Modular and morphable air vehicle

• US 9,045,226 B2
• Filed: 05/16/2011
• Issued: 06/02/2015
• Est. Priority Date: 05/17/2010
• Status: Active Grant

• Current Assignee: Piasecki Aircraft Corporation
• Original Assignee: Piasecki Aircraft Corporation
• Inventors: Piasecki, John W., Piasecki, Frederick W., Geiger, Brian, Johnson, Douglas, Pitcairn, David
• Primary Examiner(s): Lee, Benjamin P
• Application Number:
  US13/068,601
• Publication Number:
  US 20110315806A1
• Time in Patent Office: 1,478 Days
• Field of Search: 244/6, 244/7.R, 244/7.C, 244/8, 244/12.4, 244/12.3, 244/2
• US Class Current: 1/1
• CPC Class Codes: B60F 5/02 convertible into aircraft
• CPC Class Codes: B64C 11/001 Shrouded propellers
• CPC Class Codes: B64C 25/58 Arrangements or adaptations of shock-absorbers or springs shimmy-dampers B64C25/50
• 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 27/22 Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft
• CPC Class Codes: B64C 27/32 Rotors
• CPC Class Codes: B64C 27/52 Tilting of rotor bodily relative to fuselage of see-saw type construction B64C27/43
• CPC Class Codes: B64C 27/57 automatic or condition responsive, e.g. responsive to rotor speed, torque or thrust
• CPC Class Codes: B64C 29/00 Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft rotorcraft B64C27/00
• CPC Class Codes: B64C 29/0033 the propellers being tiltable relative to the fuselage
• CPC Class Codes: B64C 3/385 Variable incidence wings
• CPC Class Codes: B64C 3/56 Folding or collapsing to reduce overall dimensions of aircraft
• CPC Class Codes: B64C 37/00 Convertible aircraft
• CPC Class Codes: B64C 39/00 Aircraft not otherwise provided for
• CPC Class Codes: B64C 39/02 characterised by special use
• CPC Class Codes: B64D 17/80 in association with aircraft, e.g. for braking thereof
• CPC Class Codes: B64D 2201/00 Airbags mounted in aircraft for any use
• CPC Class Codes: B64D 25/00 Emergency apparatus or devices, not otherwise provided for parachutes B64D17/00, B64D19/00; jettisoning of fuel tanks or fuel per se B64D37/00; specially adapted for protection against criminal attack, e.g. anti-hijacking systems B64D45/0015 ; safety belts or body harnesses in general A62B35/00; safety belts or body harnesses for land vehicles B60R22/00; jettisonable parts of fuselage facilitating emergency escape B64C
• CPC Class Codes: B64U 10/70 Convertible aircraft, e.g. convertible into land vehicles
• CPC Class Codes: B64U 30/12 : Variable or detachable wings, e.g. wings with adjustable sweep
• CPC Class Codes: B64U 30/26 : Ducted or shrouded rotors
• CPC Class Codes: B64U 30/293 : Foldable or collapsible rotors or rotor supports
• CPC Class Codes: B64U 30/297 : Tilting rotors
• CPC Class Codes: B64U 50/11 : using internal combustion piston engines
• CPC Class Codes: G05D 1/102 : specially adapted for vertical take-off of aircraft

Abstract

An unmanned air module includes one or more rotors, engines, a transmission and avionics. Any of several different ground modules may be attached to the air module. The air module may fly with and without the ground module attached. The ground module may be a vehicle ground module and may be manned. The vehicle ground module may transport the attached air module across the ground. The air module may have two rotors, which may be ducted fans, and three different configurations: a tandem rotor configuration, a side-by-side configuration, and a tilted-rotor configuration.

