Patent Application
20090212157
The present disclosure relates to unmanned aerial devices. Particularly, the present disclosure relates to hand-held, remotely operated devices for tactical operations.
Modern warfare and law enforcement are increasingly characterized by extensive guerilla and counter-terrorism operations conducted by small tactical units of paramilitary personnel. These units are tasked to root out and defend against hostile forces and/or criminal elements that threaten the unit or the public. Unfriendly forces frequently hide themselves from view or exploit the local terrain to gain tactical advantage or escape from pursuers. In the presence of hostile forces, a simple brick wall, barbed wire fence, body of water, high building or even a large open area devoid of cover can be an insurmountable obstacle when time is of the essence and tactical resources (such as, for instance, a ladder, boat or aircraft) are unavailable. An active threat (such as hostile forces or an armed suspect) can make the situation deadly.
Stealth and surprise are important elements of tactical advantage; especially where the position and composition of opposing forces is unknown. Visible indications, loud noises, and predictable actions can reveal friendly forces and expose them to hostile fire and casualties. Tactical forces need an unobtrusive, real-time way to visualize their surroundings and objective, reconnoiter the terrain, detect hostile forces and project force at a distance.
Ballistic methods of surveillance, wherein a projectile or other device is brought to an altitude to descend passively (sometimes with a parachute or other aerodynamic means of control), may have limitations. Ballistic devices generally have limited time aloft, cannot rise and descend repeatedly under their own power and cannot maintain prolonged horizontal flight. This may act to limit their radius of effectiveness and tactic usefulness.
In this age of technology, warfare and law enforcement are increasingly automated and computerized through the use of drones—robotic vehicles that allow their operators to perform tasks and gather information from a distance without exposing themselves to potentially dangerous situations. Current drones, however, have many practical limitations. Some, such as wheeled vehicles, are restricted to use over smooth, solid surface. Others, such as remotely controlled airplanes must operate at relatively high altitudes to avoid crashing into the local terrain, and require special means of deployment and recovery such as long runways, for example. Most available drones also suffer from lack of portability, and significant support equipment is required for their proper operation.
Robotic rotorcraft, such as radio controlled helicopters, are typically complex, expensive and may be prone to severe damage. In the normal course of operation and maneuvering, the rotor blades of traditional helicopters can come into contact with a body portion of the helicopter or the local terrain which can often leading to the destruction and operational loss of the helicopter. Due to their size and configuration, available robotic rotorcraft may also be relatively cumbersome to operate, transport and store.
What is needed is a robotic system that can extend the situational awareness of tactical forces and enhance their ability to deploy sensors and deliver ordnance with high accuracy. Ideally, the system should be simple, compact and expendable to allow for losses in the field. A light weight, portable system would be highly desirable.
The present disclosure comprises one or more of the following features discussed below, or combinations thereof:
A hand-held, miniature flying micro-rotorcraft unit provides remote surveillance, tactical, operational and communication capabilities. The hand-held micro-rotorcraft unit is capable of being deployed anywhere to fly remotely and navigate through various obstacles and over various terrain. The hand-held unit includes a small, elongated body defining a vertical axis. The elongated body includes a plurality of interchangeable, modular components including a power module, a drive module, a payload module, and a navigation module. Extendable/retractable elements are provided to couple to the elongated body, and to be extended during flight to perform various operational functions.
A rotor means is coupled to an upper end of the hand-held elongated body for rotation about the vertical body axis to lift the hand-held elongated body into the air. The rotor means is driven by drive means located within the drive module. The rotor means may include a pair of upper rotor blades coupled to a first rotatable hub, a pair of lower rotor blades coupled to a second rotatable hub, and means for supporting the first and second rotatable hubs for rotation about the vertical body axis in opposite directions.
The power module includes a power supply for energizing the drive means. The navigation module includes means for determining a global position of the hand-held elongated body during flight of the micro-rotorcraft unit. The payload module may include explosive or incendiary munitions, and biological or chemical sensors, for example.
