Air-vehicle augmented kinesthetic control system

• US 20100327122A1
• Filed: 09/10/2007
• Published: 12/30/2010
• Est. Priority Date: 09/28/2006
• Status: Active Grant

• Current Assignee: Aeroflex Incorporated (Cobham PLC)
• Original Assignee: Aeroflex Incorporated (Cobham PLC)
• Inventors: De Roche, Mark Stephen
• Granted Patent: US 8,056,866 B2
• Time in Patent Office: Days
• US Class Current: 244/221
• CPC Class Codes: B64C 39/026 for use as personal propulsion unit

Abstract

An augmented kinesthetic control system for use with a lift platform, the lift platform comprising first and second longitudinally-spaced thrust generating means, is provided. The first and second lift planes defined by the first and second thrust generating means are positioned below the lift platform center of gravity. The kinesthetic control means are coupled to means for aerodynamically altering the air flow from the first and second thrust generating means such that the intuitive and balancing movements of the pilot are magnified to allow kinesthetic control of a vehicle of greater size and utility.

Claims

1. An augmented kinesthetic control system, comprising:

a lift platform comprising a first thrust generating means located in a first position and a second thrust generating means located in a second position, wherein said first and second positions are longitudinally spaced, wherein said first and second positions are centered on a vehicle centerline defined by said lift platform, wherein a first lift plane defined by said first thrust generating means is below a lift platform center of gravity, and wherein a second lift plane defined by said second thrust generating means is below said lift platform center of gravity; and

a kinesthetic control means coupled to means for aerodynamically altering air flow from said first and second thrust generating means, wherein said kinesthetic control means has at least a first position and a second position, wherein said kinesthetic control means in said first position induces lift platform downward pitch and wherein said kinesthetic control means in said second position induces lift platform upward pitch.

2. The augmented kinesthetic control system of claim 1, wherein said kinesthetic control means has a third position and a fourth position, wherein said kinesthetic control means in said third position induces lift platform yaw left movement, and wherein said kinesthetic control means in said fourth position induces lift platform yaw right movement.

3. The augmented kinesthetic control system of claim 2, wherein a lift platform roll left movement is induced when said kinesthetic control means is in said third position and said center of gravity is shifted to the left of said vehicle centerline, and wherein a lift platform roll right movement is induced when said kinesthetic control means is in said fourth position and said center of gravity is shifted to the right of said vehicle centerline.

4. The augmented kinesthetic control system of claim 2, wherein when said lift platform is moving forward, a lift platform roll left and turn left movement is induced when said kinesthetic control means is rapidly moved from a neutral position to said fourth position and back to said neutral position, and wherein when said lift platform is moving forward, a lift platform roll right and turn right movement is induced when said kinesthetic control means is rapidly moved from said neutral position to said third position and back to said neutral position.

5. An augmented kinesthetic control system, comprising:

a lift platform comprising a first rotor mounted within a first duct and located in a fore position in said lift platform, a second rotor mounted within a second duct and located in an aft position in said lift platform, wherein said first and second positions are longitudinally spaced, wherein said first and second positions are centered on a lift platform centerline, wherein a first lift plane defined by said first rotor is below a lift platform center of gravity, and wherein a second lift plane defined by said second rotor is below said lift platform center of gravity;

a first airflow controlling means corresponding to said first duct;

a second airflow controlling means corresponding to said second duct, wherein said first and second airflow controlling means are longitudinally spaced;

a first control handle bar coupled to said first and second airflow controlling means and configured to allow forward movement from a first control handle bar neutral position and configured to allow rearward movement from said first control handle bar neutral position, wherein said first control handle bar is located to the left of said lift platform centerline;

a second control handle bar coupled to said first and second airflow controlling means and configured to allow forward movement from a second control handle bar neutral position and configured to allow rearward movement from said second control handle bar neutral position, wherein said second control handle bar is located to the right of said lift platform centerline;

wherein lift platform downward pitch is induced when said first control handle bar is moved forward from said first control handle bar neutral position and said second control handle bar is moved forward from said second control handle bar neutral position;

wherein lift platform upward pitch is induced when said first control handle bar is moved rearward from said first control handle bar neutral position and said second control handle bar is moved rearward from said second control handle bar neutral position;

wherein lift platform yaw right is induced when said first control handle bar is moved forward from said first control handle bar neutral position and said second control handle bar is moved rearward from said second control handle bar neutral position; and

wherein lift platform yaw left is induced when said first control handle bar is moved rearward from said first control handle bar neutral position and said second control handle bar is moved forward from said second control handle bar neutral position.

