Turret assemblies for small aerial platforms, including unmanned aircraft, and associated methods

• US 8,140,200 B2
• Filed: 10/31/2007
• Issued: 03/20/2012
• Est. Priority Date: 11/09/2006
• Status: Active Grant

• Current Assignee: Insitu Incorporated (The Boeing Co.)
• Original Assignee: Insitu Incorporated (The Boeing Co.)
• Inventors: Heppe, Stephen B., von Flotow, Andreas H., Soghikian, Aram
• Primary Examiner(s): Nguyen, Kim T
• Application Number:
  US11/932,545
• Publication Number:
  US 20090216394A1
• Time in Patent Office: 1,602 Days
• Field of Search: 701/1, 701/3, 701/13, 701/15, 701/16, 701/120, 89/37, 89/16
• US Class Current: 701/16
• 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 7/00 Arrangements of military equipment, e.g. armaments, armament accessories, or military shielding, in aircraft; Adaptations of armament mountings for aircraft dropping bombs or the like B64D1/00; armaments or mountings therefor per se F41
• CPC Class Codes: B64U 10/25 Fixed-wing aircraft VTOL aircraft B64U10/20
• 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 2101/30 for imaging, photography or videography
• CPC Class Codes: B64U 2101/31 for surveillance
• CPC Class Codes: B64U 50/13 using external fans or propellers

Abstract

Turret assemblies for small aerial platforms, including unmanned aircraft, and associated methods. In one embodiment, an aircraft system can include a turret assembly having a payload with a line of sight to a target and a gimbal system carrying the payload. The gimbal system can include (a) a first support coupled to a first actuator to rotate about a first axis, and (b) a second support carried by the first support and coupled to a second actuator to rotate about a second axis generally transverse to the first axis. The turret assembly can also include a controller configured to direct movement of at least one of the first actuator and the second actuator such that the line of sight is pointed away from a point of impact before the turret assembly contacts the ground or another external structure during landing or capture operations.

Claims

1. An aircraft system, comprising:

a turret assembly carried by an unmanned aircraft, the turret assembly including—

a payload having a line of sight to a target;

a support assembly carrying the payload, the support assembly being movable about a first axis and a second axis generally transverse to the first axis;

a housing at least partially surrounding the payload; and

a controller operably coupled to the support assembly to direct movement of the support assembly about at least one of the first axis and the second axis such that the line of sight is pointed away from a point of impact before the turret assembly contacts the ground or another external structure during landing or capture operations.

2. The aircraft system of claim 1, further comprising:

one or more turret engagement portions carried by the aircraft proximate to the turret assembly and spaced apart from the turret assembly during airborne operation, the one or more engagement portions being positioned to engage the turret assembly during landing or capture operations and inhibit movement of the turret assembly to prevent the support assembly from exceeding a designed stress limit of the support assembly.

3. The aircraft system of claim 2 wherein the one or more engagement portions are composed of carbon, Kevlar, composite materials, aluminum, or rubber.

4. The aircraft system of claim 2 wherein the one or more engagement portions are positioned to limit movement of the turret assembly toward the aircraft after impact with the ground or another external structure.

5. The aircraft system of claim 2 wherein:

the support assembly comprises a gimbal system carrying the payload and movable about the first axis and the second axis, and at least one of (a) a spindle operably coupled between the gimbal system and the aircraft to rotate the gimbal system about the first axis, (b) an elastomeric mount, (c) a portion of a frame of the aircraft, or (d) one or more bearings carried by the aircraft or turret assembly; and

the one or more engagement portions are positioned to engage the turret assembly during landing or capture operations and inhibit movement of the turret assembly to prevent the components of the support assembly from flexing past their respective elastic limits.

