Homeostatic flying hovercraft

• US 9,073,532 B2
• Filed: 04/23/2011
• Issued: 07/07/2015
• Est. Priority Date: 08/30/2002
• Status: Active Grant

• Current Assignee: QFO Labs, Inc.
• Original Assignee: QFO Labs, Inc.
• Inventors: Pedersen, Brad, Spirov, Peter
• Primary Examiner(s): Kim, Gene
• Assistant Examiner(s): STANCZAK, MATTHEW BRIAN
• Application Number:
  US13/092,940
• Publication Number:
  US 20110204187A1
• Time in Patent Office: 1,536 Days
• Field of Search: 702/150, 180/116, 446 34- 57, 446/431, 244 1711- 1727, 244/23.A, 244/189, 244/190, 244/194
• US Class Current: 1/1
• 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) flying hovercraft controlled by a handheld RC controller separate and remote from the RC flying hovercraft, the RC flying hovercraft comprising:

a set of thrusters, each thruster including at least one blade driven by an electrically powered motor, that provide aerodynamic lift for the RC flying hovercraft;

a battery system positioned in the flying hovercraft and electrically coupled to the set of thrusters;

a homeostatic control system positioned in the RC flying hovercraft and operably connected to the thrusters that automatically controls a thrust produced by each thruster in order to automatically maintain a desired orientation of the RC flying hovercraft, the 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 alone for use by the homeostatic control system in automatic control of said thrusters to maintain homeostatic stabilization in the desired orientation; and

a radio frequency (RF) receiver positioned in the RC flying hovercraft and adapted to receive communications from the RC controller, the communications including the desired orientation of the RC flying hovercraft used by the homeostatic control system to automatically control the thrusters to maintain the desired orientation, wherein the desired orientation communicated by the RC controller is determined based on a handheld structure housing a sensor system in the RC controller that senses at least a two dimensional, two-axis sensed orientation of the handheld structure as a result of a user remote from the RC flying hovercraft selectively orienting the handheld structure,

whereby an actual moment-to-moment orientation of the RC flying hovercraft mimics a corresponding moment-to-moment positioning of the RC controller based on the two dimensional, two-axis sensed orientation of the RC controller.

2. The RC flying hovercraft of claim 1 wherein the flying hovercraft further comprises a foam body housing the thrusters within a perimeter of the body.

3. The RC flying hovercraft of claim 2 wherein the foam body includes structure defining a set of ducts, each duct corresponding to one of the set of thrusters.

4. The RC flying hovercraft of claim 3 wherein the set of ducts further comprise a screen cover disposed on an upper surface of the foam body corresponding to the set of ducts such that air flows through the screen cover into each duct and the at least one blade of each thruster are protected by the screen cover.

5. The RC flying hovercraft of claim 1 wherein the communications include the desired orientation of the flying hovercraft and an intended motion in which the flying hovercraft is to be directed without any additional communications being required for control of moment-to-moment balance and stabilization of the RC flying hovercraft.

6. The RC flying hovercraft of claim 1 wherein the communications selectively include software updates for the homeostatic control system from the web via an Internet connection.

7. The RC flying hovercraft of claim 1, wherein the set of thrusters includes at least two pairs of counter-rotating ducted fans.

8. A system that includes a radio controlled (RC) flying hovercraft controlled by a handheld RC controller separate and remote from the RC flying hovercraft, the system comprising:

an RC flying hovercraft that includes a set of generally downwardly directed thrusters, each thruster including at least one blade driven by an electrically powered motor to provide aerodynamic lift for the RC flying hovercraft;

an electrical-power system attached to the flying hovercraft and electrically coupled to the set of thrusters;

a control system that is attached to the RC flying hovercraft and operably connected to the thrusters and that automatically controls a thrust produced by each thruster in order to automatically maintain a desired orientation of the RC flying hovercraft, the 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 alone for use by the control system in automatic control of said thrusters to maintain stabilization of the RC flying hovercraft in the desired orientation that is responsive to radio frequency (RF) communications from the RC controller;

a radio receiver configured to receive communications from the RC controller, the communications including a desired orientation of the RC flying hovercraft, wherein the desired orientation received from the RC controller is based on at least a two dimensional, two-axis sensed orientation of the RC controller itself;

a sensor system in the control system of the RC flying hovercraft configured to dynamically determine an actual orientation of the RC flying hovercraft, the sensor system including at least a three-dimensional, three-axis sensor; and

wherein the control system in the RC flying hovercraft automatically and dynamically controls a thrust produced by each of the thrusters to achieve and selectively maintain the actual orientation of the RC flying hovercraft in response to the desired orientation received from the RC flying hovercraft by the RC controller and the actual orientation determined by the sensor system in the RC flying hovercraft without any additional communications being required for control of moment-to-moment balance and stabilization of the RC flying hovercraft.

9. The system of claim 8, wherein the RC flying hovercraft further comprises a foam body housing the thrusters within a perimeter of the foam body.

10. The system of claim 8, wherein the RC flying hovercraft further comprises a foam body housing the thrusters within a perimeter of the foam body, wherein the foam body includes structure defining a plurality of ducts, and wherein each one of the plurality of ducts corresponds to one of the set of thrusters.