6. The augmented kinesthetic control system of claim 5, wherein said first airflow controlling means generates negative lift preferentially on a right platform side as defined by said lift platform centerline when said first control handle bar is moved forward from said first control handle bar neutral position, wherein said first airflow controlling means generates negative lift preferentially on a left platform side as defined by said lift platform centerline when said second control handle bar is moved forward from said first control handle bar neutral position, wherein said second airflow controlling means generates negative lift preferentially on said right platform side when said first control handle bar is moved rearward from said first control handle bar neutral position, and wherein said second airflow controlling means generates negative lift preferentially on said left platform side when said second control handle bar is moved rearward from said first control handle bar neutral position.

7. The augmented kinesthetic control system of claim 5, said first airflow controlling means further comprising a pair of first duct airflow control surfaces, and said second airflow controlling means further comprising a pair of second duct airflow control surfaces.

8. The augmented kinesthetic control system of claim 5, said first airflow controlling means further comprising a first control surface and a second control surface, said first and second control surfaces extending radially from a first duct axis, and said second airflow controlling means further comprising a third control surface and a fourth control surface, said third and fourth control surfaces extending radially from a second duct axis.

9. The augmented kinesthetic control system of claim 8, wherein said first and second control surfaces are angled away from a lift platform lateral axis, and wherein said third and fourth control surfaces are angled away from said lift platform lateral axis.

10. The augmented kinesthetic control system of claim 5, wherein lift platform roll right is induced when said first control handle bar is moved forward from said first control handle bar neutral position, said second control handle bar is moved rearward from said second control handle bar neutral position, and said center of gravity is shifted to the right of said lift platform centerline;

and

wherein lift platform roll left is induced when said first control handle bar is moved rearward from said first control handle bar neutral position, said second control handle bar is moved forward from said second control handle bar neutral position, and said center of gravity is shifted to the left of said lift platform centerline.

11. The augmented kinesthetic control system of claim 5, wherein during forward movement, a lift platform roll right and lift platform turn right is induced when said first control handle bar is rapidly moved rearward from said first control handle bar neutral position and then back, and said second control handle bar is rapidly moved forward from said second control handle bar neutral position and then back;

and

wherein during forward movement, a lift platform roll left and lift platform turn left is induced when said first control handle bar is rapidly moved forward from said first control handle bar neutral position and then back, and said second control handle bar is rapidly moved rearward from said second control handle bar neutral position and then back.

12. The augmented kinesthetic control system of claim 5, wherein said first control handle bar is configured to be adjustable between at least a first vertical position and a second vertical position, wherein said first vertical position is lower than said second vertical position relative to said first and second lift planes, and wherein said second control handle bar is configured to be adjustable between at least said first vertical position and said second vertical position.

13. The augmented kinesthetic control system of claim 5, further comprising a drive system coupled to said first and second rotors, a throttle control coupled to at least one of said first control handle bar and said second control handle bar, a drive system cowling that defines a pilot seating region, and a pair of foot support plates.

14. The augmented kinesthetic control system of claim 5, said first rotor comprising a first fixed pitch propeller, and said second rotor comprising a second fixed pitch propeller.

15. The augmented kinesthetic control system of claim 5, wherein said first and second rotors are canted in-line on the lift platform centerline.

16. An augmented kinesthetic control system, comprising:

a lift platform comprising a first rotor mounted within a first duct and located in a fore position in said lift platform, a second rotor mounted within a second duct and located in an aft position in said lift platform, wherein said first and second positions are longitudinally spaced, wherein said first and second positions are centered on a lift platform centerline, wherein a first lift plane defined by said first rotor is below a lift platform center of gravity, and wherein a second lift plane defined by said second rotor is below said lift platform center of gravity;

a first airflow controlling means corresponding to said first duct;

a second airflow controlling means corresponding to said second duct, wherein said first and second airflow controlling means are longitudinally spaced;

a first control handle bar coupled to said first and second airflow controlling means and configured to allow a forward twisting motion from a first control handle bar neutral position and configured to allow a rearward twisting motion from said first control handle bar neutral position, wherein said first control handle bar is located to the left of said lift platform centerline;

