Amphibious vertical takeoff and landing unmanned device

• US 9,776,715 B2
• Filed: 11/14/2016
• Issued: 10/03/2017
• Est. Priority Date: 10/01/2002
• Status: Expired due to Term

• Current Assignee: Andrew H.B. Zhou, Dylan T.X. Zhou, Tiger T.G. Zhou
• Original Assignee: Andrew H.B. Zhou, Dylan T.X. Zhou, Tiger T.G. Zhou
• Inventors: Zhou, Andrew H B, Zhou, Dylan T X, Zhou, Tiger T G
• Primary Examiner(s): Sanderson, Joseph W
• Application Number:
  US15/350,458
• Publication Number:
  US 20170072755A1
• Time in Patent Office: 323 Days
• CPC Class Codes: B60F 5/02 convertible into aircraft
• CPC Class Codes: B60K 16/00 Arrangements in connection with power supply of propulsion units in vehicles from forces of nature, e.g. sun or wind electric propulsion with power supply from forces of nature, e.g. sun or wind B60L8/00; marine propulsion by wind motors driving water-engaging propulsive elements B63H13/00; wind motors specially adapted for installation on vehicles F03D9/32
• CPC Class Codes: B60K 2016/003 solar power driven
• CPC Class Codes: B60R 11/04 Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
• CPC Class Codes: B64C 29/0033 the propellers being tiltable relative to the fuselage
• CPC Class Codes: B64C 29/0066 with horizontal jet and jet deflector
• CPC Class Codes: B64C 29/0075 the motors being tiltable relative to the fuselage
• CPC Class Codes: B64C 35/008 Amphibious sea planes
• CPC Class Codes: B64C 37/00 Convertible aircraft
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64U 10/20 Vertical take-off and landing [VTOL] aircraft flying platforms B64U10/13; helicopters B64U10/17
• CPC Class Codes: B64U 10/25 Fixed-wing aircraft VTOL aircraft B64U10/20
• CPC Class Codes: B64U 10/70 Convertible aircraft, e.g. convertible into land vehicles
• CPC Class Codes: B64U 20/40 Modular UAVs
• CPC Class Codes: B64U 2201/10 autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
• CPC Class Codes: B64U 30/12 Variable or detachable wings, e.g. wings with adjustable sweep
• CPC Class Codes: B64U 50/12 using turbine engines, e.g. turbojets or turbofans
• CPC Class Codes: B64U 50/14 ducted or shrouded
• CPC Class Codes: B64U 50/18 Thrust vectoring
• CPC Class Codes: B64U 50/31 generated by photovoltaics
• CPC Class Codes: B64U 70/83 : using parachutes, balloons or the like
• CPC Class Codes: G05D 1/0816 : to ensure stability
• CPC Class Codes: G05D 1/0858 : specially adapted for vertical take-off of aircraft
• CPC Class Codes: G08G 5/04 : Anti-collision systems

Abstract

An amphibious vertical takeoff and landing (VTOL) unmanned device is provided. The amphibious VTOL unmanned device includes a modular and expandable waterproof body, an outer body shell, a gimbaled swivel propulsion system comprising a plurality of VTOL jet engines and VTOL ducted fans, a processor, electronic speed controllers, a two-way telemetry device, a video transmitter, a radio control receiver, a power distribution board, an electrical machine, an onboard electricity generator comprising a plurality of solar cells, a light detection and ranging device, an ultrasonic radar sensor, a plurality of sensors, a tail configured to stabilize the amphibious VTOL unmanned device, a head VTOL ducted fan adapted for VTOL, a plurality of wheels, a plurality of foldable wings configured to create a pressure difference and creating a lift, a plurality of parachutes configured to safely land the amphibious VTOL unmanned device in an emergency.