Claims

1. A personal air vehicle apparatus, the apparatus comprising:

a. a fuselage having a longitudinal axis, said longitudinal axis corresponding to a fore and an aft direction;

b. a central unit attached to said fuselage, said central unit defining an axis of rotor tilt, said axis of rotor tilt being movable with respect to said fuselage between a tandem position in which said axis of rotor tilt is generally parallel to said longitudinal axis and a side-by-side position in which said axis of rotor tilt is generally normal to said longitudinal axis;

c. a first rotor and a second rotor, said first and said second rotors being operably attached to said central unit, said first rotor being configured to rotate about a first rotor axis of rotation, said second rotor being configured to rotate about a second rotor axis of rotation, said first and said second rotor axes of rotation being in a spaced apart relation with respect to said axis of rotor tilt;

d. said first and said second rotor axes of rotation being tiltable about said axis of rotor tilt between a vertical position and a horizontal position when said axis of rotor tilt is in said side-by-side position, said first and said second rotor axes of rotation being generally parallel and in combination describing a plane, said plane being generally parallel to said longitudinal axis when said first and said second rotor axes of rotation are in said horizontal position, said plane being generally normal to said longitudinal axis when said rotor axes of rotation are in said vertical position;

e. a wing, said wing being attached to said central unit,

i. said first rotor and said second rotor defining a tandem rotor configuration when said first and said second axes of rotation are in said vertical position and said axis of rotor tilt is in said tandem position, said first rotor and said second rotor being configured to provide a lift sufficient to support said fuselage and said central unit in flight when said first rotor and said second rotor are in said tandem configuration;

ii. said first and said second rotor defining a side-by-side rotor configuration when said first and said second axes of rotation are in said vertical position and said axis of rotor tilt is in said side-by-side position, said first rotor and said second rotor being configured to supply said lift sufficient to support said fuselage and said central unit in flight when said first rotor and said second rotor are in said side-by-side configuration;

iii. said first and said second rotor defining a tilted-rotor configuration when said axis of rotor tilt is in said side-by-side position and first and said second rotor axes of rotation are in said horizontal position, said wing being configured to provide said lift sufficient to support said fuselage and said central unit in flight when said first and said second rotors are in said tilted-rotor configuration, wherein said central unit and said first and said second rotors define an air module and wherein said fuselage defines a ground module, said air module being unmanned, said air module being selectably detachable from said ground module, said first and said second rotors being configured to provide said lift sufficient to support said air module in flight when said air module is detached from said ground module and said first and said second rotor axes of rotation are in said vertical position, said wing being configured to provide said lift to support said air module in flight when said air module is detached from said ground module and said first and said rotor axes of rotation are in said horizontal position, whereby said air module may fly independently of said ground module.

2. The apparatus of claim 1 wherein said central unit and said first and said second rotors define an air module and wherein said fuselage defines a ground module, said air module being unmanned, said ground module being selectably detachable from said air module, said ground module being selected from a list consisting of a ground vehicle module, a medical module, a cargo module, a weapons module, a passenger module and a communications module, said air module being configured to support said ground module in flight when said first rotor and said second rotor are in a one of said tandem configuration, said side-by-side configuration and said tilted-rotor configuration.

3. The apparatus of claim 1, the apparatus further comprising an air module control system on board said air module, said air module control system comprising:

a. a microprocessor, a computer memory operably connected to said microprocessor, a power supply operably connected to said microprocessor, a control interface operably connected to said microprocessor, and a plurality of control effectors operably connected to said microprocessor, each of said plurality of control effectors being configured to adjust a one of a plurality of flight controls of said air module;

b. said microprocessor being programmed to receive a command through said control interface, said microprocessor being programmed to store said command in computer memory and to implement said command by adjusting said plurality of flight controls using said plurality of control effectors, whereby said air module may fly autonomously under the control of an autopilot.

4. The apparatus of claim 3 wherein said command received by said air module control system is selected from a list consisting of a mission plan, a waypoint, and a landing zone location.

5. The apparatus of claim 4 wherein said control interface is a radio transponder, said air module control system is configured to receive said command through said radio transponder from a one of said ground module and a remote station, whereby said air module can receive and implement said command from said ground module or said remote station when said air module is on said ground and when said air module is in flight.

6. The apparatus of claim 4 wherein said control interface is a port, said air module is configured to receive said command from a human operator through a wire line connection to said port, whereby said air module can receive and implement said command received from said human operator through said port prior to flight.

