AMPHIBIOUS VERTICAL TAKEOFF AND LANDING UNMANNED SYSTEM AND FLYING CAR WITH MULTIPLE AERIAL AND AQUATIC FLIGHT MODES FOR CAPTURING PANORAMIC VIRTUAL REALITY VIEWS, INTERACTIVE VIDEO AND TRANSPORTATION WITH MOBILE AND WEARABLE APPLICATION

• US 20160114887A1
• Filed: 11/13/2015
• Published: 04/28/2016
• Est. Priority Date: 10/01/2002
• Status: Active Grant

• Current Assignee: Andrew H.B. Zhou, Dylan T.X. Zhou, Tiger T.G. Zhou
• Original Assignee: Andrew H.B. Zhou, Dylan T.X. Zhou, Tiger T.G. Zhou
• Inventors: Zhou, Dylan T X, Zhou, Andrew H B, Zhou, Tiger T G
• Granted Patent: US 9,493,235 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B60F 3/0007 Arrangement of propulsion or steering means on amphibious vehicles marine propulsion or steering B63H
• CPC Class Codes: B60F 3/0061 Amphibious vehicles specially adapted for particular purposes or of a particular type armoured amphibious vehicles F41H7/00; equipment for working under water B63C11/00; flating bridges designed as or mounted on vehicles E01D15/22
• CPC Class Codes: B60F 5/02 convertible into aircraft
• CPC Class Codes: B63B 22/20 Ballast means
• CPC Class Codes: B63G 2008/004 autonomously operating
• CPC Class Codes: B63G 8/001 Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations self-propelled or direction controlled diving chambers with mechanical link to a base B63C11/42
• CPC Class Codes: B63G 8/16 by direct use of propellers or jets
• CPC Class Codes: B64C 29/0033 the propellers being tiltable relative to the fuselage
• CPC Class Codes: B64C 35/008 Amphibious sea planes
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64U 10/10 Rotorcrafts
• CPC Class Codes: B64U 10/13 Flying platforms
• CPC Class Codes: B64U 10/25 Fixed-wing aircraft VTOL aircraft B64U10/20
• CPC Class Codes: B64U 10/70 Convertible aircraft, e.g. convertible into land vehicles
• CPC Class Codes: B64U 2101/00 UAVs specially adapted for particular uses or applications
• CPC Class Codes: B64U 2101/30 for imaging, photography or videography
• CPC Class Codes: B64U 2101/60 for transporting passengers; for transporting goods other than weapons
• CPC Class Codes: B64U 2201/10 autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
• CPC Class Codes: B64U 2201/104 using satellite radio beacon positioning systems, e.g. GPS
• CPC Class Codes: B64U 30/12 Variable or detachable wings, e.g. wings with adjustable sweep
• 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 30/297 : Tilting rotors
• CPC Class Codes: B64U 50/13 : using external fans or propellers
• CPC Class Codes: B64U 50/14 : ducted or shrouded
• CPC Class Codes: B64U 50/19 : using electrically powered motors
• CPC Class Codes: B64U 50/31 : generated by photovoltaics
• CPC Class Codes: B64U 50/34 : In-flight charging photovoltaics B64U50/31
• CPC Class Codes: B64U 80/25 : for recharging batteries; for refuelling
• CPC Class Codes: G05D 1/0088 : characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/042 : specially adapted for aircraft
• CPC Class Codes: G05D 1/048 : specially adapted for water vehicles
• CPC Class Codes: G05D 1/102 : specially adapted for vertical take-off of aircraft
• CPC Class Codes: G06Q 20/308 : using the Internet of Things
• CPC Class Codes: G06Q 20/321 : using wearable devices
• CPC Class Codes: G06Q 20/3274 : using a pictured code, e.g. barcode or QR-code, being displayed on the M-device
• CPC Class Codes: G06Q 20/367 : involving electronic purses or money safes
• CPC Class Codes: G08G 3/02 : Anti-collision systems
• CPC Class Codes: G08G 5/045 : Navigation or guidance aids, e.g. determination of anti-collision manoeuvers radar or analogous systems specially adapted for anti-collision between aircraft G01S13/933
• CPC Class Codes: H04N 23/50 : Constructional details
• CPC Class Codes: H04N 23/51 : Housings
• CPC Class Codes: H04N 23/60 : Control of cameras or camera modules
• CPC Class Codes: H04N 23/661 : Transmitting camera control signals through networks, e.g. control via the Internet
• CPC Class Codes: H04N 23/685 : performed by mechanical compensation
• CPC Class Codes: H04N 23/69 : Control of means for changing angle of the field of view, e.g. optical zoom objectives or electronic zooming
• CPC Class Codes: H04N 23/698 : for achieving an enlarged field of view, e.g. panoramic image capture
• CPC Class Codes: H04N 5/265 : Mixing
• CPC Class Codes: H04N 7/181 : for receiving images from a plurality of remote sources

