adjusting orientation of a first carrier component included within the vehicle and a second carrier component included within the vehicle to control thrust generated by a first drive component included within the vehicle and a second drive component included within the vehicle based on an angle between a chassis included in the vehicle and the first surface, such that;

based on a determination that the angle is between a first value and a second value, the first drive component is controlled to generate a first thrust force, the first carrier component is controlled to direct the first thrust force perpendicular to the chassis, the second drive component is controlled to generate a second thrust force, and the second carrier component is controlled to direct the second thrust force parallel to the chassis;

based on a determination that the angle is between the second value and a third value, the first drive component is controlled to generate a third thrust force, the first carrier component is controlled to direct the third thrust force parallel to the chassis, the second drive component is controlled to generate a fourth thrust force, and the second carrier component is controlled to direct the fourth thrust force parallel to the chassis; and

based on a determination that the angle is between the third value and a fourth value, the first drive component is controlled to generate a fifth thrust force, the first carrier component is controlled to direct the fifth thrust force parallel to the chassis, the second drive component is controlled to generate a sixth thrust force, and the second carrier component is controlled to direct the sixth thrust force parallel to the chassis.

15. The method of claim 14, wherein the first carrier component comprises a first chassis mount, a second chassis mount, a first orbital support, and a first propeller support;

wherein the first orbital support is connected to the chassis via the first chassis mount and the second chassis mount, wherein the connection between the first chassis mount and the second chassis mount and the orbital support is configured to facilitate rotation of the first orbital support about a first axis of rotation;

wherein the rotation of the first orbital support is facilitated by a first motor;

wherein the first drive component is connected to the first orbital support via the first propeller support; and

wherein the first propeller support is rotationally connected to the first orbital support to facilitate rotation of the first propeller support about a second axis of rotation.

16. The method of claim 14, wherein the second carrier comprises a third chassis mount, a fourth chassis mount, a second orbital support, and a second propeller support;

wherein the second orbital support is connected to the chassis via the third chassis mount and fourth chassis mount, wherein the connection between the third chassis mount and the fourth chassis mount and the orbital support is configured to facilitate rotation of the second orbital support about a first axis of rotation;

wherein the rotation of the second orbital support is facilitated by a second orbital motor;

wherein the second drive component is connected to the second orbital support via the second propeller support; and

wherein the second propeller support is rotationally connected to the second orbital support to facilitate rotation of the second propeller support about a second axis of rotation.

17. The method of claim 14, wherein the first set of support components is connected at or near a first end of the chassis via a first strut and a second strut;

and

wherein a second set of support components included within the vehicle is connected at or near a second end of the chassis via a third strut and a fourth strut.

18. The method of claim 14, wherein the first set of support components comprise a steering assembly.

19. The method of claim 14, wherein the third thrust force is greater than the fifth thrust force and the fourth thrust force is greater than the sixth thrust force.

20. The method of claim 14, the method further comprising:

determining a distance of the vehicle from the second surface based on the output from the at least one proximity sensor;

adjusting orientation of the first carrier component and the second carrier component to control thrust generated by the first drive component and the second drive component based on the distance from the second surface, such that;

responsive to the distance being a first distance, the first drive component is controlled to generate a seventh thrust force, the first carrier component is controlled to direct the seventh thrust force perpendicular to the chassis, the second drive component is controlled to generate an eighth thrust force, and the second carrier component is controlled to direct the eighth thrust force parallel to the chassis, wherein the control of the first drive component and the first carrier component is configured to raise the first end of the chassis off the first surface.