Modular Vehicle Lift System

• US 20140374532A1
• Filed: 06/24/2013
• Published: 12/25/2014
• Est. Priority Date: 06/24/2013
• Status: Active Grant

• Current Assignee: The Boeing Co.
• Original Assignee: The Boeing Co.
• Inventors: Bouwer, Scott H., Duffy, Michael J., Mattero, John J.
• Granted Patent: US 9,457,899 B2
• Time in Patent Office: Days
• US Class Current: 244/2
• CPC Class Codes: B64C 37/02 Flying units formed by separate aircraft towing B64D3/00; aircraft transported by aircraft B64D5/00; air-refuelling B64D39/00
• CPC Class Codes: B64U 10/13 Flying platforms
• CPC Class Codes: B64U 10/14 with four distinct rotor axes, e.g. quadcopters
• CPC Class Codes: B64U 10/16 with five or more distinct rotor axes, e.g. octocopters
• CPC Class Codes: B64U 2101/60 for transporting passengers; for transporting goods other than weapons
• CPC Class Codes: B64U 2101/64 for parcel delivery or retrieval
• CPC Class Codes: B64U 2201/20 Remote controls
• CPC Class Codes: B64U 30/20 Rotors; Rotor supports
• CPC Class Codes: B64U 30/24 Coaxial rotors
• CPC Class Codes: B64U 30/26 Ducted or shrouded rotors
• CPC Class Codes: B64U 60/50 with landing legs
• CPC Class Codes: G05D 1/104 involving a plurality of aircrafts, e.g. formation flying traffic control systems for aircraft G08G5/00

Abstract

Apparatus, systems, and methods provide for a modular vehicle system utilized for lifting and maneuvering payloads. According to aspects of the disclosure, any number of individual lift vehicles may be connected to create a unified lift vehicle. The individual lift vehicles may be placed adjacent to one another according to a determined lifting array formation and coupled together using connection mechanisms. The connection mechanisms rigidly and communicatively connect the individual lift vehicles to create the unified lift vehicle suitable for lifting and maneuvering a payload.

Claims

1. A unified lift vehicle for maneuvering a payload, comprising:

a plurality of individual lift vehicles, each individual lift vehicle operative to perform controlled three-axis flight; and

a plurality of connection mechanisms rigidly and communicatively connecting the plurality of individual lift vehicles in a lifting array formation to create the unified lift vehicle operative to perform three-axis flight.

2. The unified lift vehicle of claim 1, further comprising a controller operative to receive control data from a remote control device and to control an individual lift vehicle according to the control data.

3. The unified lift vehicle of claim 1, wherein each individual lift vehicle comprises:

four drive units rigidly coupled to one another to create a four-rotor configuration, each drive unit comprising a motor and a rotor coupled to the motor;

a power source coupled to the four drive units; and

a controller communicatively coupled to the four drive units and operative to

receive control data, and

to control each of the four drive units according to the control data.

4. The unified lift vehicle of claim 3, wherein the four drive units are rigidly coupled to one another in a 2×

2 configuration via a frame extending outward from a hub centrally located between the four drive units.

5. The unified lift vehicle of claim 1, wherein each individual lift vehicle comprises:

six drive units rigidly coupled to one another to create a six-rotor configuration, each drive unit comprising a motor and a rotor coupled to the motor;

a power source coupled to the six drive units; and

a controller communicatively coupled to the six drive units and operative to

receive control data, and

to control each of the six drive units according to the control data.

6. The unified lift vehicle of claim 5, wherein the six drive units are rigidly coupled to one another in a hexagonal configuration.

7. The unified lift vehicle of claim 6, wherein the three drive units are mounted to a top side of a frame and three drive units are mounted to a bottom side of the frame, wherein the three drive units mounted to the bottom side of the frame comprise propellers that rotate in an opposite direction as propellers of the drive units mounted on the top side of the frame.

8. The unified lift vehicle of claim 1, further comprising a speed controller communicatively coupled to each motor and to the controller and operative to receive control data from the controller and alter the speed of the motor according to the control data.

9. The unified lift vehicle of claim 1, further comprising a control and sensor suite operative to autonomously control the unified lift vehicle and a payload along a flight route via at least one waypoint.

10. The unified lift vehicle of claim 1, further comprising a circuit communicatively coupling the plurality of individual lift vehicles via the plurality of connection mechanisms.

11. The unified lift vehicle of claim 1, wherein each connection mechanism comprises a top half and a bottom half that are identical and interchangeable.

12. The unified lift vehicle of claim 11, wherein each connection mechanism comprises a plurality of connection apertures defined by the top half and the bottom half when joined together, each connection aperture sized and shaped to receive a connector junction of one individual lift vehicle.