Abstract

Provided is an amphibious vertical takeoff and landing unmanned device comprising a modular and expandable waterproof body, a chassis, an outer body shell, a propulsion system, a propeller protection system, a surface skidding material platform, a landing system, control surfaces, a ballast, an onboard air compressor, an onboard electrolysis system, a waterproof through-body wire or antenna feed-through, a single- or multiple-axis tilt-motor device, a tilt fuselage device, a tilt wing device, a battery, a power distribution board, a Global Positioning System module, a lost model alert, a cooling device, a detachable impact absorbing skin or shell, vision aiding and orientative lights, hatches, quick connect payloads, a lap counter for racing, a flat or inclined launch platform or footing, claws, an apparatus for externally attaching and internally housing the cargo, a charging station, a partial vacuum device, a manually or automatically deployable parachute, and an onboard or ground station electricity generator.

Claims

1. An amphibious vertical takeoff and landing (VTOL) unmanned device comprising:

a modular and expandable waterproof body;

a chassis;

an outer body shell comprising one or more pieces;

a propulsion system selected from a coaxial propulsion system and a single-axis propulsion system, the propulsion system comprises a plurality of motors and propellers associated with the plurality of motors, wherein the propellers are selected from clockwise propellers, counterclockwise propellers, and variable pitch propellers, wherein the propellers include at least a multi-blade ducted fan;

a propeller protection system;

at least one wing;

a surface skidding material platform;

a landing system that conforms to a landing surface;

one or more control surfaces selected from a group comprising;

a rudder, an aileron, a flap, and elevator;

a ballast selected from a permanently fixed ballast and a detachable ballast;

an onboard air compressor;

an onboard electrolysis system;

at least one waterproof through-body wire or antenna feed-through;

a single- or multiple-axis tilt-motor device;

a tilt fuselage device;

a tilt wing device;

a door connected to the modular and expandable waterproof body, wherein the door is selected from a gull wing door and a falcon wing door;

at least one tilt rotor device embedded into the door;

a battery, wherein a shape of the battery conforms to an interior profile of the modular and expandable waterproof body;

a power distribution board comprising one or more of the following;

a flight controller, electronic speed controllers, a buzzer, an on screen display telemetry device, a video transmitter, and a radio control receiver, wherein the power distribution board acts as the chassis;

a first rotor operable to rotate about a first axis and tilt about a second axis between a helicopter mode and an aeroplane mode, wherein the first rotor comprises a shaft operable to rotate about the first axis and tilt about the second axis between the helicopter mode and the aeroplane mode;

the first axis being transversal to a longitudinal direction of the amphibious VTOL unmanned device in the helicopter mode and being substantially parallel to the longitudinal direction in the aeroplane mode;

a second rotor operatively connected to the shaft of the first rotor;

an electrical power storage device;

