Rotocraft

• US 8,973,862 B2
• Filed: 10/23/2013
• Issued: 03/10/2015
• Est. Priority Date: 02/24/2010
• Status: Active Grant

• Current Assignee: Robert Marcus
• Original Assignee: Robert Marcus
• Inventors: Marcus, Robert
• Primary Examiner(s): Lee, Benjamin P
• Application Number:
  US14/061,723
• Publication Number:
  US 20140231594A1
• Time in Patent Office: 503 Days
• Field of Search: 244/12.4, 244/17.23, 244/23.B, 244/54, 244/55, 244/56
• US Class Current: 244/17.23
• CPC Class Codes: B64C 19/00 Aircraft control not otherwise provided for
• CPC Class Codes: B64C 29/0058 with vertical jet
• CPC Class Codes: B64D 45/00 Aircraft indicators or protectors not otherwise provided for camouflage F41H3/00
• CPC Class Codes: B64U 10/13 Flying platforms
• CPC Class Codes: B64U 2101/30 for imaging, photography or videography
• CPC Class Codes: B64U 30/20 Rotors; Rotor supports
• CPC Class Codes: B64U 50/15 using combustion exhausts other than turbojets or turbofans, e.g. using rockets, ramjets, scramjets or pulse-reactors
• CPC Class Codes: B64U 50/19 using electrically powered motors
• CPC Class Codes: B64U 70/80 Vertical take-off or landing, e.g. using rockets rotorcrafts B64U10/10; VTOL aircraft B64U10/20

Abstract

An aerial vehicle includes independently controlled horizontal thrusters and vertical lifters to provide design and operational simplicity while allowing precision flying with six degrees of freedom and use of mounted devices such as tools, sensors, and instruments. Each horizontal thruster and vertical lifter can be mounted as constant-pitch, fixed-axis rotors while still allowing for precise control of yaw, pitch, roll, horizontal movement, and vertical elevation. Gyroscopes and inclinometers can be used to further enhance flying precision. A controller manages thrust applied the horizontal thrusters and vertical lifters to compensate for forces and torques generated by the use of tools and other devices mounted to the aerial vehicle.

Claims

1. A method, comprising:

(a) receiving data collected from sensors mounted to a frame of an unmanned aerial vehicle, the unmanned aerial vehicle having a plurality of thrust units including a plurality of vertical lifters and one or more horizontal thrusters;

(b) receiving instructions over a wireless interface to operate a mechanical claw connected to the frame;

(c) receiving instructions over the wireless interface to close the mechanical claw on a door-opening device selected from the group consisting of a door knob, a door latch, and a door handle;

(d) closing the mechanical claw on the door-opening device; and

(e) receiving instructions to use the mechanical claw to open the door using the door-opening device.

2. The method of claim 1, further comprising:

(f) independently controlling power levels applied to one or more of the thrust units to compensate for feedback resulting from operating the mechanical claw.

3. The method of claim 2, wherein:

performing (f) comprises controlling the power levels applied to one or more of the vertical lifters to compensate for a torque applied through the mechanical claw.

4. The method of claim 2, wherein:

the mechanical claw is configured to rotate relative to the frame, and performing (f) comprises controlling the power levels applied to one or more of the vertical lifters to compensate for a torque applied to rotate the mechanical claw relative to the frame.

5. The method of claim 2, wherein:

the mechanical claw is fixed with respect to the frame, and performing (f) comprises controlling the power levels applied to one or more of the vertical lifters to compensate for a torque applied to an object remote from the unmanned aerial vehicle using the mechanical claw.

6. The method of claim 2, wherein:

the mechanical claw is fixed with respect to the frame, and performing (f) comprises controlling the power levels applied to one or more of the vertical lifters to compensate for a torque applied to an object remote from the unmanned aerial vehicle using the mechanical claw.

7. The method of claim 2, wherein:

the mechanical claw includes a plurality of fingers,

each finger includes a roller configured to engage with a door knob when the mechanical claw is used to grasp the door knob,

at least one of the rollers is configured to rotate with respect to the corresponding finger and exert torque on the door knob, and

performing (f) comprises controlling the power levels applied to one or more of the vertical lifters to compensate for the torque or torques applied to the door knob by the at least one roller.

8. The method of claim 2, wherein (f) is performed by a controller based on feedback from the sensors.

9. The method of claim 1, wherein the sensors include one or more sensors selected from the group consisting of:

inclinometers, gyroscopic sensors, range finders, and cameras.

10. The method of claim 1, wherein the plurality of thrust units generate thrust using fixed-pitch rotors.

11. A method, comprising:

(a) receiving data collected from sensors mounted to a frame of an unmanned aerial vehicle, the unmanned aerial vehicle having a plurality of thrust units including a plurality of vertical lifters and one or more horizontal thrusters;

(b) receiving instructions over a wireless interface to operate a rivet punch connected to the frame; and

(c) independently controlling power levels applied to at least one of the one or more horizontal thrusters to compensate for feedback resulting from operating the rivet punch when the rivet punch is used to punch a rivet.