13. The unified lift vehicle of claim 12, wherein the top half and the bottom half each comprise a signal transfer line extending between the plurality of connection apertures and configured to transfer electrical or data signals between adjacent individual lift vehicles.

14. The unified lift vehicle of claim 13, wherein the top half and the bottom half each comprise a wall-positioned connector configured to mate with a corresponding connector at an outer surface of the connector junction of the individual lift vehicle and to communicatively couple the signal transfer line to a distribution line of the individual lift vehicle.

15. The unified lift vehicle of claim 13, wherein the top half and the bottom half each comprise an end connector configured to mate with a corresponding connector at an end of the connector junction of the individual lift vehicle and to communicatively couple the signal transfer line to a distribution line of the individual lift vehicle.

16. The unified lift vehicle of claim 11, wherein the plurality of connection mechanisms comprise a plurality of edge connectors and a central connector, wherein each edge connector is configured to rigidly and communicatively connect two adjacent individual lift vehicles and wherein the central connector is configured to rigidly and communicatively connect more than two adjacent individual lift vehicles.

17. A modular vehicle lift system, comprising:

a plurality of individual lift vehicles positioned adjacent to one another according to a lifting array formation, each individual lift vehicle operative to perform controlled three-axis flight and comprising;

four drive units rigidly coupled to one another to create a four-rotor configuration, each drive unit comprising a motor and a rotor coupled to the motor, and

a controller communicatively coupled to the four drive units and operative to receive control data from a remote control device and to control each of the four drive units according to the control data;

a plurality of connection mechanisms rigidly and communicatively connecting the plurality of individual lift vehicles in the lifting array formation to create a unified lift vehicle operative to perform three-axis flight; and

the remote control device operative to provide the control data to the controller of each individual lift vehicle and control the unified lift vehicle in three-axis flight.

18. The modular vehicle lift system of claim 17, wherein each connection mechanism comprises a top half and a bottom half that are identical and interchangeable.

19. The modular vehicle lift system of claim 18, wherein the top half and the bottom half each comprise a signal transfer line extending between the plurality of connection apertures and configured to transfer electrical or data signals between adjacent individual lift vehicles.

20. The modular vehicle lift system of claim 19, wherein the plurality of connection mechanisms comprise a plurality of edge connectors and a central connector, wherein each edge connector is configured to rigidly and communicatively connect two adjacent individual lift vehicles and wherein the central connector is configured to rigidly and communicatively connect more than two adjacent individual lift vehicles.

21. A method for maneuvering a payload utilizing a modular vehicle lift system, the method comprising:

rigidly and communicatively coupling a plurality of individual lift vehicles with a plurality of connection mechanisms to create a unified lift vehicle, wherein each individual lift vehicle is operative to perform controlled three-axis flight;

coupling the payload to the unified lift vehicle; and

providing flight commands to the unified lift vehicle to maneuver the payload in three-axis flight.

22. The method of claim 21, wherein for each adjoining pair of individual lift vehicles to be connected, rigidly and communicatively coupling the plurality of individual lift vehicles with the plurality of connection mechanisms comprises:

positioning a connection junction of a first individual lift vehicle within a first connection aperture of a first half of a connection mechanism;

positioning a connection junction of a second individual lift vehicle within a second connection aperture of the first half of the connection mechanism;

placing a second half of the connection mechanism over the first half; and

securing the first half to the second half.

23. The method of claim 22, further comprising:

communicatively coupling the connection junction of the first individual lift vehicle to a signal transfer line of the connection mechanism when positioning the connection junction within the first connection aperture; and

communicatively coupling the connection junction of the second individual lift vehicle to the signal transfer line of the connection mechanism when positioning the connection junction within the first connection aperture.

24. The method of claim 21, further comprising:

determining a formation of the individual lift vehicles for the unified lift vehicle;

registering the individual lift vehicles to identify a position of each individual lift vehicle within the formation; and

identifying a plurality of individual lift vehicles for control according to the position of the identified lift vehicles and the flight commands,

wherein providing flight commands to the unified lift vehicle comprises providing the flight commands to the plurality of individual lift vehicles identified for control.

25. The method of claim 24, further comprising defining characteristics of the payload within a remote control device, wherein determining the formation of the individual lift vehicles for the unified lift vehicle comprises determining the number and positioning of the individual lift vehicles within the unified lift vehicle according to the characteristics of the payload and performance capabilities of each individual lift vehicle.

26. The method of claim 21, further comprising defining waypoints and a flight route within a remote control device, wherein providing flight commands to the unified lift vehicle to maneuver the payload in three-axis flight comprises initiating autonomous flight according to the waypoints and the flight route.