Features of the present disclosure will become apparent to those skilled in the art upon consideration of the following detailed description of illustrative embodiments exemplifying the best mode of carrying out the disclosure as presently perceived.
The detailed description particularly refers to the accompany figures in which:
a is a perspective view of the trailer shown in
b is a rear view of the trailer of
c is a side view of the trailer of
a-11c shows first, second and third steps in manually deploying the unit;
a-13c are perspective views of the rotorcraft unit of
An integrated micro-rotorcraft system 10 includes a mobile command center 12 and various radio-controlled or self-guided micro-rotorcraft units, described in detail below. Illustrative components of integrated system 10 are shown in
Micro-rotorcraft units may be remotely controlled by operators at the mobile command center 12 and may be pre-programmed to perform a set of instructions autonomously in the event that contact is lost between the particular micro-rotorcraft unit and the mobile command unit 12, or when insuring stealth or secrecy is required. In this autonomous mode, micro-rotorcraft units operate without direct input from the mobile command unit 12 and are capable of sending data to a data hub without revealing the position of the data hub.
Due at least in part to their small size, each micro-rotorcraft unit is capable of acting as an anti-personnel weapon by locating and striking individual combatants silently and from any direction. Illustrative system 10 may include up to one thousand micro-rotorcraft units. Each unit includes a payload module which may comprise video cameras (visible light and infrared), sensors (biological and chemical), munitions (explosive and incendiary), etc. Further each unit includes a navigation system, telemetry uplink and downlink capability, and autonomous autopilot capability. System 10 is capable of fusing a picture of the environment and taking coordinated action. Fitted with telemetry and data uplink/downlink electronics, each micro-rotorcraft unit may be operated from a central command center, a satellite, or an orbiting aircraft, such as a fixed-wing “Predator” drone, for example.
Looking again to
In operation, a pilot or operator 29 may be provided with display helmet 28, also shown in
Alternatively, unit 18 includes on-board electronics which can be pre-programmed to follow a specified flight path based on GPS coordinates, for example. Preprogrammed flight reduces pilot workload so operator 29 is better able to observe the surrounding terrain projected through video display glasses 46 of helmet 28. Preprogrammed flight is also useful in fixed surveillance operations where station-keeping is important, such as in search and rescue operations, for example, where an orthogonal grid search pattern may be desirable, and tactical operations, for example, where autonomous munitions may be intended to hit stationary targets such as buildings or parked aircraft, for example, or targets outside of the range of the telemetry system.
Helmet 28 may also be programmed to sense motion of the head of operator 29 in order to control video camera 105 of unit 18. For example, upward and downward motion can slew camera 105 up and down, while side-to-side motion can rotate body 52 of unit 18 about body axis 60 thus providing a control system responsive to the natural movements of operator 29 in order to simplify the operator training which may be required to operate unit 18.
Looking now to
As mentioned above, mobile command center 12 includes various computer network systems 26, such as those illustratively shown in
Integrated computer network system 26 within mobile command center 12 can process and display graphically all data downloaded from one or more deployed micro-rotorcraft units. This data may be combined with other sources of data, including remote sensors, satellites, manned aircraft, ground units, etc., to present a fused, real-time picture of the tactical situation. As is discussed further below, data from sensors onboard the micro-rotorcraft units can help to locate and track chemical and/or biological releases, radioactive fallout, wanted persons or hostile forces, for example.
The illustrative vehicle 30 of mobile command center 12 is about 35 feet (4.57 meters) long, 15 (4.57 meters) feet wide, and 15 (4.57 meters) feet tall. The weight of the illustrative mobile command center 12 when unmanned or empty is approximately 20,000 pounds. Mobile command center 12 is capable of holding a crew of six and is powered by a gas generator (not shown). Although mobile command center 12 is disclosed and described above, it is within the scope of this disclosure for integrated system 10 to include a mobile command center 12 having other suitable specifications.