Claims

1. An amphibious vertical takeoff and landing (VTOL) unmanned device with an artificial intelligence (AI) data processing mobile and wearable apparatus, the amphibious VTOL unmanned device comprising:

a modular and expandable waterproof body adapted for carrying a payload;

an outer body shell associated with the modular and expandable waterproof body and comprising one or more pieces;

a gimbaled swivel propulsion (GSP) system, the GSP system comprising a plurality of VTOL jet engines and VTOL ducted fans associated with a plurality of motors, wherein the plurality of VTOL jet engines are selected from turbojet engines, turbofan engines, and foldable variable pitch tilting engines, wherein the VTOL ducted fans include at least a multi-blade ducted fan, the plurality of VTOL jet engines being adapted for driving the amphibious VTOL unmanned device on a surface and in a flight, wherein the turbojet engines comprise afterburners configured to rotate a fuel jet with hydraulic actuator rotation and communicating with an engine fuel system of the amphibious VTOL unmanned device, the engine fuel system having a line management electro-hydraulic control converter mounted on the turbojet engines, wherein the afterburners allow for bursts of acceleration of the fuel jet;

a processor, electronic speed controllers, a two-way telemetry device, a video transmitter, a radio control receiver, and a power distribution board, the processor being configured for controlling at least vectoring of a GSP thrust associated with the GSP system to control a direction of a thrust generated by the plurality of VTOL jet engines, wherein the electronic speed controllers are selected from a standalone electronic speed controller and an electronic speed controller integrated into the power distribution board;

an electrical machine comprising a stator electrically connected to an electrical power storage device, wherein the electrical machine acts as an electric motor for driving rotation of the plurality of VTOL jet engines by using the electrical power storage device, and wherein the electrical machine with the plurality of VTOL jet engines act as an electrical power generator for re-charging the electrical power storage device;

an onboard electricity generator comprising a plurality of solar cells, wherein the onboard electricity generator includes carbon fiber hybrid solar cells;

printed parts selected from 3D printed parts and 4D printed parts;

a light detection and ranging (LIDAR) device, an ultrasonic radar sensor, and a plurality of sensors;

a tail attached to the modular and expandable waterproof body at a rear end and adapted for stabilizing the amphibious VTOL unmanned device;

a head VTOL ducted fan attached to the modular and expandable waterproof body at a front end and adapted for VTOL;

a plurality of wheels at a bottom of the amphibious VTOL unmanned device connected to the power distribution board;

a plurality of foldable wings on sides of the modular and expandable waterproof body, the plurality of foldable wings being adapted for creating a pressure difference and creating a lift associated with the amphibious VTOL unmanned device; and

a plurality of parachutes attached to the amphibious VTOL unmanned device to safely land the amphibious VTOL unmanned device in an emergency, wherein at least one parachute of the plurality of parachutes is fixed to each of;

the bottom of the amphibious VTOL unmanned device, the front end of the amphibious VTOL unmanned device, and the rear end of the amphibious VTOL unmanned device.

2. The amphibious VTOL unmanned device of claim 1, further comprising a plurality of doors, a windshield, a dashboard, and a tail wing.

3. The amphibious VTOL unmanned device of claim 2, wherein the stabilizing of the amphibious VTOL unmanned device is obtained by the tail wing and at least one horizontal stabilizer.

4. The amphibious VTOL unmanned device of claim 1, wherein the foldable variable pitch tilting engines of the plurality of VTOL jet engines are attached to sides of the modular and expandable waterproof body, and wherein two of the plurality of VTOL jet engines are attached to a front end of the modular and expandable waterproof body, and wherein further two of the plurality of VTOL jet engines are attached to the rear end of the modular and expandable waterproof body.

5. The amphibious VTOL unmanned device of claim 1, further comprising batteries and at least one supercharger, wherein the at least one supercharger is adapted to increase air density, and wherein the at least one supercharger is adapted for charging the batteries, wherein the batteries are adapted to supply power to an auxiliary power unit.

6. The amphibious VTOL unmanned device of claim 5, wherein the batteries are partially or completely modular batteries, and wherein the electronic speed controllers are configured to detach from an electronic speed controller stack, the video transmitter and the radio control receiver are removable for upgrading, the two-way telemetry device is removable for upgrading, the plurality of motors are removable for upgrading, and the processor is configured to detach from the power distribution board, wherein the batteries include a lithium ion polymer battery that conforms to an interior profile of the modular and expandable waterproof body and includes a built-in battery charge indicator.

