Airborne Manipulator System

• US 20090050750A1
• Filed: 04/16/2008
• Published: 02/26/2009
• Est. Priority Date: 06/11/2007
• Status: Active Grant

• Current Assignee: Honeywell International Inc.
• Original Assignee: Honeywell International Inc.
• Inventors: Goossen, Emray R.
• Granted Patent: US 8,251,307 B2
• Time in Patent Office: Days
• US Class Current: 244/76.R
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64D 1/22 Taking-up articles from earth's surface
• CPC Class Codes: B64U 10/13 Flying platforms
• CPC Class Codes: B64U 2101/00 UAVs specially adapted for particular uses or applications
• CPC Class Codes: B64U 2101/19 for use as targets or decoys
• CPC Class Codes: B64U 2101/30 for imaging, photography or videography
• CPC Class Codes: B64U 2101/60 for transporting passengers; for transporting goods other than weapons
• CPC Class Codes: B64U 2101/64 for parcel delivery or retrieval
• CPC Class Codes: B64U 50/14 ducted or shrouded

Abstract

A manipulator arm system on a ducted air-fan UAV is disclosed herein. The target site may be accurately located by the UAV, and the manipulator system may accurately locate the payload at the target site. The manipulator arm may select tools from a toolbox located on-board the UAV to assist in payload placement or the execution of remote operations. The system may handle the delivery of mission payloads, environmental sampling, and sensor placement and repair.

Claims

1. A UAV comprising:

at least one ducted fan;

a motor, wherein the motor rotates the blades of the at least one ducted fan;

avionics;

a manipulator arm;

wherein the manipulator arm is moveably attached to the UAV; and

wherein the manipulator arm has a plurality of portions moveably attached to at least one of the plurality of portions and the UAV; and

manipulator arm controls, wherein the manipulator arm controls control the movement of the manipulator arm.

2. The UAV of claim 1, further comprising:

at least one counterbalance, wherein the at least one counterbalance is movably attached to the UAV.

3. The UAV of claim 1, further comprising:

a payload stores pod.

4. The UAV of claim 1, wherein the manipulator arm further comprises:

a chuck tool.

5. The UAV of claim 1, further comprising:

a toolkit,

wherein the toolkit comprises a plurality of tools; and

wherein the manipulator arm selects and uses at least one tool.

6. The UAV of claim 1, further comprising a signal receiver and processor,

wherein the signal receiver and processor receives at least one signal from an operator;

wherein the signal receiver and processor processes the at least one signal from an operator; and

wherein the signal receiver and processor transmits at least one command corresponding to the at least one signal from the operator to one of the avionics and the manipulator arm controls.

7. The UAV of claim 1, further comprising:

a sensor, wherein the sensor senses information about the surroundings of the UAV.

9. The UAV of claim 1, further comprising:

a positioning grasp,

wherein the positioning grasp comprises an arm and a positioning clamp,

wherein the positioning clamp is movable in relation to the UAV; and

wherein the positioning clamp can exert a clamping force on an object within reach of the positioning grasp.

10. The UAV of claim 9, further comprising a stability control system, comprising:

at least one torque sensor located on at least one of the manipulator arm and the positioning grasp;

wherein, in response to a torque sensed by the torque sensor, the stability control system may send an instruction to the avionics to compensate for the torque.

8. The UAV of claim 8, further comprising a controller,

wherein the controller receives at least one input from the at least one sensor;

and

wherein the controller sends at least one output in response to the at least one input from the at least one sensor to one of the avionics and the manipulator arm controls.

11. A method of using a manipulator arm to perform an operation, comprising:

moveably attaching a manipulator arm to a UAV, the UAV comprising;

at least one ducted fan;

a motor;

avionics; and

manipulator arm controls;

signaling the UAV to move to an area within a proximity of a target site; and

signaling the manipulator arm to perform an operation at the target site, wherein the proximity of the target site is such that the manipulator arm is capable of performing the operation at the target site.

12. The method of claim 11, further comprising;

moving at least one counterbalance a distance away from the UAV.

13. The UAV of claim 11, further comprising:

a positioning grasp,

wherein the positioning grasp comprises an arm and a positioning clamp,

wherein the positioning clamp is movable in relation to the UAV; and

wherein the positioning clamp can exert a clamping force on an object within reach of the positioning grasp.

14. The method of claim 11, further comprising:

moving the manipulator arm to access a payload stores pod connected to the UAV, wherein the payload stores pod contains payload.

15. The method of claim 11, further comprising:

moving the manipulator arm to access a toolkit, wherein the toolkit comprises a plurality of tools;

connecting at least one tool to the manipulator arm; and

using the tool to perform an operation.

16. The method of claim 11, further comprising:

receiving a signal from an operator; and

moving at least one of the UAV and the manipulator arm in response to the signal from the operator.

17. The method of claim 11, further comprising:

receiving information from a sensor located on a UAV.

18. The method of claim 11, further comprising:

programming a controller with a control logic,

wherein the controller receives at least one input from a sensor located on the UAV; and

wherein the control logic sends at least one output based on at least one input from a sensor to one of the avionics and the manipulator arm controls.

19. A UAV comprising:

at least one ducted fan;

a motor, wherein the motor rotates the blades of the at least one ducted fan;

avionics;

a manipulator arm,

wherein the manipulator arm is moveably attached to the UAV, and

wherein the manipulator arm has multiple portions moveably attached to at least one multiple portion;

manipulator arm controls, wherein the manipulator arm controls control the movement of the manipulator arm;

a sensor, wherein the sensor collects information about the surroundings of the UAV;

a payload stores pod, wherein the payload stores pod comprises payload;

a toolkit,

wherein the toolkit comprises a plurality of tools; and

wherein the manipulator arm may interchangeably select and use at least one tool; and

a positioning grasp,

wherein the positioning grasp comprises an arm and a positioning clamp,

wherein the positioning clamp is movable in relation to the UAV; and

wherein the positioning clamp can exert a clamping force on an object within reach of the positioning grasp.

20. The UAV of claim 19, further comprising a controller,

wherein the controller receives at least one input from the at least one sensor, and

wherein the controller sends at least one output based on the at least one input from the at least one sensor to one of the avionics and the manipulator arm controls.