an electrical machine comprising a stator electrically connected to the electrical power storage device, wherein the electrical machine acts as an electric motor for driving rotation of the first rotor by using the electrical power storage device, and wherein the electrical machine acts as an electrical power generator for re-charging the electrical power storage device by causing the rotation of the second rotor under action of a wind current;

a Global Positioning System (GPS) module;

a lost model alert;

a cooling device comprising at least one heat sink, fan, or duct;

a detachable impact absorbing skin or shell;

vision aiding and orientative lights, wherein the vision aiding and orientative lights include light emitting diodes;

one or more hatches;

quick connect payloads;

a lap counter for racing;

a flat or inclined launch platform or footing;

one or more claws with at least one degree of freedom;

an apparatus for externally attaching a cargo and internally housing the cargo;

a charging station for multiple batteries, the charging station comprising a fireproof bunker;

a partial vacuum device configured to perform cooling and increase buoyancy;

a manually or automatically deployable parachute;

an onboard or ground station electricity generator comprising a plurality of solar cells, one or more wind turbines, and one or more hydroelectric generators;

a 3D or 4D printed parts;

a carbon fiber hybrid solar cells;

a light detection and ranging lidar; and

an ultrasonic radar sensor;

wherein at least one motor of the plurality of motors includes a solar turbine powered master impeller motor disposed centrally in the device, solar turbine powered master impeller motor comprising an electric-drive impeller contained in a compression chamber and having an axis of rotation oriented perpendicularly to an axis of the device, the solar turbine powered master impeller motor being powered by a solar film, the solar film being integrated on an upper surface of the device, a lower surface of the device, and the at least one wing of the device, and the solar turbine powered master impeller motor being powered by the electrical power storage device;

wherein the at least one wing includes a left forward swept wing and a right forward swept wing, the left forward swept wing and the right forward swept wing being mounted on the chassis,

wherein the propellers further include a first brushless ducted fan and a second brushless ducted fan integrated left and right of the chassis, the first brushless ducted fan and the second brushless ducted fan being powered by the solar film, the first brushless ducted fan and the second brushless ducted fan being associated with a brushless electric motor operable to spin the electric-drive impeller to provide at least one air accelerator ring with compressed forced air thrust.

2. The device of claim 1, wherein the plurality of motors and propellers includes ducted propellers, fixed pitch propellers, controllable pitch propellers, two-position propellers, full feathering propellers, and tilted propellers.

3. The device of claim 1, wherein the plurality of motors and propellers includes two motors and propellers, three motors and propellers, four motors and propellers, five motors and propellers, and six motors and propellers.

4. The device of claim 1, wherein at least one of the plurality of motors and propellers is located on a foldable wing, the foldable wing folding in a ground mode and unfolding in a flight mode.

5. The device of claim 1, further comprising one or more modules attached to the modular and expandable waterproof body, the one or more modules are selected from a group comprising:

a waterproof battery module, a turbine, a solar panel, a claw, a camera stabilization device, a thermal inspection device, an environmental sample processor, a seismometer, a spectrometer, an osmosampler, a night vision device, a hollow waterproof module for upgrades, third party gear, and hardware upgrades.

6. The device of claim 1, wherein the battery is partially or completely modular, and wherein the electronic speed controllers is configured to detach from an electronic speed controller stack, the video transmitter and the radio control receiver are removable for upgrade, the on screen display telemetry device is removable for upgrade, the plurality of motors are removable for upgrade, and the flight controller is configured to detach from the power distribution board, wherein the battery is a lithium ion polymer battery that conforms to the interior profile, and includes a built-in battery charge indicator.