7. The amphibious VTOL unmanned device of claim 5, wherein the two-way telemetry device is configured to control an on screen display of the AI data processing mobile and wearable apparatus to inform a user about a battery voltage of the batteries, a current draw, a signal strength, minutes flown, minutes of operation left for the batteries, a flight and dive mode and profile, an amperage draw per unit of time, GPS latitude and longitude coordinates, an operator position relative to a position of the amphibious VTOL unmanned device, number of GPS satellites, and artificial horizon displayed on the AI data processing mobile and wearable apparatus, the AI data processing mobile and wearable apparatus being selected from a tablet, a phone, and a headset, wherein the two way telemetry device is configured to provide a follow-me mode when the amphibious VTOL unmanned device uses the AI data processing mobile and wearable apparatus as a virtual tether to track the user via one or more cameras when the user moves.

8. The amphibious VTOL unmanned device of claim 1, further comprising one or more modules attached to the modular and expandable waterproof body, the one or more modules are selected from a group comprising:

a waterproof battery module, a camera stabilization device, a thermal inspection device, an environmental sample processor, a seismometer, a spectrometer, an osmosampler, and a night vision device, and wherein the plurality of VTOL jet engines include a turbine engine.

9. The amphibious VTOL unmanned device of claim 8, wherein the turbine engine is configured to transfer power to each of VTOL ducted fans of a lift fan drive system through a single planetary gearbox.

10. The amphibious VTOL unmanned device of claim 1, wherein the modular and expandable waterproof body has a back portion and a front portion, wherein the back portion and the front portion show colors, wherein the device is configured to be launched from a body of a user, wherein the amphibious VTOL unmanned device is controlled by the user using the AI data processing mobile and wearable apparatus via motion gestures, buttons, and a touch screen of the AI data processing mobile and wearable apparatus, wherein the amphibious VTOL unmanned device is operable to perform an automatic landing and an automatic takeoff, wherein the amphibious VTOL unmanned device is configured in a form of one of the following:

a people-carrying vehicle, a cargo-carrying vehicle, a radio controlled toy, an autonomous vehicle, a multi-blade ducted fan roadable electric aircraft, an uncrewed vehicle, a driverless car, a self-driving car, an unmanned aerial vehicle, a drone, a robotic car, a commercial goods and passenger carrying vehicle, and a private self-drive vehicle;

wherein the autonomous vehicle is configured to sense environmental conditions, navigate without a human input, and perform auto-piloting, wherein the sensing is performed via the plurality of sensors, the plurality of sensors including, one or more of the following;

a radar, a Global Positioning System (GPS) module, and a computer vision module;

wherein the processor is operable to interpret sensory information to identify navigation paths, obstacles and signage;

wherein the autonomous vehicle is configured to update maps based on a sensory input to keep track of a position of the amphibious VTOL unmanned device when conditions change or when the amphibious VTOL unmanned device enters uncharted environments;

wherein the multi-blade ducted fan roadable electric aircraft is propelled by one or more electric motors of the plurality of motors using electrical energy stored in the electrical power storage device; and

wherein the AI data processing mobile and wearable apparatus enables the user to submit a trip request, the trip request being routed to the amphibious VTOL unmanned device to initiate a peer-to-peer pick up service or a cargo transportation.

11. The amphibious VTOL unmanned device of claim 1, wherein the GSP system is powered by:

a high pressure gas; and

wherein the VTOL ducted fans are attached directly to a motor shaft associated with one or more of the plurality of motors or are mechanically linked to the one or more of the plurality of motors through a series of pulley belts.

12. The amphibious VTOL unmanned device of claim 1, further comprising a collision avoidance, flight stabilization, and multi-rotor control system, the collision avoidance, flight stabilization, and multi-rotor control system comprising:

a flight and dive control device configured to perform one or more of the following;

auto level control, altitude hold, return to an operator automatically, return to the operator by manual input, operating an auto-recognition camera, monitoring a circular path around a pilot, and controlling autopilot;

one or more further sensors and one or more cameras configured to control one or more of the following;

obstacle avoidance, terrain and Geographical Information System mapping, close proximity flight including terrain tracing, and crash resistant indoor navigation, an autonomous takeoff, an auto-fly or dive to a destination with at least one manually or automatically generated flight plan, an auto-fly or dive to the destination by tracking monuments, a direction lock, a dual operator control;

a transmitter and receiver control device comprising one or more antennas, the one or more antennas including high gain antennas;

the transmitter and receiver control device further comprising a lock mechanism operated by one or more of the following;

numerical passwords, word passwords, fingerprint recognition, face recognition, eye recognition, and a physical key.