11. The system of claim 8, wherein the RC flying hovercraft further comprises a foam body housing the thrusters within a perimeter of the foam body, wherein the foam body includes structure defining a plurality of ducts, and wherein each one of the plurality of ducts corresponds to one of the set of thrusters, and wherein each one of the plurality of ducts includes a screen cover disposed on a surface of the foam body such that air flows through the screen cover of each duct and the duct, and such that the at least one blade of each thruster is protected by its duct'"'"'s screen cover.

12. The system of claim 8, wherein the communications received from the RC controller include the desired orientation of the RC flying hovercraft and an intended motion in which the flying hovercraft is to be directed without any additional communications being required for control of moment-to-moment balance and stabilization of the RC flying hovercraft.

13. The system of claim 8, wherein the communications received from the RC controller selectively include software updates for the control system from the web via an Internet connection.

14. The system of claim 8, further comprising the RC controller.

15. A kit comprising:

a radio controlled (RC) flying hovercraft;

a handheld RC controller, wherein the RC flying hovercraft is controlled by the handheld RC controller separate and remote from the RC flying hovercraft, wherein the RC flying hovercraft further includes;

a set of thrusters,

each thruster including at least one blade driven by an electrically powered motor, that provide aerodynamic lift for the RC flying hovercraft;

an electrical-power system positioned in the flying hovercraft and electrically coupled to the set of thrusters;

a homeostatic control system positioned in the RC flying hovercraft and operably connected to the thrusters that automatically controls a thrust produced by each thruster in order to automatically maintain a desired orientation of the RC flying hovercraft, the 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 alone for use by the homeostatic control system in automatic control of said thrusters to maintain homeostatic stabilization in the desired orientation; and

a radio frequency (RF) receiver positioned in the RC flying hovercraft and adapted to receive communications from the RC controller, the communications including the desired orientation of the RC flying hovercraft used by the homeostatic control system to automatically control the thrusters to maintain the desired orientation, wherein the desired orientation communicated by the RC controller is determined based on a handheld structure housing a sensor system in the RC controller that senses at least a two dimensional, two-axis sensed orientation of the handheld structure as a result of a user remote from the RC flying hovercraft selectively orienting the handheld structure,

whereby an actual moment-to-moment orientation of the RC flying hovercraft mimics a corresponding moment-to-moment positioning of the RC controller based on the two dimensional, two-axis sensed orientation of the RC controller.

16. The kit of claim 15, wherein the RC flying hovercraft further comprises a foam body housing the thrusters within a perimeter of the foam body.

17. The kit of claim 15, wherein the RC flying hovercraft further comprises a foam body housing the thrusters within a perimeter of the foam body, wherein the foam body includes structure defining a plurality of ducts, and wherein each one of the plurality of ducts corresponds to one of the set of thrusters.

18. The kit of claim 15, wherein the RC flying hovercraft further comprises a foam body housing the thrusters within a perimeter of the foam body, wherein the foam body includes structure defining a plurality of ducts, and wherein each one of the plurality of ducts corresponds to one of the set of thrusters, and wherein each one of the plurality of ducts includes a screen cover disposed on a surface of the foam body such that air flows through the screen cover of each duct and the duct, and such that the at least one blade of each thruster is protected by its duct'"'"'s screen cover.

19. The kit of claim 15, wherein the communications received from the RC controller include the desired orientation of the RC flying hovercraft and an intended motion in which the flying hovercraft is to be directed without any additional communications being required for control of moment-to-moment balance and stabilization of the RC flying hovercraft.

20. The kit of claim 15, wherein the communications received from the RC controller selectively include software updates for the control system from the web via an Internet connection.

21. A radio controlled (RC) flying craft controlled by a handheld RC controller separate from the craft, the craft comprising:

a set of four thrusters, each thruster including at least one blade driven by an electrically powered motor, that provide aerodynamic lift for the craft;

a battery system positioned in the craft and electrically coupled to the set of four thrusters;

a control system positioned in the craft and operably connected to the set of four thrusters that automatically controls a thrust produced by each thruster in order to automatically maintain a desired orientation of the craft, the 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 just dead reckoning for use by the control system in determining an actual orientation of the craft relative to the gravitational reference; and

a radio frequency (RF) receiver positioned in the craft and adapted to receive communications from the RC controller used by the control system,

wherein the desired orientation is determined in response to communications from the RC controller based on at least a two dimensional, two-axis sensed orientation of a handheld structure housing a sensor system in the RC controller as a result of a user remote from the RC flying hovercraft selectively orienting the handheld structure,

whereby on a moment-to-moment basis the actual orientation of the craft mimics the sensed orientation of the handheld structure of the RC controller.

22. The craft of claim 21, wherein the craft further comprises a foam body housing the set of four thrusters within a perimeter of the body.

23. The craft of claim 21, wherein the set of four thrusters comprises two pairs of counter- rotating thrusters.

24. The craft of claim 21, wherein the communications selectively include software updates for the control system received from an Internet connection.