a second control handle bar coupled to said first and second airflow controlling means and configured to allow a forward twisting motion from a second control handle bar neutral position and configured to allow a rearward twisting motion from said second control handle bar neutral position, wherein said second control handle bar is located to the right of said lift platform centerline;

wherein lift platform downward pitch is induced when said first control handle bar is twisted forward from said first control handle bar neutral position and said second control handle bar is twisted forward from said second control handle bar neutral position;

wherein lift platform upward pitch is induced when said first control handle bar is twisted rearward from said first control handle bar neutral position and said second control handle bar is twisted rearward from said second control handle bar neutral position;

wherein lift platform yaw right is induced when said first control handle bar is twisted forward from said first control handle bar neutral position and said second control handle bar is twisted rearward from said second control handle bar neutral position; and

wherein lift platform yaw left is induced when said first control handle bar is twisted rearward from said first control handle bar neutral position and said second control handle bar is twisted forward from said second control handle bar neutral position.

17. The augmented kinesthetic control system of claim 16, wherein said first airflow controlling means generates negative lift preferentially on a right platform side as defined by said lift platform centerline when said first control handle bar is twisted forward from said first control handle bar neutral position, wherein said first airflow controlling means generates negative lift preferentially on a left platform side as defined by said lift platform centerline when said second control handle bar is twisted forward from said first control handle bar neutral position, wherein said second airflow controlling means generates negative lift preferentially on said right platform side when said first control handle bar is twisted rearward from said first control handle bar neutral position, and wherein said second airflow controlling means generates negative lift preferentially on said left platform side when said second control handle bar is twisted rearward from said first control handle bar neutral position.

18. The augmented kinesthetic control system of claim 16, said first airflow controlling means further comprising a pair of first duct airflow control surfaces, and said second airflow controlling means further comprising a pair of second duct airflow control surfaces.

19. The augmented kinesthetic control system of claim 16, said first airflow controlling means further comprising a first control surface and a second control surface, said first and second control surfaces extending radially from a first duct axis, and said second airflow controlling means further comprising a third control surface and a fourth control surface, said third and fourth control surfaces extending radially from a second duct axis.

20. The augmented kinesthetic control system of claim 19, wherein said first and second control surfaces are angled away from a lift platform lateral axis, and wherein said third and fourth control surfaces are angled away from said lift platform lateral axis.

21. The augmented kinesthetic control system of claim 16, wherein lift platform roll right is induced when said first control handle bar is twisted forward from said first control handle bar neutral position, said second control handle bar is twisted rearward from said second control handle bar neutral position, and said center of gravity is shifted to the right of said lift platform centerline;

and

wherein lift platform roll left is induced when said first control handle bar is twisted rearward from said first control handle bar neutral position, said second control handle bar is twisted forward from said second control handle bar neutral position, and said center of gravity is shifted to the left of said lift platform centerline.

22. The augmented kinesthetic control system of claim 16, wherein during forward movement, a lift platform roll right and lift platform turn right is induced when said first control handle bar is rapidly moved rearward from said first control handle bar neutral position and then back, and said second control handle bar is rapidly moved forward from said second control handle bar neutral position and then back;

and

wherein during forward movement, a lift platform roll left and lift platform turn left is induced when said first control handle bar is rapidly moved forward from said first control handle bar neutral position and then back, and said second control handle bar is rapidly moved rearward from said second control handle bar neutral position and then back.

23. The augmented kinesthetic control system of claim 16, wherein said first control handle bar is configured to be adjustable between at least a first vertical position and a second vertical position, wherein said first vertical position is lower than said second vertical position relative to said first and second lift planes, and wherein said second control handle bar is configured to be adjustable between at least said first vertical position and said second vertical position.

24. The augmented kinesthetic control system of claim 16, further comprising a drive system coupled to said first and second rotors, a throttle control coupled to at least one of said first control handle bar and said second control handle bar, a drive system cowling that defines a pilot seating region, and a pair of foot support plates.

25. The augmented kinesthetic control system of claim 16, said first rotor comprising a first fixed pitch propeller, and said second rotor comprising a second fixed pitch propeller, and wherein said first and second rotors are canted in-line on the lift platform centerline.