13. The amphibious VTOL unmanned device of claim 12, wherein the flight and dive control device is configured to:

perform stable transitions between a hover mode, a full forward flight mode, and an underwater mode;

enable or disable a GPS;

record flight parameters;

allow inverted flight, aerial and aquatic rolls and flips;

stabilize proportional, integral, and derivative gains above water and below water;

restrict the amphibious VTOL unmanned device to fly-safe locations;

receive and enact force shut-off commands associated with a manufacturer;

receive software updates from the manufacturer;

activate the amphibious VTOL unmanned device after a user provides an input;

provide thrust compensation for body inclination of the modular and expandable waterproof body by acting as a body pitch suppressor of the modular and expandable waterproof body to maintain an altitude in a forward flight; and

compensate yaw and roll mixing when rotors of the amphibious VTOL unmanned device tilt.

14. The amphibious VTOL unmanned device of claim 1, further comprising:

a navigation device configured to;

enable autonomous flying at low altitude and avoiding obstacles;

evaluate and select landing sites in an unmapped terrain;

land safely using a computerized self-generated approach path;

enable a pilot aid to help a pilot to avoid obstacles and select landing sites in unimproved areas during operating in low-light or low-visibility conditions;

detect and maneuver around a man lift during flying;

detect high-tension wires over a desert terrain; and

enable operation in a near earth obstacle rich environment; and

wherein the plurality of sensors include a navigation sensor configured to;

map an unknown area where obstructions limit landing sites;

identify level landing sites with approach paths that are accessible for evacuating a simulated casualty;

build three-dimensional maps of a ground and find obstacles in a path;

detect four-inch-high pallets, chain link fences, vegetation, people and objects that block a landing site;

enable continuously identifying potential landing sites and develop landing approaches and abort paths;

select a safe landing site being closest to a given set of coordinates;

wherein the navigation sensor includes an inertial sensor and a laser scanner,

wherein the navigation sensor is paired with mapping and obstacle avoidance software, the mapping and obstacle avoidance software being operable to keep a running rank of the landing sites, the landing approaches and the abort paths to enable responding to unexpected circumstances.

15. The amphibious VTOL unmanned device of claim 14, wherein the mapping and obstacle avoidance software includes an open source code and an open source software development kit.

16. The amphibious VTOL unmanned device of claim 1, wherein the plurality of sensors are selected from a group comprising:

individual sensors, stereo sensors, ultrasonic sensors, infrared sensors, multispectral sensors, optical flow sensors, and volatile organic compound sensors, wherein the plurality of sensors are provided for intelligent positioning, collision avoidance, media capturing, surveillance, and monitoring.

17. The amphibious VTOL unmanned device of claim 1, wherein the plurality of VTOL jet engines are adapted for VTOL, short takeoff and vertical landing (STOVL), conventional takeoff and landing (CTOL), and catapult assisted takeoff barrier arrested recovery (CATOBAR).

18. The amphibious VTOL unmanned device claim 1, wherein the plurality of VTOL jet engines include a tilt jet and a lift jet, the lift jet being a jet engine angled to provide aerostatic lift.

19. The amphibious VTOL unmanned device of claim 18, further comprising a stability system being controlled by a plurality of inputs including inputs of a pilot, and a plurality of actuating outputs, wherein one of the plurality of actuating outputs is to control an angular pitch of the tilt jet.

20. The amphibious VTOL unmanned device of claim 1, wherein the GSP system is configured to perform GSP thrust vector control by a vectoring nozzle.

21. The amphibious VTOL unmanned device of claim 20, wherein the GSP thrust vector control is used to control the direction of a thrust of the amphibious VTOL unmanned device, the GSP system controls an exhaust nozzle of the amphibious VTOL unmanned device to change a direction of the thrust relative to a center of gravity of the amphibious VTOL unmanned device.

22. The amphibious VTOL unmanned device of claim 21, wherein the GSP thrust vector control further comprises a bearing swivel module including a front bearing swivel module and a rear bearing swivel module, wherein the bearing swivel module controls the direction of the thrust, the bearing swivel module being configured to move the amphibious VTOL unmanned device by controlling the front bearing swivel module and the rear bearing swivel module.

