VEHICLE CAPABLE OF STABILIZING A PAYLOAD WHEN IN MOTION

• US 20140034775A1
• Filed: 08/02/2012
• Published: 02/06/2014
• Est. Priority Date: 08/02/2012
• Status: Active Grant

• Current Assignee: Neurosciences Research Foundation, Inc.
• Original Assignee: Neurosciences Research Foundation, Inc.
• Inventors: HUTSON, DONALD B.
• Granted Patent: US 8,794,566 B2
• Time in Patent Office: Days
• US Class Current: 244/17.17
• CPC Class Codes: B64C 2025/325 specially adapted for helicopters
• CPC Class Codes: B64C 27/006 Safety devices
• CPC Class Codes: B64C 27/10 arranged coaxially
• CPC Class Codes: B64C 27/20 Rotorcraft characterised by having shrouded rotors, e.g. flying platforms
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64D 47/08 Arrangements of cameras
• CPC Class Codes: B64D 9/00 Equipment for handling freight; Equipment for facilitating passenger embarkation or the like emergency equipment B64D17/00, B64D19/00, B64D25/00; structures integral with fuselage to facilitate loading, fuselage floors specially adapted for freight, steps mounted on and retractable within aircraft B64C; ground installations B64F
• CPC Class Codes: B64U 10/10 Rotorcrafts
• CPC Class Codes: B64U 10/14 with four distinct rotor axes, e.g. quadcopters
• CPC Class Codes: B64U 10/70 Convertible aircraft, e.g. convertible into land vehicles
• CPC Class Codes: B64U 20/65 Composite materials
• CPC Class Codes: B64U 20/87 Mounting of imaging devices, e.g. mounting of gimbals
• CPC Class Codes: B64U 2101/00 UAVs specially adapted for particular uses or applications
• CPC Class Codes: B64U 2101/15 for conventional or electronic warfare
• CPC Class Codes: B64U 2101/30 for imaging, photography or videography
• CPC Class Codes: B64U 2101/31 for surveillance
• CPC Class Codes: B64U 30/20 Rotors; Rotor supports
• CPC Class Codes: B64U 30/26 Ducted or shrouded rotors
• CPC Class Codes: B64U 50/19 using electrically powered motors
• CPC Class Codes: B64U 50/34 In-flight charging photovoltaics B64U50/31
• CPC Class Codes: B64U 50/35 : by wireless transmission, e.g. by induction
• CPC Class Codes: B64U 70/30 : for capturing UAVs in flight by ground or sea-based arresting gear, e.g. by a cable or a net
• CPC Class Codes: F16M 11/123 : the axis of rotation intersecting in a single point, e.g. by using gimbals
• CPC Class Codes: F16M 11/18 : with mechanism for moving the apparatus relatively to the stand
• CPC Class Codes: F16M 13/00 : Other supports for positioning apparatus or articles heads thereof F16M11/02 ; undercarriages thereof F16M11/20 ; adapted to be stuck in the ground A45F3/44 ; sockets or holders for poles or posts E04H12/22; Means for steadying hand-held apparatus or articles supports for measuring instruments G01D11/30; supports for casings of remote control switching devices H01H9/025
• CPC Class Codes: F16M 13/02 : for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle
• CPC Class Codes: F16M 2200/041 : for balancing rotational movement of the head

Abstract

In specific embodiments, a vehicle propellable through fluids comprises a main work section and a plurality of propulsion units. The main work section includes a payload support hub, a payload support structure rotatable in 360° about the payload support hub in at least one axis, and a core including at least one microprocessor, the core at least partially nested within the payload support hub. The at least one microprocessor is adapted to substantially maintain an orientation of the payload support structure relative to a horizon line as the vehicle is propelled. One or more payloads are mountable on the rotatable payload support structure.

Claims

1. A vehicle propellable through fluids, comprising:

a main work section including

a payload support hub,

a payload support structure rotatable in 360°

about the payload support hub in at least one axis,

a core including at least one microprocessor, the core at least partially nested within the payload support hub,

wherein the at least one microprocessor is adapted to substantially maintain an orientation of the payload support structure relative to a horizon line as the vehicle is propelled, and

wherein one or more payloads are mountable on the rotatable payload support structure; and

a plurality of propulsion units for propelling the main work section.

2. The vehicle of claim 1, further being propellable along surfaces, each of the propulsion units further including

a rotor system;

a ring-shaped wheel at least partially arranged about the rotor system;

wherein the ring-shaped wheel is arranged at a banked angle relative to the at least one rotor blade; and

wherein when the vehicle is level and moving horizontally along a plane, for each of the propulsion units, the banked angle is such that the ring-shaped wheel extends outside of the rotor system so that the ring-shaped wheel contacts, before the rotor system contacts, any surface perpendicular to or parallel to the plane.

3. The vehicle of claim 2, each of the propulsion units further including

the rotor system having at least one rotor blade;

a ring-shaped hub connected with the arm frame and at least partially arranged about the rotor system, the ring-shaped hub having an inner diameter larger than the outer diameter of the at least one rotor blade;

wherein the ring-shaped wheel rotatable about the ring-shaped hub; and

a wheel motor connected with the ring-shaped hub for rotating the ring-shaped wheel.