7. The apparatus of claim 3 wherein said air module is attached to said ground module, the apparatus further comprising:

a. a control inceptor, said control inceptor being located within said ground module, said control inceptor being configured to receive said command from a human operator located within said ground module;

b. a port, said port defining said control interface, said port being operatively connected to said microprocessor, said control inceptor being operatively connected to said microprocessor through said port when said ground module is attached to said air module, whereby a human operator located within said ground module attached to said air module may operate said air module.

8. The apparatus of claim 3 wherein said air module is attached to said ground module, said command that said control system is configured to receive and to implement is for said air module to detach from said ground module when said ground module is located on said ground and for said air module to take off, whereby said air module may detach from said ground module and fly without the ground module attached.

9. The apparatus of claim 3 wherein said air module is detached from said ground module, said command that said control system is configured to receive and to implement is to fly to a location of said ground module and to engage said ground module, whereby said air module may implement a command to fly to and engage said ground module.

10. The apparatus of claim 1, the apparatus further comprising:

a. a first torsion beam, said first torsion beam being parallel to said axis of rotor tilt, said first torsion beam attaching said first rotor to said central unit;

b. a first swash plate, said first swash plate being configured to provide a first monocyclic pitch to said first rotor, said first monocyclic pitch being adjustable, said first monocyclic pitch being configured to impose an adjustable first torsion load to said first torsion beam when said first rotor is rotating;

c. a second torsion beam, said second torsion beam being parallel to said axis of rotor tilt, said second torsion beam attaching said second rotor to said central unit;

d. a second swash plate, said second swash plate being configured to provide a second monocyclic pitch to said second rotor, said second monocyclic pitch being adjustable, said second monocyclic pitch being configured to provide an adjustable second torsion load to said second torsion beam when said second rotor is rotating;

e. said first and said second torsion beams having a resilience in torsion, said resilience in torsion of said first and second torsion beams being selected to provide a pre-determined angular deformation of said first and said second rotor axes of rotation when said first and said second rotors are rotating and said first and said second monocyclic pitches are adjusted to apply a pre-determined torque to said first and said second torsion beams, said pre-determined angular deformation being selected to apply a pre-determined yaw moment to said air module when said air module is in said tandem configuration and said side-by-side configuration and to apply a pre-determined roll moment to said air module when said air module is in said tilted-rotor configuration.

11. The apparatus of claim 10 wherein said first rotor and said second rotor are a first and a second ducted fan, the apparatus further comprising:

a. a first exit vane, said first exit vane being located on a downstream side of said first ducted fan, said first exit vanes having a first exit vane longitudinal axis, said first exit vane longitudinal axis being oriented generally parallel to said first axis of rotor tilt, said first exit vane being configured to generate an adjustable first reaction force from an exhaust air flowing over said first exit vane when said first ducted fan is rotating, said reaction force being generally parallel to said axis of rotor tilt;

b. a second exit vane, said second exit vane being located on a downstream side of said second ducted fan, said second exit vane having a second exit vane longitudinal axis, said second exit vane longitudinal axis being oriented generally parallel to said axis of rotor tilt, said second exit vane being configured to generate an adjustable second reaction force from said exhaust air flowing over said second exit vane when said second ducted fan is rotating, said second reaction force being generally parallel to said axis of rotor tilt.

12. A personal air vehicle apparatus, the apparatus comprising:

a. a fuselage having a longitudinal axis, said longitudinal axis corresponding to a fore and an aft direction;

b. a central unit attached to said fuselage, said central unit defining an axis of rotor tilt, said axis of rotor tilt being movable with respect to said fuselage between a tandem position in which said axis of rotor tilt is generally parallel to said longitudinal axis and a side-by-side position in which said axis of rotor tilt is generally normal to said longitudinal axis;

c. a first rotor and a second rotor, said first and said second rotors being operably attached to said central unit, said first rotor being configured to rotate about a first rotor axis of rotation, said second rotor being configured to rotate about a second rotor axis of rotation, said first and said second rotor axes of rotation being in a spaced apart relation with respect to said axis of rotor tilt;