As mentioned above, a trailer 16 is hitched to mobile command center 12 by trailer hitch 36. As shown in
As shown in
The illustrative mobile base units 14 of system 10 each have a length 36 of 4 feet (1.22 meters), a width 38 of 4 feet (1.22 meters), and a height 40 of 2 feet (0.61 meters). As mentioned above, each illustrative mobile base unit 14 has the capacity to hold up to 100 micro-rotorcraft units. Further, illustrative mobile base units 14 each weigh approximately 100 pounds when empty and approximately 400 pounds when fully loaded with micro-rotorcrafts units. Illustratively, the power required for each mobile base unit 14 is at approximately 12 to 30 volts of direct current.
Looking now to
Illustrative rotor system 50 is also miniature in size and includes a first hub 56 and a second hub 58 coupled to first hub 56 to create a co-axial rotor system. Navigation module 54 is coupled to upper hub 56 of rotor system 50, as shown in
Rotor system 50 further includes upper blades 68, 70 coupled to first hub 56 and lower blades 72, 74 coupled to second hub 58. Upper blades 68, 70 generally rotate in direction 69 and are collectively and cyclically pitchable. Lower rotor blades 72, 74 generally rotate in direction 71 and are also collectively and cyclically pitchable. Although upper blades 68, 70 are shown to rotate in direction 69 and lower blades 72, 74 are shown to rotate in direction 71, it is within the scope of this disclosure for blades 68, 70 to rotate in direction 71 and for blades 72, 74 to rotate in direction 69. Body 52 of unit 18 generally does not rotate with rotor system 50, but maintains a stable heading (yaw) orientation through operation of an internal yaw control system 254 (see
As shown more clearly in
As shown in
Illustrative rotor blades 68, 70, 72, 74 are molded of a high-impact plastics material such as, for example, nylon, polycarbonate, polyphenylene oxide, or flexible polyurethane and can withstand repeated crashes and rough handling, as is described in more detail below, with little or no damage. As shown in
Unlike some aerial devices that passively derive lift through autorotation of a rotor system and passage of air upward through a rotor system, unit 18 is self-propelled and derives lift by forcing air downward through rotor system 50. However, unit 18 may also operate to passively derive lift through autorotation of a rotor system and passage of air upward through the rotor system. In operation, motor 92 drives rotor system 50 to develop a thrust force in direction 109 (as shown in
While rotor system 50 is disclosed and described above as having cyclically pitchable rotor blades 68, 70, 72, 74 for lateral flight control, rotor system 50 may also be gimbaled to tilt relative to elongated modular body 52. Tilt of rotor system 50 relative to the horizontal, while body 52 remains substantially vertical, redirects thrust force 109 away from to the vertical so that unit 18 flies in a generally horizontal flight direction 111. Tilt of rotor system 50 relative to body 52 effectively kinks or bends body 52 below rotor system 50. Motor 92 may be directly coupled to rotor system 50 and configured to tilt along with rotor system 50, or may be fixed within body 52 and connected to rotor system 50 via universal joint means (not shown).
Body 52 of unit 18 is coupled to rotor system 50 and extends along axis 60 of unit 18, as shown in
As shown in
As shown in
As shown in
In operation, male coupling ring 99 is inserted into female coupling ring 97 with a quick twisting action thereby securely retaining drive module 84 to power module 86. Modules 54, 84, 86, 88 and hubs 56, 58 each have a similar coupling which makes them quickly interchangeable. For instance, a depleted battery power module 86 need not be recharged, but can be quickly replaced at the end of a flight. In a similar fashion, payload module 88 (which is shown to be adapted for use with video camera 105) may be quickly replaced at the end of a mission with an alternative payload module (not shown) having a chemical sensor adapted for use in a different mission, for example.
Similar to drive module 84, power module 86 also includes an outer cover 100. Battery pack 102 of module 86 is contained within cover 100. Batteries 104 of pack 102 may be rechargeable, such as Li-polymer batteries, or single use such as LiMnO2 batteries, for example, and may have an operating life of 1 to 3 hours, for example. As shown in
Payload module 88 also includes a cover 104. Payload module 88 is provided to carry various items within cover 104 such as explosive or incendiary munitions and biological and chemical sensors. Payload module 88 is coupled to a lower end of power module 86 and contains mission specific computer electronics, autopilot systems, sensors and/or explosive warhead (not shown).