4. The vehicle of claim 1, wherein the payload support structure allows multi-axis rotation of a mounted payload.

5. The vehicle of claim 1, wherein the one or more payloads includes one or more sensor payloads and/or one or more effector payloads.

6. The vehicle of claim 1, wherein the payload support structure includes a pair of rotatable gears and a rotatable plate arranged between the pair of rotatable gears;

wherein at least one payload is mounted on the payload support structure by a geared boom mounted on the rotatable plate and having teeth engaged by the pair of rotatable gears;

wherein when the pair of rotatable gears are rotated in the same direction and at the same speed the payload is pitched relative to the propulsion units; and

wherein when the pair of rotatable gears are counter-rotated the geared boom is rotated relative to the propulsion units.

7. The vehicle of claim 6, further comprising:

a hook connected with the rotatable plate;

wherein the hook is adapted to catch a structure and support the vehicle on the structure.

8. The vehicle of claim 7, further comprising a battery;

wherein the hook is adapted to charge the battery when the structure on which the vehicle is supported is a power line or other source of electrical current.

9. The vehicle of claim 5, wherein the one or more sensor payloads includes a camera mounted to the payload support structure;

wherein the camera including a laser range finder and a rotation sensor.

10. A vehicle propellable through fluids, comprising:

a main work section including

a payload support hub,

a payload support structure rotatable about the payload support hub in at least one axis,

wherein the payload support structure includes a pair of rotatable gears,

one or more payloads mounted on the payload support structure by a geared boom having teeth engaged by the pair of rotatable gears,

wherein when the pair of rotatable gears are rotated in the same direction and at the same speed the payload is pitched relative to the propulsion units, and

wherein when the pair of rotatable gears are counter-rotated the geared boom is rotated relative to the propulsion units; and

a plurality of propulsion units for propelling the main work section, each of the propulsion units including a rotor system.

11. The vehicle of claim 10, further being propellable along surfaces, each of the propulsion units further including

a ring-shaped wheel at least partially arranged about the rotor system;

wherein the ring-shaped wheel is arranged at a banked angle relative to the at least one rotor blade; and

wherein when the vehicle is level and moving horizontally along a plane, for each of the propulsion units, the banked angle is such that the ring-shaped wheel extends outside of the rotor system so that the ring-shaped wheel contacts, before the rotor system contacts, any surface perpendicular to or parallel to the plane.

12. The vehicle of claim 11, each of the propulsion units further including the rotor system having at least one rotor blade;

a ring-shaped hub connected with the arm frame and at least partially arranged about the rotor system, the ring-shaped hub having an inner diameter larger than the outer diameter of the at least one rotor blade;

wherein the ring-shaped wheel rotatable about the ring-shaped hub; and

a wheel motor connected with the ring-shaped hub for rotating the ring-shaped wheel.

13. The vehicle of claim 10, further comprising:

a core including at least one microprocessor, the core at least partially nested within the payload support hub;

wherein the at least one microprocessor is adapted to substantially maintain an orientation of the payload support structure relative to a horizon line as the vehicle is propelled, and

14. The vehicle of claim 10, wherein the one or more payloads includes one or more sensor payloads and/or one or more effector payloads.

15. The vehicle of claim 10, comprising:

four propulsion units substantially symmetrically arranged; and

wherein the rotor system of each of the propulsion units includes at least two rotor blades;

wherein a pitch of the rotor blades is collectively controllable.

16. A vehicle propellable through fluids, comprising:

a main work section including

a payload support hub,

a payload support structure rotatable about the payload support hub in at least one axis,

wherein the payload support structure includes a pair of rotatable gears,

one or more payloads mounted on the payload support structure by a geared boom having teeth engaged by the pair of rotatable gears,

wherein when the pair of rotatable gears are rotated in the same direction and at the same speed the payload is pitched relative to the propulsion units, and

wherein when the pair of rotatable gears are counter-rotated the geared boom is rotated relative to the propulsion units;

a core including at least one microprocessor, the core at least partially nested within the payload support hub,

wherein the at least one microprocessor is adapted to substantially maintain an orientation of the payload support structure relative to a horizon line as the vehicle is propelled; and

a plurality of propulsion units for propelling the main work section, each of the propulsion units including a rotor system.

17. The vehicle of claim 16, wherein the geared boom is a first geared boom and the main work section includes a second geared boom arranged approximately opposite the first geared boom along a circumference of the payload support structure.

18. The vehicle of claim 16, wherein the main work section includes a rotatable plate arranged between the rotatable gears;

wherein the first geared boom is mounted on the rotatable plate; and

further comprising a hook mounted on the rotatable plate.

19. The vehicle of claim 16, further being propellable along surfaces, each of the propulsion units further including

a ring-shaped wheel at least partially arranged about the rotor system;

wherein the ring-shaped wheel is arranged at a banked angle relative to the at least one rotor blade; and

wherein when the vehicle is level and moving horizontally along a plane, for each of the propulsion units, the banked angle is such that the ring-shaped wheel extends outside of the rotor system so that the ring-shaped wheel contacts, before the rotor system contacts, any surface perpendicular to or parallel to the plane.

20. The vehicle of claim 16, wherein the one or more payloads includes one or more sensor payloads and/or one or more effector payloads.