d. said first and said second rotor axes of rotation being tiltable about said axis of rotor tilt between a vertical position and a horizontal position when said axis of rotor tilt is in said side-by-side position, said first and said second rotor axes of rotation being generally parallel and in combination describing a plane, said plane being generally parallel to said longitudinal axis when said first and said second rotor axes of rotation are in said horizontal position, said plane being generally normal to said longitudinal axis when said rotor axes of rotation are in said vertical position;

e. a wing, said wing being attached to said central unit,

i. said first rotor and said second rotor defining a tandem rotor configuration when said first and said second axes of rotation are in said vertical position and said axis of rotor tilt is in said tandem position, said first rotor and said second rotor being configured to provide a lift sufficient to support said fuselage and said central unit in flight when said first rotor and said second rotor are in said tandem configuration;

ii. said first and said second rotor defining a side-by-side rotor configuration when said first and said second axes of rotation are in said vertical position and said axis of rotor tilt is in said side-by-side position, said first rotor and said second rotor being configured to supply said lift sufficient to support said fuselage and said central unit in flight when said first rotor and said second rotor are in said side-by-side configuration;

iii. said first and said second rotor defining a tilted-rotor configuration when said axis of rotor tilt is in said side-by-side position and first and said second rotor axes of rotation are in said horizontal position, said wing being configured to provide said lift sufficient to support said fuselage and said central unit in flight when said first and said second rotors are in said tilted-rotor configuration;

f. a wing extension, said wing extension being attached to said central unit, said wing extension having a deployed position and a retracted position, said wing extension being configured to provide a lift to said air module when said air module is flying in said tilted-rotor configuration and said wing extension is in said deployed position;

g. a first circular duct surrounding a periphery of said first rotor;

h. a second circular duct surrounding said periphery of said second rotor, said first rotor in combination with said first circular duct defining a first ducted fan, said second rotor in combination with said second circular duct defining a second ducted fan, said first circular duct and said second circular duct defining a first and a second circular wing, said first and said second circular wings providing said lift when said air module is flying in said tilted-rotor configuration, said wing extension being a one of a first wing extension and a second wing extension, said first wing extension being attached to said first circular duct, said second wing extension being attached to said second circular duct, said first and said second wing extensions each being foldable about a hinge between said deployed position and said retracted position, wherein said first and said second wing extensions are curved, said first wing extension conforming to an outside of said first circular duct and said second wing extension conforming to an outside of said second circular duct when said first and said second wing extensions are in said retracted position.

13. A personal air vehicle apparatus, the apparatus comprising:

a. an air module, said air module being configured not to accommodate a human being on board said air module;

b. at least one rotary wing operably attached to said air module;

c. a ground module, said ground module and said air module being configured to be selectably attached one to the other, said ground module having a passenger cabin, said passenger cabin being configured to contain said human being, said at least one rotary wing being configured to support said air module and said ground module containing said human being in said flight when said ground module is attached to said air module, said at least one rotary wing being configured to support said air module in said flight when said ground module is not attached to said air module;

d. an air module control system housed within said air module, said air module control system comprising;

i. a microprocessor, a computer memory operably connected to said microprocessor, a power supply operably connected to said microprocessor, a control interface operably connected to said microprocessor, and a plurality of control effectors operably connected to said microprocessor, each of said plurality of control effectors being configured to adjust a one of a plurality of flight controls of said air module;

ii. said microprocessor being programmed to receive a command through said control interface, said microprocessor being programmed to implement said command by adjusting said plurality of flight controls using said control effectors, said command received by said air module control system is selected from a list consisting of a mission plan, a waypoint, and a landing zone location, wherein said command that said control system is configured to receive and to implement is to disengage from said ground module when said ground module and said air module are located on a ground and to fly to a specified location.