23. The amphibious VTOL unmanned device of claim 22, wherein the bearing swivel module of the GSP thrust vector control includes one or more multi-bearing swivels.

24. The amphibious VTOL unmanned device of claim 1, wherein the plurality of parachutes include a drogue parachute.

25. The amphibious VTOL unmanned device of claim 1, further comprising a cockpit configured to display flight conditions on a display, a seat ejection system adapted for ejecting a seat of the amphibious VTOL unmanned device during emergency, and a collision avoiding system.

26. The amphibious VTOL unmanned device of claim 1, wherein the plurality of solar panels are fixed on a top of the plurality of foldable wings and the modular and expandable waterproof body, the plurality of solar panels being chrome plated, the plurality of solar panels providing power to the onboard electricity generator.

27. A system of controlling an amphibious vertical takeoff and landing (VTOL) unmanned device with an artificial intelligence (AI) data processing mobile and wearable the system of controlling the amphibious VTOL unmanned device comprising:

a processor configured to;

stabilize the amphibious VTOL unmanned device,

wherein the stabilizing of the amphibious VTOL unmanned device is performed by at least one wing tail stabilizer and at least one horizontal stabilizer of the amphibious VTOL unmanned device by pitching at least one tilting jet engine of a plurality of VTOL jet engines of the amphibious VTOL unmanned device according to a required lift and using a plurality of lift fans of the amphibious VTOL unmanned device;

perform a tilting arrangement of the amphibious VTOL unmanned device, the tilting arrangement is adapted for tilting the at least one tilting jet engine of the plurality of VTOL jet engines of the amphibious VTOL unmanned device;

fold and unfold a plurality of foldable wings of the amphibious VTOL unmanned device;

vector a gimbaled swivel propulsion (GSP) thrust, wherein the vectoring is controlled by a thrust control mechanism;

wherein the vectoring of the GSP thrust is controlled by a plurality of bearing swivel modules, wherein the plurality of beating swivel modules control a thrust direction of the amphibious VTOL unmanned device, the plurality of bearing swivel modules are adapted to move the amphibious VTOL unmanned device by controlling a front bearing swivel module of the plurality of bearing swivel modules and by controlling a rear bearing swivel module of the plurality of bearing swivel modules;

wherein the vectoring of the GSP thrust is further controlled by a vectoring nozzle of the amphibious VTOL unmanned device, the vectoring nozzle is controlled by actuators associated with the amphibious VTOL unmanned device;

wherein the vectoring of the GSP thrust is further controlled by a gimbaled thrust system of the amphibious VTOL unmanned device, the gimbaled thrust system controls the vectoring nozzle of the amphibious VTOL unmanned device, the direction of the GSP thrust is changed relative to a center of gravity of the amphibious VTOL unmanned device;

charge batteries of the amphibious VTOL unmanned device via superchargers associated with the amphibious VTOL unmanned device, the batteries are adapted to supply power to an auxiliary power unit and a battery storage associated with the amphibious VTOL unmanned device.

28. The system of claim 27, wherein the processor is configured to control:

displaying the flight conditions on a touch screen of the amphibious VTOL unmanned device, recognizing a speech in a cockpit of the amphibious VTOL unmanned device, a seat ejecting system associated with the amphibious VTOL unmanned device and adapted for ejecting a seat of the amphibious VTOL unmanned device during emergency, and a collision avoiding system of the amphibious VTOL unmanned device;

capturing of flight conditions and environmental conditions by a plurality of cameras of the amphibious VTOL unmanned device, the plurality of cameras being adapted for surveillance;

opening of a parachute of the amphibious VTOL unmanned device for safe landing of the amphibious VTOL unmanned device during emergency landing and accidents.

29. The system of claim 27, wherein the amphibious VTOL unmanned device is made at least of aluminum and carbon fiber;

wherein the amphibious VTOL unmanned device comprises the plurality of VTOL jet engines, at least one two-way telemetry device, a broad cast device, a collision avoidance system, a processor, a navigation device, and a plurality of sensors, the plurality of VTOL jet engines including at least the at least one tilting jet engine.