7. The device of claim 1, wherein the modular and expandable waterproof body has a back portion and a front portion, wherein the back portion and the front portion show colors for ease of user orientation, wherein the device is configured to be launched from a body of a user, wherein the device is controlled by the user using a mobile and wearable device via motion gestures, buttons, and a touch screen, wherein the device is operable to perform an automatic landing and an automatic takeoff, wherein the device is configured in a form of one of the following:

a people-carrying vehicle, a cargo-carrying vehicle, a radio controlled toy, an autonomous vehicle, a multi-blade ducted fan roadable electric aircraft, an uncrewed vehicle, a driverless car, a self-driving car, an unmanned aerial vehicle, a drone, a robotic car, a commercial goods and passenger carrying vehicle, a private self-drive vehicle, a family vehicle, a military vehicle, and a law enforcement vehicle;

wherein the autonomous vehicle is configured to sense environmental conditions, navigate without human input, and perform autopiloting;

wherein the sensing is performed via one or more of the following;

a radar, a lidar, the GPS module, and a computer vision module;

wherein the processor is operable to interpret sensory information to identify navigation paths, obstacles and signage;

wherein the autonomous vehicle is operable to update maps based on sensory input to keep track of a position when conditions change or when uncharted environments are entered;

wherein the multi-blade ducted fan roadable electric car is propelled by one or more electric motors using electrical energy stored in the electrical power storage device; and

wherein the mobile and wearable device enables to user to submit a trip request, the trip request being routed to the device to initiate a peer-to-peer pick up service or a cargo transportation.

8. The device of claim 1, wherein the propulsion system is powered by:

a high pressure gas; and

direct current brushless motors, wherein the propellers are attached directly to a motor shaft associated with one or more of the plurality of motors or are mechanically linked to one or more of the plurality of motors through a series of pulley belts.

9. The device of claim 8, wherein a position of the pulley belts is set by guide rails, grooved guide pulleys, and cylindrical guide pulleys, and tightened with a tensioner clamp, wherein the pulley belts are configured to connect pulleys on arms with a servo pulley.

10. The device of claim 1, wherein the propeller protection system fully or partially surrounds the propellers, wherein the propellers are selected from self-tightening fixed pitch propellers and variable pitch propellers.

11. The device of claim 1, further comprising a landing gear system configured to:

retract;

absorb shock;

conform to the landing surface or a launching surface; and

house or carry antennas.

12. The device of claim 6, wherein the variable pitch propellers are actuated by servoactuators or one or more of the plurality of motors.

13. The device of claim 1, wherein the propellers are foldable or removable, the propellers being attached to arms, and wherein the arms are permanently attached, removable, or foldable.

14. The device of claim 1, wherein the plurality of motors include one or more of a brushless motor, a brushed motor, an outrunner motor, and an inrunner motor, wherein the plurality of motors spin with 1800-2400 revolutions per volt to be paired with the propellers having 4-8 inch diameter and 3-6 inches of pitch per rotation, or spin with 80-700 revolutions per volt to be paired with the propellers having 10-18 inch diameter with 4-12 inches of pitch per rotation, and wherein the plurality of motors are non-aligned on at least one axis.

15. The device of claim 1, further comprising a plurality of rotors, the plurality of rotors being operable to tilt on a three axis, the one or more of the plurality of motors is attached to at least one arm, and a mating tilt mechanism to the at least one arm is actuated by one or more motors or a servomotor drive train, wherein the servomotor drive train and the one or more motors are connected to the at least one arm.

16. A video capture, realtime broadcast, and video downlink system for an amphibious VTOL unmanned device, the system comprising:

a camera stabilization device;

a camera movement device configured move the camera;

one or more onboard cameras for providing a real-time first-person video and a real-time first-person view and normal footage video recording and 360-degree panoramic video recording used for virtual reality views and interactive video;

a video transmitter and receiver device configured to perform high definition low latency real time video downlink, wherein the video transmitter and receiver device is a high power, high gain, and ultra-high frequency device;

a one way and two way telemetry device;

a live broadcast device;

a headset configured to enable the real-time first-person video and a real-time first-person view;

a public database for viewing flight or dive activity;

software for licensing videos with a watermarked preview;

software for autonomously extracting usable footage and compiling the usable footage into a video montage synced to music;

onboard or separate software for stitching photos to form a modified photo; and

onboard or separate software for stitching videos to form virtual reality views or interactive video.

