Unmanned VTOL ground surveillance vehicle

• US 5,575,438 A
• Filed: 05/09/1994
• Issued: 11/19/1996
• Est. Priority Date: 05/09/1994
• Status: Expired due to Term

• Current Assignee: United Technologies Corporation (Raytheon Technologies Corporation d/b/a RTX)
• Original Assignee: United Technologies Corporation (Raytheon Technologies Corporation d/b/a RTX)
• Inventors: Ferraro, John, McGonigle, Kevin P., Cycon, James P.
• Primary Examiner(s): Barefoot, Galen L.
• Application Number:
  US08/239,645
• Time in Patent Office: 925 Days
• Field of Search: 244/1 R, 244/13, 244/17.11, 244/12 C, 244/23 C, 244/108, 244/17.17, 244/129.1, 244/118.1, 244/137.4, 343/705, 343/880, 343/881, 343/872, 343/878, 343/706, 343/711, 343/713
• US Class Current: 244/13
• 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: B64U 10/13 Flying platforms
• CPC Class Codes: B64U 10/20 Vertical take-off and landing [VTOL] aircraft flying platforms B64U10/13; helicopters B64U10/17
• CPC Class Codes: B64U 2101/30 for imaging, photography or videography
• CPC Class Codes: B64U 2101/31 for surveillance
• CPC Class Codes: B64U 2201/20 Remote controls
• CPC Class Codes: B64U 30/20 Rotors; Rotor supports
• CPC Class Codes: B64U 50/14 ducted or shrouded
• CPC Class Codes: B64U 60/30 detachable from the body

Abstract

An unmanned aerial vehicle (UAV) has a toroidal fuselage and a rotor assembly having a pair of counter-rotating rotors secured in fixed coaxial combination with the toroidal fuselage to provide a vertical takeoff and landing (VTOL) capability for the UAV. One embodiment of the VTOL UAV is especially configured for ground surveillance missions by the inclusion of an externally mounted, remotely controllable stowable sensor subsystem that provides an azimuthal scanning capability and a predetermined elevation/depression scanning capability to accomplish the ground surveillance mission and a foldable landing gear subsystem to facilitate landing of the VTOL UAV at unprepared ground surveillance sites.

Claims

1. An unmanned aerial vehicle for a ground surveillance mission, comprising:

a toroidal fuselage;

a rotor assembly including a pair of counter-rotating rotors, said rotor assembly being secured in fixed coaxial combination with said toroidal fuselage and operative to provide lift, pitch, yaw, and roll control to provide vertical takeoff and landing and translational flight capabilities for said unmanned aerial vehicle

a landing gear subsystem secured in combination with said toroidal fuselage to facilitate landing of said unmanned aerial vehicle at unprepared ground surveillance sites; and

a sensor subsystem that provides an azimuthal scanning capability and a predetermined elevation/depression scanning capability to accomplish the ground surveillance mission, said sensor subsystem including

a sensor pod having at least one sensor mounted therein which is operable to provide sensor data in accomplishment of the ground surveillance mission, and

a mounting assembly for mounting said sensor pod in external combination with said toroidal fuselage, said mounting assembly being operative to reconfigure said sensor subsystem to a deployed configuration for accomplishment of the ground surveillance mission and to reconfigure said sensor subsystem to a stowed configuration for transportability of said unmanned aerial vehicle.

2. The unmanned aerial vehicle of claim 1 wherein said mounting assembly comprises:

a plurality of mounting bearings secured in combination with said toroidal fuselage;

a plurality of support struts, each support strut having one end thereof secured in pivotable combination with a corresponding one of said mounting bearings; and

means for mounting said plurality of support struts in pivotable combination with said sensor pod wherein said sensor pod is pivotable through a predetermined range to provide the predetermined elevation/depression scanning capability for the sensor subsystem;

said support struts being pivotable about said respective mounting bearings to reconfigure said sensor subsystem to said deployed configuration for accomplishment of the ground surveillance mission and to reconfigure said sensor subsystem to said stowed configuration for transportability of said unmanned aerial vehicle.