6. The aircraft system of claim 1 wherein the support assembly comprises a gimbal system carrying the payload, and wherein the gimbal system further comprises:

a first support coupled to a first actuator to pivotably move about the first axis, the first actuator being configured to pivot the first support about the first axis through a total angular range of about 360 degrees; and

a second support carried by the first support and coupled to a second actuator to pivotably move about the second axis, the second support carrying the payload, wherein the second actuator is configured to pivot the second support about the second axis through a total angular range of about 360 degrees.

7. The aircraft system of claim 6 wherein the controller is programmed with instructions to direct movement of at least one of the first actuator and the second actuator such that the line of sight is pointed above a horizon relative to the aircraft.

8. The aircraft system of claim 6 wherein the controller is programmed with instructions to direct movement of at least one of the first actuator and the second actuator such that the line of sight is in a direction generally opposite to a direction of travel of the aircraft.

9. The aircraft system of claim 1 wherein the payload comprises a camera.

10. The aircraft system of claim 1 wherein the housing comprises a surveillance dome having one or more windows aligned with the line of sight, the one or more windows being transparent to a desired radiation.

11. The aircraft system of claim 10 wherein the housing comprises a generally strip-shaped window aligned with the line of sight.

12. The aircraft system of claim 1 wherein the housing is configured to rotatably move as a unit with the surveillance payload about the first axis and the second axis.

13. The aircraft system of claim 1 wherein the first axis includes a pan axis and the second axis includes a tilt axis.

14. The aircraft system of claim 1 wherein the first axis includes a roll axis and the second axis includes a tilt axis.

15. The aircraft system of claim 1, further comprising one or more protective portions carried by the housing and positioned to engage the ground or another external structure during landing operations.

16. The aircraft system of claim 15 wherein the one or more protective portions are in a first position relative to the aircraft during airborne operation, the first position being generally out of the line of sight, and wherein the controller is programmed with instructions to direct movement of the gimbal system about at least one of the first axis and the second axis such that the one or more protective portions are positioned to directly contact the ground or another external structure at the point of impact during landing or capture operations.

17. The aircraft system of claim 15 wherein the one or more protective portions are composed of one or more layers of hardened, aerodynamic material with one or more layers of softer, compressible material underneath the one or more hardened outer layers.

18. The aircraft system of claim 1, further comprising the unmanned aircraft, and wherein the turret assembly is carried proximate to a nose portion of the aircraft.

19. An aircraft system, comprising:

a turret assembly carried proximate to a nose portion of an unmanned aircraft, the turret assembly including—

an imaging device having an imaging aperture configured to receive radiation along a line of sight;

a gimbal system carrying the imaging device, the gimbal system including;

a pan axis spindle operably coupled between a first support and a pan actuator to rotate the first support about the pan axis; and

a second support carried by the first support and coupled to a tilt actuator to rotate about a tilt axis transverse to the pan axis, the second support carrying the imaging device;

a surveillance dome at least partially surrounding the imaging device and the gimbal system; and

a controller operably coupled to the gimbal system and programmed with instructions to direct movement of at least one of the pan actuator and the tilt actuator such that the line of sight is directed above a horizon relative to the aircraft before the surveillance dome contacts the ground or another external structure during landing or capture operations; and

one or more turret engagement portions carried by the aircraft proximate to the turret assembly and spaced apart from the turret assembly during airborne operation, the one or more engagement portions being positioned to engage the turret assembly after the turret assembly impacts the ground or another external structure to limit movement of the turret assembly toward the aircraft and prevent the pan axis spindle from flexing past an elastic limit of the pan axis spindle.

20. The aircraft system of claim 19 wherein the controller is programmed with instructions to direct movement of at least one of the pan actuator and the tilt actuator such that the line of sight is in a direction generally opposite to a direction of travel of the aircraft before the surveillance dome contacts the ground or another external structure.

21. The aircraft system of claim 19 wherein:

the pan actuator is configured to rotate the first support about the pan axis through a total angular range of about 360 degrees; and

the tilt actuator is configured to rotate the second support about the tilt axis through a total angular range of about 360 degrees.

