Homeostatic flying hovercraft

• US 7,931,239 B2
• Filed: 08/13/2007
• Issued: 04/26/2011
• Est. Priority Date: 08/30/2002
• Status: Expired due to Fees

• Current Assignee: QFO Labs, Inc.
• Original Assignee: Qaxu Technology, Inc.
• Inventors: Pedersen, Brad, Spirov, Peter
• Primary Examiner(s): Kim, Gene
• Assistant Examiner(s): STANCZAK, MATTHEW BRIAN
• Application Number:
  US11/838,040
• Publication Number:
  US 20080223993A1
• Time in Patent Office: 1,352 Days
• Field of Search: 446/57, 446/431, 446 34- 48, 244 1711- 1727, 244/23.A, 244/189, 244/190, 244/194, 702/150, 180/116
• US Class Current: 244/189
• CPC Class Codes: B60V 1/06 wherein the cushion is formed within plenum chamber
• CPC Class Codes: B60V 1/10 in which the curtain-forming nozzle or the vehicle base is shaped to create a vortex curtain
• CPC Class Codes: B64C 15/02 the jets being propulsion jets
• CPC Class Codes: B64C 27/08 with two or more rotors
• CPC Class Codes: B64C 27/20 Rotorcraft characterised by having shrouded rotors, e.g. flying platforms
• CPC Class Codes: B64C 39/001 Flying saucers
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64D 27/24 using steam or spring force jet aircraft B64D27/16
• CPC Class Codes: B64U 20/40 Modular UAVs
• CPC Class Codes: B64U 2201/20 Remote controls
• CPC Class Codes: B64U 30/00 Means for producing lift; Empennages; Arrangements thereof
• 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: G05D 1/0016 characterised by the operator's input device input arrangements for computing systems in general G06F3/00
• CPC Class Codes: G05D 1/0022 characterised by the communication link data switching networks in general H04L12/00
• CPC Class Codes: G05D 1/0816 to ensure stability
• CPC Class Codes: G05D 1/0858 specially adapted for vertical take-off of aircraft

Abstract

A homeostatic flying hovercraft preferably utilizes at least two pairs of counter-rotating ducted fans to generate lift like a hovercraft and utilizes a homeostatic hover control system to create a flying craft that is easily controlled. The homeostatic hover control system provides true homeostasis of the craft with a true fly-by-wire flight control and control-by-wire system control.

Claims

1. A radio controlled (RC) homeostatic flying hovercraft comprising:

a flying structure having lift generated by at least four electrically, powered generally downwardly directed thrusters, said flying structure including;

a homeostatic control system operably connected to said thrusters that automatically controls a thrust produced by each thruster in order to automatically maintain a desired orientation of said flying structure, said homeostatic control system including at least a three dimensional, three-axis sensor system and associated control circuitry that dynamically determines a gravitational reference other than by dead reckoning for use by said homeostatic control system in automatic control of said thrusters to maintain homeostatic stabilization in said desired orientation;

a radio frequency (RF) receiver; and

a battery system electrically coupled to said thrusters, said RF receiver and said homeostatic control system; and

an RC controller separate and remote from said flying structure and adapted to control said desired orientation of said flying structure, said RC controller including;

a handheld structure housing a sensor system that senses at least a two dimensional, two-axis sensed orientation of said handheld structure as a result of a user remote from said flying structure selectively orienting said handheld structure; and

an RF transmitter that communicates information based on said sensed orientation to said receiver of said flying structure as said desired orientation used by said homeostatic control system to automatically control said thrusters to maintain said desired orientation.

2. The RC homeostatic flying hovercraft of claim 1 wherein said flying structure comprises a body housing said thrusters within a perimeter of said body.

3. The RC homeostatic flying hovercraft of claim 1 wherein each of said thrusters comprises an electrically powered ducted fan.

4. The RC homeostatic flying hovercraft of claim 1 wherein said RF receiver of said flying structure and said RF transmitter of said RC controller are each RF transceivers providing two-way RF communications between said flying structure and said RC controller.

5. The RC homeostatic flying hovercraft of claim 1 wherein each of said thrusters is positioned in said flying structure so as to be tilted at an angle relative to downward when said flying structure is in a horizontal orientation, said angle being less than about 15 degree.

6. A radio controlled (RC) homeostatic flying hovercraft comprising:

a flying structure including;

at least four electrically, powered generally downwardly directed thrusters;

sensing means for dynamically determining an actual orientation of said flying structure, including at least a three-dimensional, three-axis sensor;

control means for automatically controlling a thrust produced by each of said thrusters to maintain a desired orientation of said flying structure in response to said actual orientation;

radio means for radio frequency (RF) communication of said desired orientation; and

battery means for providing electrical power to said thrusters, said control means and said radio means; and

an RC controller separate and remote from said flying structure including;

a handheld structure housing means for sensing at least a two dimensional, two-axis sensed orientation of said handheld structure in response to a user remote from said flying structure selectively orienting said handheld structure; and

radio means for RF communication of information based on said sensed orientation with said radio means of said flying structure as said desired orientation for said control means automatically controlling said thrusters.

7. The RC homeostatic flying hovercraft of claim 6 wherein said flying structure comprises means for housing said thrusters, said sensing means, said control means, said radio mean and said battery means within a perimeter of said means for housing.

8. The RC homeostatic flying hovercraft of claim 6 where said radio mean of said flying structure and said RC controller are each RF transceivers providing two-way RF communications between said flying structure and said RC controller.

9. The RC homeostatic flying hovercraft of claim 6 where said control means automatically controls said thrusters to maintain moment-to-moment balance and stabilization of said flying structure such that said desired orientation includes information only for an intended orientation of said flying structure and an intended motion in which said flying structure is to be directed without information for control of moment-to-moment balance and stabilization of said flying structure.

10. A method for operating a radio controlled (RC) homeostatic flying hovercraft having at least four battery powered generally downwardly directed thrusters using an RC controller separate and remote from said flying hovercraft, said method comprising:

providing as part of said RC controller a handheld structure housing a sensor system;

using said sensor system in said RC control to sense at least a two dimensional, two-axis sensed orientation of said handheld structure in response to a user remote from said flying structure selectively orienting said handheld structure;

communicating a desired orientation by radio frequency (RF) communication information to said flying hovercraft, said desired orientation including information based on said sensed orientation of said handheld structure;

using a sensor system in said flying hovercraft to dynamically determine an actual orientation of said flying hovercraft, said sensor system including at least a three-dimensional, three-axis sensor;

using control circuitry in said flying hovercraft to automatically and dynamically control a thrust produced by each of said thrusters to achieve and homeostatically maintain said actual orientation of said flying hovercraft in response to said desired orientation communicated to said flying hovercraft and said actual orientation determined by said sensor system in said flying hovercraft without additional control information communicated to said flying hovercraft.