3. The unharmed aerial vehicle of claim 2 wherein said mounting means comprises:

a platform having a cylindrical mounting stub extending therefrom, said sensor pod being mounted in combination with said platform;

a platform bracket secured in pivotable combination with said cylindrical mounting stub, and wherein the other end of one of said support struts is detachably secured in combination with said platform bracket and the other end of each of said remaining support struts is fixedly secured in combination with said platform bracket; and

a linear actuator having one end thereof secured in combination with said platform and the other end detachably secured in combination with said one support strut, said linear actuator being operable to cause said platform to pivot within said predetermined range to provide the predetermined elevation/depression scanning capability for the sensor subsystem.

4. The unmanned aerial vehicle of claim 3 wherein said sensor pod comprises:

a pod housing including a turntable, said turntable being mounted in rotatable combination with said platform such that said pod housing pivots in synchronization with said platform; and

azimuth control means mounted on said turntable in interactive combination with said platform for rotating said turntable with respect to said platform to provide said azimuthal scanning capability for said sensor pod;

said at least one sensor being mounted in combination with said turntable.

5. The unmanned aerial vehicle of claim 4 wherein said sensor pod further comprises pod orientation means for providing elevation/depression and azimuthal spatial orientation data for said sensor pod.

6. The unmanned aerial vehicle of claim 4 wherein said sensor pod further comprises a non-line-of-sight antenna mounted in combination with said turntable.

7. The unmanned aerial vehicle of claim 4 further comprising:

a stowage bracket secured in combination with said pod housing; and

a first stowage bracket secured in combination with said toroidal fuselage;

wherein, with said sensor subsystem in the stowed configuration, said stowage bracket interacts with said first stowage bracket to secure said pod housing to said toroidal fuselage.

8. The unmanned aerial vehicle of claim 4 further comprising:

an interconnect cable for functionally interconnecting said sensor pod to said toroidal fuselage; and

mounting clips for securing said interconnect cable in secured combination with one of said plurality of support struts;

said interconnect cable having a predetermined coil configuration that facilitates azimuthal rotation of said turntable.

9. The unmanned aerial vehicle of claim 3 further comprising:

a second stowage bracket secured in combination with said toroidal fuselage, said second stowage bracket interacting with said one of said support struts with said sensor subsystem in the stowed configuration to secure said support strut in combination with said toroidal fuselage.

10. The unmanned aerial vehicle of claim 1 wherein said landing gear subsystem comprises:

a plurality of legs, one end of each said leg being detachably secured in combination with said toroidal fuselage;

a pivoting foot that includes a pad member for each of said plurality of legs; and

means for attaching each said pivoting foot in combination with a respective one of said plurality of legs, said pivoting feet facilitating landing of said unmanned aerial vehicle at unprepared ground surveillance sites.

11. The unmanned aerial vehicle of claim 10 further comprising a non-structural hinge secured to each said leg and said toroidal fuselage, said non-structural hinges providing the capability to fold said landing gear subsystem to a stowage configuration wherein each said leg, pivoting foot combination is folded within the envelope of said toroidal fuselage.

12. The unharmed aerial vehicle of claim 10 wherein each of said legs is fabricated as a unitary resilient structural member having an outward can'"'"'t to minimize the effects of rotor down wash generated by operation of said rotor assembly.

13. The unmanned aerial vehicle of claim 10 wherein said pivoting foot attaching means comprises:

a brace member secured in combination with said leg;

a bearing member for mounting each said pad member in pivotable combination with said respective brace member; and

a shock absorber spring mounted in combination with each said pad member and said respective brace member;

said shock absorber spring being operative to allow said pad member to pivot during landing of said unmanned aerial vehicle to accommodate terrain variations in unprepared ground surveillance sites.