14. A personal air vehicle apparatus, the apparatus comprising:

a. an air module, said air module being configured not to accommodate a human being on board said air module;

b. at least one rotary wing operably attached to said air module;

c. a ground module, said ground module and said air module being configured to be selectably attached one to the other, said ground module having a passenger cabin, said passenger cabin being configured to contain said human being, said at least one rotary wing being configured to support said air module and said ground module containing said human being in said flight when said ground module is attached to said air module, said at least one rotary wing being configured to support said air module in said flight when said ground module is not attached to said air module;

d. an air module control system housed within said air module, said air module control system comprising;

i. a microprocessor, a computer memory operably connected to said microprocessor, a power supply operably connected to said microprocessor, a control interface operably connected to said microprocessor, and a plurality of control effectors operably connected to said microprocessor, each of said plurality of control effectors being configured to adjust a one of a plurality of flight controls of said air module;

ii. said microprocessor being programmed to receive a command through said control interface, said microprocessor being programmed to implement said command by adjusting said plurality of flight controls using said control effectors, said command received by said air module control system is selected from a list consisting of a mission plan, a waypoint, and a landing zone location, wherein said command that said control system is configured to receive and to implement is to fly to a location on a ground proximal to said ground module.

15. A personal air vehicle apparatus, the apparatus comprising:

a. an air module;

b. at least one rotary wing operably attached to said air module;

c. a ground module, said ground module and said air module being configured to be selectably attached one to the other, said at least one rotary wing being configured to support said ground module and said air module in a flight when said ground module and said air module are attached, said rotary wing being configured to support said air module in said flight when said ground module and said air module are not attached, said ground module being configured to support said air module above a surface of a ground when said ground module and said air module are attached and said ground module and said air module are not in said flight.

16. The apparatus of claim 15 wherein said ground module is a ground vehicle module, said ground vehicle module comprising:

a. a crew cabin, said crew cabin being configured to be occupied by an adult human being;

b. a plurality of ground-engaging wheels configured to support said crew cabin on a ground, said plurality of ground-engaging wheel being configured for rotation, at least one of said ground engaging wheels being configured to move said ground vehicle across said ground;

c. an air module control system, said air module control system being configured to be operated by said adult human being when said adult human being is occupying said crew cabin.

17. The apparatus of claim 15 said air module comprising:

a one of a plurality of air modules, said ground module being configured to be selectably attached to said plurality of air modules, said plurality of air modules being configured to cooperate to support said ground module in flight when said plurality of air modules are attached to said ground module.

18. The apparatus of claim 17 wherein said ground module comprises:

a scaffold, said scaffold being configured for attachment to said plurality of said air modules, said scaffold being further configured to support a load, said plurality of air modules being configured to cooperate to support said scaffold and said load in flight when said plurality of air modules and said load are attached to said scaffold.

19. The apparatus of claim 15 wherein said at least one rotary wing comprises:

a first rotor and a second rotor,

a. said first rotor defining a first rotor mast, said first rotor mast being configured for rotation;

b. said second rotor defining a second rotor mast, said second rotor mast being configured for rotation, said first and second rotor masts each having a length, said length being selectably extendable between a compact rotor mast length and an extended rotor mast, whereby said extended rotor mast length may be selected for takeoff, landing, and when said first or said second rotor is rotating when said air module is on said ground to provide additional clearance between said first and said second rotor and said ground.

20. The apparatus of claim 15, the apparatus further comprising:

a. a ballistic parachute attached to said air module, said ballistic parachute being configured for automatic deployment, said ballistic parachute being configured to slow a descent of said air module and said ground module;

b. an inflatable air bag, said inflatable air bag being located on a bottom side of said ground module, said inflatable air bag being configured for automatic inflation, said inflatable air bag being configured to slow an impact between said ground module and a ground when said ballistic parachute is deployed for said descent of said air module and said ground module.

21. The apparatus of claim 15, the apparatus further comprising:

a. a sensor, said sensor being configured to detect a change in an attitude of said air module or said ground module, a microprocessor operably connected to said sensor, said microprocessor being configured to send a center of gravity correction signal in response to a change in attitude detected by said sensor;

b. a dynamic center of gravity effector, said dynamic center of gravity effector being configured to receive said center of gravity correction signal from said microprocessor, said air module having a center of lift when said air module is in flight, said ground module and said air module having a center of gravity when said ground module and said air module are in flight, said dynamic center of gravity effector being configured to change a relative location of said center of gravity and said center of lift.