22. The aircraft system of claim 19 wherein the controller is programmed with instructions to direct movement of at least one of the pan actuator and the tilt actuator such that the tilt axis is oriented generally parallel with a direction of travel of the aircraft to inhibit the turret assembly from rotating about the tilt axis after landing.

23. The aircraft system of claim 19, further comprising one or more sacrificial skid pads carried by the surveillance dome and positioned to engage the ground or another external structure during landing or capture operations.

24. The aircraft system of claim 23 wherein the one or more skid pads are in a first position relative to the aircraft during airborne operation, the first position being generally out of the line of sight, and wherein the controller is programmed with instructions to direct movement of at least one of the pan actuator and the tilt actuator such that the one or more skid pads are positioned in a second position to directly contact the ground or another external structure at the point of impact during landing or capture operations.

25. The aircraft system of claim 19 wherein the surveillance dome rotatably moves as a unit with the imaging device about the pan axis and the tilt axis.

26. An aircraft system, comprising:

a turret assembly carried proximate to a nose portion of an unmanned aircraft, the turret assembly including—

an imaging device having an imaging aperture configured to receive radiation along a line of sight;

a gimbal system carrying the imaging device, the gimbal system including;

a roll axis spindle operably coupled between a first support and a roll actuator to rotate the first support about a roll axis, the roll axis being generally parallel to a longitudinal axis of the aircraft; and

a second support carried by the first support and coupled to a tilt actuator to rotate about a tilt axis transverse to the roll axis, the second support carrying the imaging device;

a surveillance dome at least partially surrounding the imaging device and the gimbal system; and

a controller operably coupled to the gimbal system and programmed with instructions to direct movement of at least one of the roll actuator and the tilt actuator such that the line of sight is directed above a horizon relative to the aircraft before the surveillance dome contacts the ground or another external structure during landing or capture operations; and

one or more turret engagement portions carried by the aircraft proximate to the turret assembly and spaced apart from the turret assembly during airborne operation, the one or more engagement portions being positioned to engage the turret assembly after the turret assembly impacts the ground or another external structure during landing or capture operations to limit movement of the turret assembly toward the aircraft and prevent the roll axis spindle from flexing past its elastic limit.

27. The aircraft system of claim 26 wherein the controller is programmed with instructions to direct movement of at least one of the roll actuator and the tilt actuator such that the line of sight is in a direction generally opposite to a direction of travel of the aircraft before the surveillance dome contacts the ground or another external structure.

28. The aircraft system of claim 26 wherein:

the roll actuator is configured to rotate the first support about the roll axis through a total angular range of about 360 degrees; and

the tilt actuator is configured to rotate the second support about the tilt axis through a total angular range of about 360 degrees.

29. The aircraft system of claim 26 wherein the controller is programmed with instructions to direct movement of at least one of the pan actuator and the tilt actuator such that the roll axis is oriented generally parallel with a direction of travel of the aircraft to inhibit the turret assembly from rotating about the tilt axis after landing.

30. The aircraft system of claim 26, further comprising a labyrinth seal between the turret assembly and the aircraft, the labyrinth seal including a projection and a channel portion configured to receive at least a portion of the projection, and wherein the projection is configured to engage one or more corresponding turret engagement portions to inhibit movement of the turret assembly toward the aircraft after the turret assembly impacts the ground or external structure.

31. The aircraft system of claim 26, further comprising one or more sacrificial skid pads carried by the surveillance dome and positioned to directly engage the ground or external structure during landing or capture operations.

32. The aircraft system of claim 31 wherein the one or more skid pads are in a first position relative to the aircraft during airborne operation, the first position being generally out of the line of sight, and wherein the controller is configured to direct movement of at least one of the roll actuator and the tilt actuator such that the one or more skid pads are in a second position to directly contact the ground or external structure at the point of impact during landing or capture operations.