14. The unmanned aerial vehicle of claim 13 wherein said landing gear subsystem further comprises a weight-on-wheels sensor interposed in combination between said pad member and said respective bearing assembly and operative to facilitate a determination of the suitability of a selected unprepared ground surveillance site.

15. The unmanned aerial vehicle of claim 13 wherein said landing gear subsystem further comprises:

at least one sensor mounted in combination with at least one of said pad members; and

a secondary cable operative to functionally interconnect each said at least one sensor with said toroidal fuselage, said secondary cable being secured in combination with said leg of said at least one pad member having said at least one sensor mounted in combination therewith.

16. An unmanned aerial vehicle for a ground surveillance mission, comprising:

a toroidal fuselage;

a rotor assembly including a pair of counter-rotating rotors, said rotor assembly being secured in fixed coaxial combination with said toroidal fuselage to provide a vertical takeoff and landing capability for said unmanned aerial vehicle; and

a landing gear subsystem to facilitate landing of said unmanned aerial vehicle at unprepared ground surveillance sites, said landing gear subsystem including

a plurality of legs, one end of each said leg being detachably secured in combination with said toroidal fuselage,

a pivoting foot that includes a pad member for each of said plurality of legs,

means for attaching each said pivoting foot in combination with a respective one of said plurality of legs, said pivoting feet facilitating landing of said unmanned aerial vehicle at unprepared ground surveillance sites,

a non-structural hinge secured to each said leg and said toroidal fuselage, said non-structural hinges providing the capability to fold said landing gear subsystem to a stowage configuration wherein each said leg, pivoting foot combination is folded within the envelope of said toroidal fuselage, and

at least one sensor mounted in combination with at least one of said pad members, said at least one sensor being operative to provide sensor data in accomplishment of the ground surveillance mission.

17. An unmanned aerial vehicle for a ground surveillance mission, comprising:

a toroidal fuselage;

a rotor assembly including a pair of counter-rotating rotors, said rotor assembly being secured in fixed coaxial combination with said toroidal fuselage to provide a vertical takeoff and landing capability for said unmanned aerial vehicle;

a landing gear subsystem to facilitate landing of said unmanned aerial vehicle at unprepared ground surveillance sites, said landing gear subsystem including

a plurality of legs, one end of each said leg being detachably secured in combination with said toroidal fuselage,

a pivoting foot that includes a pad member for each of said plurality of legs,

means for attaching each said pivoting foot in combination with a respective one of said plurality of legs, said pivoting feet facilitating landing of said unmanned aerial vehicle at unprepared ground surveillance sites, and

a non-structural hinge secured to each said leg and said toroidal fuselage, said non-structural hinges providing the capability to fold said landing gear subsystem to a stowage configuration wherein each said leg, pivoting foot combination is folded within the envelope of said toroidal fuselage; and

a sensor subsystem that provides an azimuthal scanning capability and a predetermined elevation/depression scanning capability to accomplish the ground surveillance mission, said sensor subsystem including

a plurality of support struts, each support strut having one end thereof secured in pivotable combination with said toroidal fuselage, said supports struts being pivotable with respect to said toroidal fuselage to reconfigure said sensor subsystem to a deployed configuration for accomplishment of the ground surveillance mission and to reconfigure said sensor subsystem to a stowed configuration for transportability of said unmanned aerial vehicle

a pod housing including a turntable,

means for mounting said plurality of support struts in pivotable combination with said pod housing wherein said pod housing is pivotable through a predetermined range to provide the predetermined elevation/depression scanning capability of said sensor subsystem,

said turntable being mounted in rotatable combination with said mounting means,

azimuth control means mounted on said turntable in interactive combination with said mounting means for rotating said turntable with respect thereto to provide the azimuthal scanning capability for said sensor subsystem, and

at least one sensor mounted in combination with said turntable to provide sensor data in accomplishment of the ground surveillance mission.

18. The unmanned aerial vehicle of claim 17 further comprising at least one sensor mounted in combination with at least one of said pad members, said at least one sensor being operative to provide sensor data in accomplishment of the ground surveillance mission.