ROTOCRAFT

• US 20110204188A1
• Filed: 02/24/2010
• Published: 08/25/2011
• Est. Priority Date: 02/24/2010
• Status: Active Grant

• Current Assignee: Robert Marcus
• Original Assignee: Robert Marcus
• Inventors: Marcus, Robert
• Granted Patent: US 8,590,828 B2
• Time in Patent Office: Days
• US Class Current: 244/23.B
• CPC Class Codes: B64C 19/00 Aircraft control not otherwise provided for
• CPC Class Codes: B64C 29/0058 with vertical jet
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64D 45/00 Aircraft indicators or protectors not otherwise provided for camouflage F41H3/00
• CPC Class Codes: B64U 10/13 Flying platforms
• CPC Class Codes: B64U 2101/30 for imaging, photography or videography
• CPC Class Codes: B64U 30/20 Rotors; Rotor supports
• CPC Class Codes: B64U 50/15 using combustion exhausts other than turbojets or turbofans, e.g. using rockets, ramjets, scramjets or pulse-reactors
• CPC Class Codes: B64U 50/19 using electrically powered motors
• CPC Class Codes: B64U 70/80 Vertical take-off or landing, e.g. using rockets rotorcrafts B64U10/10; VTOL aircraft B64U10/20

Abstract

An aerial vehicle includes independently controlled horizontal thrusters and vertical lifters to provide design and operational simplicity while allowing precision flying with six degrees of freedom and use of mounted devices such as tools, sensors, and instruments. Each horizontal thruster and vertical lifter can be mounted as constant-pitch, fixed-axis rotors while still allowing for precise control of yaw, pitch, roll, horizontal movement, and vertical elevation. Gyroscopes and inclinometers can be used to further enhance flying precision. A controller manages thrust applied the horizontal thrusters and vertical lifters to compensate for forces and torques generated by the use of tools and other devices mounted to the aerial vehicle.

Claims

1. An aerial vehicle comprising:

a frame;

a plurality of horizontal thrusters attached to the frame;

a plurality of vertical lifters attached to the frame;

a device attached to the frame, wherein the device comprises one or more selected from the group consisting of a mechanical tool, a sensor, and a weapon; and

a controller attached to the frame and configured to control the plurality of horizontal thrusters and/or the plurality of vertical lifters,

wherein the aerial vehicle is capable of maneuvering in all directions and axes by independently controlling the thrust applied by the plurality of horizontal thrusters and the plurality of vertical lifters.

2. The aerial vehicle of claim 1, wherein the aerial vehicle is capable of changing yaw, pitch, roll, or elevation independently from each other while maintaining the device on a target with changing the orientation of the device within a single plane.

3. The aerial vehicle of claim 1, wherein a portion of the device is configured to move relative to the frame.

4. The aerial vehicle of claim 1, wherein the aerial vehicle is an unmanned aerial vehicle (UAV).

5. The aerial vehicle of claim 1, wherein the aerial vehicle is configured to enter a building by opening a door and/or a window and/or ramming through the door and/or the window.

6. The aerial vehicle of claim 1, wherein an external force is exerted by moving the device relative to the frame.

7. The aerial vehicle of claim 1, wherein an external torque is exerted by moving the device relative to the frame.

8. The aerial vehicle of claim 1, wherein the plurality of vertical lifters comprises four independently controlled vertical lifters, wherein the thrust applied by each of the independently controlled vertical lifers is varied by changing rotational speeds associated with each of the independently controlled vertical lifters.

9. The aerial vehicle of claim 1, wherein the plurality of horizontal thrusters comprises two independently controlled horizontal thrusters, wherein the thrust applied by each of the independently controlled horizontal thrusters is varied by changing rotational speeds associated with each of the independently controlled horizontal thrusters.

12. The aerial vehicle of claim 9, further comprising a battery, wherein the aerial vehicle is configured to establish an electrical connection with a stationary external power source to recharge the battery while the aerial vehicle is remotely operated.

13. The aerial vehicle of claim 12, wherein the stationary external power source is a wall-mounted electrical outlet.

14. The aerial vehicle of claim 1 further comprising a gyroscope for controlling the plurality of vertical lifters.

15. The aerial vehicle of claim 1, wherein an output from the proximity sensor is used by one or more vertical lifters from the plurality of vertical lifters and/or one or more horizontal thrusters from the plurality of horizontal thrusters to maintain substantially constant distance from an external object detected by the proximity sensors.

16. The aerial vehicle of claim 1, wherein the device comprises a mechanical claw.

17. The aerial vehicle of claim 16, wherein the mechanical claw is configured to turn a door knob.

18. The aerial vehicle of claim 17, wherein the mechanical claw comprises a plurality of mechanical fingers and at least one mechanical finger is movable.

19. The aerial vehicle of claim 18, wherein at least one mechanical finger in the plurality comprises a roller.

20. The aerial vehicle of claim 16, wherein the mechanical claw is configured to move in and out relative to the frame and to turn relative to the frame.

21. The aerial vehicle of claim 20, wherein the controller is configured to control one or more of the plurality of vertical lifters and one or more of the plurality of horizontal thrusters to counterbalance forces and torques exerted in the aerial vehicles during operation of the mechanical claw, sensor, or weapon.

22. A method, comprising:

receiving data collected from sensors mounted to a frame of an unmanned aerial vehicle, the unmanned aerial vehicle having a plurality of vertical lifters and a plurality of horizontal thrusters;

receiving instructions over a wireless interface to operate a mechanical tool connected to the frame; and

independently controlling power levels applied to each of the plurality of vertical lifters and each of the plurality of horizontal thrusters to compensate for feedback resulting from operating the mechanical tool.

23. A method, comprising:

receiving data collected from sensors mounted to a frame of an unmanned aerial vehicle, the unmanned aerial vehicle having a plurality of vertical lifters and a plurality of horizontal thrusters;

receiving instructions over a wireless interface to guide the unmanned aerial vehicle; and

combining the data collected from the sensors and the instructions received over the wireless interface to independently control power levels applied to each of the plurality of vertical lifters and each of the plurality of horizontal thrusters to control a flying path of the vehicle.