17. The system of claim 16, wherein the one or more onboard cameras are configured to:

adjust one or more of the following parameters;

zoom, shutter speed, aperture, ISO, focal length, depth of field, exposure compensation, white balance, video or photo frame size and orientation, camera resolution and frame rates;

switch cameras used for live streaming, digitally stabilize video;

capture panoramic photos, capture thermal measurements, edit color correction, produce night vision images and video, produce flash; and

wherein the one or more cameras have one or more lens filters;

wherein the one or more cameras are configured to be mounted on surfaces of the amphibious VTOL unmanned device on a motorized camera stabilization device or a vibration free mount, the motorized camera stabilization device being actuated by a brushless motor, a brushed motor, a coreless motor, or a geared motor.

18. The system of claim 16, wherein the one or more cameras for capturing panoramic views are mounted on a multi-camera spherical rig, wherein the multi-camera spherical rig is mounted onto a camera stabilization device or a fixed mounting device, wherein a content captured by the one or more cameras are combined to create a panoramic video, wherein the headset is used by a user to view the panoramic video, wherein a viewing angle is controlled by one or more of the following:

head tracking, pressing arrow keys, dragging a screen of the headset, and clicking and dragging a compass icon.

19. The system of claim 16, wherein the video transmitter and receiver device is configured to control one or more of the following:

an omnidirectional or directional antenna, a low pass filter, a ninety degree adapter, head tracking and eye tracking to manipulate movement of the camera stabilization device for video capture or live playback, antenna tracking on a ground station or onboard.

20. The system of claim 16, wherein the one way and two way telemetry device is configured to control an on screen display to inform a user of battery voltage, current draw, signal strength, minutes flown, minutes left on battery, joystick display, flight and dive mode and profile, amperage draw per unit of time, GPS latitude and longitude coordinates, an operator position relative to a position of the amphibious VTOL unmanned device, number of GPS satellites, and artificial horizon displayed on a wearable device, the wearable device being selected from a tablet, a phone, and the headset, wherein the one way and two way telemetry device is configured to provide a follow-me mode when the amphibious VTOL unmanned device uses the wearable device as a virtual tether to track the user via the camera when the user moves.

21. The system of claim 16, wherein the live broadcast device comprises an onboard High Definition Multimedia Input port operable to transmit standard definition, high definition, virtual reality, and interactive video to one or more bystanders, wherein the interactive video is broadcasted on at least one of the following:

a screen, a projector, a split screen, a switch screen, and the headset, wherein the live broadcast device further comprises an aerial, ground, and marine vehicle for filming the amphibious VTOL unmanned device.

22. The system of claim 16, wherein the headset comprises a video receiver selected from an internally housed video receiver, an externally mounted video receiver, and a separate video receiver, and an integrated camera to enable a user to see surroundings.

23. A collision avoidance, flight stabilization, and multi-rotor control system for an amphibious VTOL unmanned device, the system comprising:

a flight and dive control device configured to perform one or more of the following;

auto level control, altitude hold, return to an operator automatically, return to the operator by manual input, operating auto-recognition camera, monitoring a circular path around a pilot, and controlling autopilot, supporting dynamic and fixed tilting arms;

one or more sensors and one or more cameras configured to control one or more of the following;

obstacle avoidance, terrain and Geographical Information System mapping, close proximity flight including terrain tracing, and crash resistant indoor navigation;

an autonomous takeoff device;

an auto-fly or dive to a destination with at least one manually or automatically generated flight plan;

an auto-fly or dive to the destination by tracking monuments;

a direction lock;

dual operator control;

a transmitter and receiver control device comprising one or more antennas, the one or more antennas including high gain antennas;

the transmitter and receiver control device further comprising a lock mechanism operated by one or more of the following;

numerical passwords, word passwords, fingerprint recognition, face recognition, eye recognition, and a physical key; and

at least one electronic speed controllers (ESC) selected from a standalone ESC and an ESC integrated into a power distribution board of the amphibious VTOL unmanned device.