Payload module 88 also accommodates a pivotable video camera 105 and a camera pivot mount 106 for slewing camera 105 in a vertical direction. Video camera 105 may also rotate 360 degrees about axis 60 to survey and take pictures of the surrounding terrain and environment for relay back to mobile command center 12, for example. Video camera 105 allows a remote operator to silently look into windows, see over hills, observe from great heights, and operate over any terrain or obstacle.
Although unit 18 is miniature in size, unit 18 is capable of carrying a variety of payloads ranging from visible and infrared video cameras to electromagnetic and chemical sensors, for example. Unit 18 is able to carry such sensors over long distances and at great heights above the local terrain. This can dramatically increase the situational awareness of forces on the ground, for example.
Illustrative payload module 88 is capable of carrying four to sixteen ounces of plastic explosives allowing unit 18 to act as a highly potent expendable munition for special operations where stealth and precision are required. Unit 18 is also able to act as a target beacon for much larger laser guided munitions dropped from an orbiting aircraft, for example.
A feature of unit 18 is that much of the weight of elongated body 52, such as for instance, batteries 102 in power module 86 and payloads (not shown) in payload module 88, is located far below the effective plane of rotation of rotor system 50. The pendulum effect of this offset weight being drawn downward by gravity can act to passively stabilize co-axial rotor system 50 and unit 18 in flight in the roll and pitch directions.
Several units 18 can be deployed with various payload modules to form a system of guided sensors providing a picture of the environment from many perspectives and vantage points simultaneously.
Looking now to
Springs 196 are configured to extend blades 68, 70, 72, 74 only to a lower flapping limit 202. Blades 68, 70, 72, 74 are then free to flap in flight between an upper flapping limit 204, about ten degrees above the horizontal, and lower flapping limit 202, about ten degrees below the horizontal. Flapping motion of blades 68, 70, 72, 74 above upper flapping limit 204 and below lower flapping limit 202 are resisted by springs 196 or other means.
A body length 206 of illustrative unit 18 is about 17-19 inches (43.18-48.26 cm), while a blade span 208 is about 14.5 inches (36.83 cm), thus making unit 18 miniature or small in size. Unit 18 generally has an aspect ratio of greater than about 2:1, but is often in the range of 5:1 to 10:1. The term “aspect ratio” is herein defined as the ratio between body length 206 and mean body diameter 209. Body axis 60 is defined as the axis of longest dimension of body portion 52. For the purpose of determining aspect ratio, the body length includes the sum of the lengths of all coupled body modules taken along the body axis including the length of the rotorsystem module and all modules coupled to the rotorsystem module. Looking now to
With such a small or miniature size, and a weight of approximately 3 pounds, a single operator 29 can carry up to ten units 18 in a backpack. Other specifications of the illustrative unit 18 include a length of body 52 of approximately 18 inches (45.72 cm), a diameter of rotor system 50 of approximately 30 inches (76.20 cm), a maximum horizontal speed of approximately 30-40 miles per hour (depending on the payload weight), a maximum vertical speed of approximately 10 to 15 feet per second (3.05-4.57 meters per second) (also depending on the payload weight), a maximum altitude of approximately 7,000 feet (2,133 meters), a payload of 4 to 16 ounces, a range of approximately 5 to 60 miles, a hover accuracy of plus or minus approximately 3 feet 91.44 cm), and a gust tolerance of approximately 30 miles per hour. Video camera 105, navigation module 54, the telemetry uplink and downlink, autonomous autopilot and those things carried within payload module 88 are considered to be part of the payload which unit 18 can carry. Although various specifications of unit 18 are disclosed and described herein, it is within the scope of this disclosure for unit 18 to have other suitable specifications and operational capabilities as well.