33. The aircraft system of claim 26 wherein the surveillance dome rotatably moves as a unit as a unit with the imaging device about the roll axis and the tilt axis.

34. A surveillance apparatus for tracking a target from the air, the surveillance apparatus comprising:

first support means;

first actuation means for rotating the first support means about a first axis;

second support means carried by the first support means and configured to carry a surveillance payload having a line of sight;

second actuation means for rotating the second support means relative to the first support means about a second axis transverse to the first axis;

housing means at least partially surrounding the surveillance payload; and

control means to direct movement of at least one of the first actuation means and the second actuation means such that the line of sight of the surveillance payload is pointed away from a point of impact before the surveillance apparatus contacts the ground or another external structure during landing or capture operations.

35. The surveillance apparatus of claim 34, further comprising:

an unmanned aircraft, wherein the surveillance apparatus is carried proximate to a nose portion of the aircraft;

a spindle operably coupled between the first support means and the first actuation means and configured to rotate the first support means about the first axis; and

turret support means for preventing the spindle from flexing past an elastic limit of the spindle during landing or capture operations, the turret support means being carried by the aircraft proximate to the surveillance apparatus and spaced apart from the surveillance apparatus during airborne operation, wherein the turret support means are positioned to engage the surveillance apparatus after impact with the ground or external structure to inhibit movement of the surveillance apparatus relative to the aircraft.

36. The surveillance apparatus of claim 34, further comprising skid protection means carried by the housing means, the skid protection means being in a first position out of the line of sight during airborne operation and in a second position to directly contact the ground or external structure during landing or capture operations.

37. A vehicle, comprising:

a movable body;

a turret assembly carried by the body, the turret assembly including—

a payload having a line of sight to a target;

a gimbal system carrying the payload, wherein the gimbal system is movable about an axis;

a housing at least partially surrounding the payload and the gimbal system; and

a controller operably coupled to the gimbal system to direct movement of the gimbal system about the axis such that the line of sight is pointed away from a point of impact before the turret assembly contacts the ground or another external structure during operation.

38. The vehicle of claim 37 wherein the gimbal system further comprises a spindle operably coupled between the gimbal system and the body to rotate the gimbal system about the axis, and wherein the vehicle further comprises:

one or more turret engagement portions carried by the body proximate to the turret assembly and spaced apart from the turret assembly during operation, the one or more engagement portions being positioned to limit movement of the turret assembly toward the body after impact with the ground or another external structure to prevent the spindle from flexing past its elastic limit.

39. The vehicle of claim 38 wherein the one or more engagement portions are composed of carbon, Kevlar, composite materials, aluminum, or rubber.

40. The vehicle of claim 37 wherein the controller is programmed with instructions to direct movement of the gimbal system such that the line of sight is in a direction generally opposite to a direction of travel of the body.

41. The vehicle of claim 37 wherein the gimbal system is movable about a first axis and a second axis generally transverse to the first axis, and wherein the gimbal system further comprises:

a first support coupled to a first actuator to pivotably move about the first axis, the first actuator being configured to pivot the first support about the first axis through a total angular range of about 360 degrees; and

a second support carried by the first support and coupled to a second actuator to pivotably move about the second axis, the second support carrying the payload, wherein the second actuator is configured to pivot the second support about the second axis through a total angular range of about 360 degrees.

42. The vehicle of claim 37 wherein the housing comprises a surveillance dome having one or more windows aligned with the line of sight, the one or more windows being transparent to a desired radiation.

43. The vehicle of claim 37, further comprising one or more skid pads carried by the housing and positioned to directly engage the ground or external structure during impact, wherein the one or more skid pads are in a first position relative to the vehicle during normal operation, the first position being generally out of the line of sight, and wherein the controller is configured to direct movement of the housing such that the one or more skid pads are in a second position to directly contact the ground or external structure at the point of impact before the turret assembly contacts the ground or external structure.