24. The system of claim 23, further comprising:

a processor, wherein the processor includes a flight controller, wherein the flight controller is selected from an external micro controller or an internal micro controller; and

a barometer;

an accelerometer;

a gyroscope;

a GPS; and

a magnetometer.

25. The system of claim 23, wherein the flight and dive control device is configured to:

perform stable transitions between a hover mode, a full forward flight mode, and an underwater mode;

enable or disable a GPS;

record flight parameters;

allow inverted flight, aerial and aquatic rolls and flips;

stabilize proportional, integral, and derivative gains above water and below water;

restrict the amphibious VTOL unmanned device to fly-safe locations;

receive and enact force shut-off commands associated with a manufacturer;

receive software updates from the manufacturer;

activate the amphibious VTOL unmanned device after a user inputs an arming action or an arming sequence;

provide thrust compensation for body inclination by acting as a body pitch suppressor to maintain an altitude in forward flight; and

compensate yaw and roll mixing when rotors of the amphibious VTOL unmanned device tilt.

26. The system of claim 23, further comprising a radio control device operable to control one or more of the following:

an omnidirectional or directional antenna, antenna tracking on a ground station or onboard the amphibious VTOL unmanned device tilt, a low pass filter, ninety degree adapter, a detachable module for RC communication on a channel having a frequency selected from 72 MHz, 75 MHz, 433 MHz, and 1.2 GHz and 1.3 GHz, adjustable dual rates and exponential values, at least one dial or joystick for controlling movement of a camera stabilization device, one or more foot pedals, a slider, a potentiometer, and a switch to transition between a flight profile and a dive profile, and wherein the radio control device is further operable to perform automatic obstacle avoidance and automatic maneuvering around an obstacle when the amphibious VTOL unmanned device performs a flight in a predetermined direction, wherein the radio control device is operable to instruct a plurality of amphibious VTOL unmanned device to follow a single subject and capture a plurality of views of the subject, wherein the radio control device is controlled by stick inputs and motion gestures.

27. The system of claim 23, further comprising:

a navigation device configured to;

enable autonomous flying at low altitude and avoiding obstacles;

evaluate and select landing sites in an unmapped terrain;

land safely using a computerized self-generated approach path;

enable a pilot aid to help a pilot to avoid obstacles and select landing sites in unimproved areas during operating in low-light or low-visibility conditions;

detect and maneuver around a man lift during flying;

detect high-tension wires over a desert terrain; and

enable operation in a near earth obstacle rich environment; and

a navigation sensor configured to;

map an unknown area where obstructions limited landing sites;

identify level landing sites with approach paths that are accessible for evacuating a simulated casualty;

build three-dimensional maps of a ground and find obstacles in a path;

detect four-inch-high pallets, chain link fences, vegetation, people and objects that block a landing site;

enable continuously identifying potential landing sites and develop landing approaches and abort paths;

select a safe landing site being closest to a given set of coordinates;

wherein the navigation sensor includes an inertial sensor and a laser scanner configured to look forward and down,

wherein the navigation sensor is paired with mapping and obstacle avoidance software, the mapping and obstacle avoidance software being operable to keep a running rank of the landing sites, approaches and abort paths to enable responding to unexpected circumstances.

28. The system of claim 23, wherein the ESC are further operable to program a motor spin direction without reconnecting wires by a user via spinning a motor in a predetermined direction, and record an input.

29. The system of claim 23, wherein the system includes an open source code and an open source software development kit.

30. The system of claim 23, wherein the one or more sensors are selected from a group comprising:

individual sensors, stereo sensors, ultrasonic sensors, infrared sensors, multispectral sensors, optical flow sensors, and volatile organic compound sensors, wherein the one or more sensors are provided for intelligent positioning, collision avoidance, media capturing, surveillance, and monitoring.