22. The apparatus of claim 21 wherein said dynamic center of gravity effector is configured to move a center of gravity of said ground module with respect to said air module to change said center of gravity of said ground module and said air module with respect to said center of lift.

23. The apparatus of claim 21 wherein said dynamic center of gravity effector is configured to move said center of lift with respect to said air module to change said center of lift of said air module with respect to said center of gravity of said ground module and said air module.

24. The apparatus of claim 23 wherein said air module comprises a first rotor and a second rotor, said first rotor has a first swash plate operatively attached to said first rotor, said first swash plate being configured to provide selectable bi-cyclic pitch to said first rotor, said second rotor has a second swash plate operatively attached to said second rotor, said second swash plate being configured to provide selectable bi-cyclic pitch to said second rotor, said first and said second swash plate comprising said dynamic center of gravity effector, said first and said second swash plate being configured to move said center of lift of each of said first and said second rotors with respect to said center of gravity of said ground module and said air module.

25. The apparatus of claim 15 wherein said at least one rotary wing comprises:

a first rotor and a second rotor, said first and said second rotors each has at least one rotor blade, said at least one rotor blade being an extendable rotor blade, said extendable rotor blade being configured to move between an extended position and a retracted position.

26. The personal air vehicle of claim 15, said ground module being a one of a ground vehicle, a medical module, a cargo module, a weapons module, a passenger module and a communications module.

27. (Original, Withdrawn) The personal air vehicle of claim 15 wherein said at least one rotary wing is selected from a list consisting of:

a combination of a single rotor and a torque reactor configured to overcome a torque of said single rotor, a combination of two coaxial rotors, a combination of two rotors in tandem, a combination of two rotors that are side-by-side, a combination of two rotors that are intermeshing, a combination of two rotors that are configured to move between a side-by-side orientation and a tilted-rotor orientation, and a combination of two rotors that are configured to move among said tandem orientation, said side-by-side rotor orientation and said tilted-rotor orientation.

28. The personal air vehicle of claim 15 wherein said at least one rotary wing is a one of at least one open rotor and at least one ducted fan.

29. The apparatus of claim 15, the apparatus further comprising an air module control system housed within said air module, said air module control system comprising:

a. a microprocessor, a computer memory operably connected to said microprocessor, a power supply operably connected to said microprocessor, a control interface operably connected to said microprocessor, and a plurality of control effectors operably connected to said microprocessor, each of said plurality of control effectors being configured to adjust a one of a plurality of flight controls of said air module;

b. said microprocessor being programmed to receive a command through said control interface, said microprocessor being programmed to implement said command by adjusting said plurality of flight controls using said control effectors.

30. The apparatus of claim 29 wherein said command received by said air module control system is selected from a list consisting of a mission plan, a waypoint, and a landing zone location.

31. The apparatus of claim 30 wherein said control interface is a radio transponder, said air module control system is configured to receive said command through said radio transponder from a one of said ground module and a remote station, whereby said air module can receive and implement said command from said ground module or said remote station when said air module is on said ground and when said air module is in flight.

32. The apparatus of claim 30 wherein said control interface is a port, said air module is configured to receive said command from a human operator through a wire line connection to said port, whereby said air module can receive and implement said command received from said human operator through said port prior to flight.

33. The apparatus of claim 29, the apparatus further comprising:

a. a control inceptor, said control inceptor being located within said ground module, said control inceptor being configured to receive said command from a human being located within said ground module;

b. a port, said port defining said control interface, said port being operatively connected to said microprocessor, said control inceptor being operatively connected to said microprocessor through said port when said ground module is in said engagement with said air module.

34. The apparatus of claim 29 wherein said command that said control system is configured to receive and to implement is to disengage from said ground module when said ground module and said air module are located on said ground and to fly to a specified location.

35. The apparatus of claim 29 wherein said command that said control system is configured to receive and to implement is to fly to a location proximal to said ground module.