Unit 18 can be quickly reconfigured within a few seconds for a variety of roles in remote surveillance and tactical operations via interchangeable payload and power modules. Because of the miniature size of unit 18, a single operator is able to reconfigure the interchangeable modules of unit 18 in a generally fast and efficient manner. Illustrative unit 18 includes video camera 105; however, unit 18 may also be fitted with more sophisticated telemetry and data uplink electronics to be operated from a satellite or orbiting aircraft, such as a Predator drone, for example. Unit 18 can enhance situational awareness and project force at extreme distances irrespective of the intervening terrain or presence of hostile forces. Unit 18 can be configured in the field for a variety of missions quickly and economically.
Unit 18 can be controlled by central computer system 26. Multiple units 18 may be launched en masse from mobile base unit 14, for example, to form a swarm of miniature cruise missiles for use in search-and-rescue operations or anti-personnel operations against entrenched or concealed combatants, for example. Further, unit 18 may be dropped from an aircraft to reconnoiter closer to the ground much like a sono-buoy is dropped into the ocean from a ship or helicopter to search for submarines, for example.
a-11c illustrate a first manual method for deploying and operating unit 18. As mentioned before, hand-held unit 18 is miniature in size to allow operator 29 to grasp body 52 of unit 18 and hold unit 18 in a near-vertical orientation in preparation for flight, as shown in
In
Refer now back to
a-13c illustrate a method for landing or recovering unit 18. Illustrative unit 18 does not require any landing gear because rotor blades 68, 70, 72, 74 are foldable upward and downward toward body axis 60, and, at the end of a flight, body 52 simply tips sideways onto the ground. In
Looking now to
Illustrative cage 118 includes a circular upper base 120, a circular lower base 122, and four vertical supports 124 coupled to and extending between each of the upper and lower bases 120, 122. An upper, horizontal support 126 is coupled to upper base 120 and upper portion 112 of central body 110. Illustratively, support 126 is received in part through an aperture 128 of upper portion 112. However, it is within the scope of this disclosure to couple support 126 to upper portion 112 in other suitable ways such as welding, for example. A lower, horizontal support 130 is coupled to lower base 122 by a small vertical support 132. Illustratively, body 110 is generally centered within cage 118. Illustrative cage 118 is made of titanium memory wire. However, it is within the scope of this disclosure for cage 118 to be made of other suitable materials such as plastics, etc. Cage 118 protects rotor blades 134, 136, 138, 140 from contacting walls, floors, ceilings, etc. as unit 20 flies around or through various obstacles and terrain inside of buildings or other interior spaces. Cage 118 of unit 20 allows unit 20 to take off from a standing position, rather than having to be launched from mobile base unit 14, for example.
Rotor system 116 of unit 20 is similar to rotor system 50 of unit 18, described above. As such, co-axial rotor system 116 includes first hub 56 and second hub 58. Two oppositely extending blades 134, 136 are coupled to first hub 56, and oppositely extending blades 138, 140 are coupled to second hub 58 to rotate in opposite directions. Each blade 134, 136, 138, 140 is coupled to respective hub 56, 58 by a type of clamp or grip 82. Like unit 18, blades 134, 136, 138, 140 of unit 20 are free to flap in flight within a flapping zone above and below the horizontal. Unlike blades 68, 70, 72, 74 of unit 18, illustrative blades 134, 136, 138, 140 of unit 20 are not movable to a stowed position. However, it is within the scope of this disclosure to couple blades 134, 136, 138, 140 to respective hubs 56, 58 with hinges 76 to allow blades 134, 136, 138, 140 to move to a stowed position.
As shown in
Unit 20 also includes a motor (not shown) and batteries (not shown). Further, unit 20 may also include a GPS navigation system, a visible light and infrared video cameral, telemetry uplink and downlink for communication with integrated network 26 of mobile command center 12. Unit 20 may also operate autonomously on autopilot, and may carry explosive and/or incendiary munitions and biological and/or chemical sensors. Each of these components operate like those described above with respect to unit 18. Further, each of these components may be contained within upper or lower portions 112, 114.
The small size of unit 20 allows a single operator 42 to be able to carry up to four units 20 in a field pack. Illustrative unit 20 weighs approximately eight ounces, has a rotor blade diameter of approximately 12 inches (30.48 cm), a height of approximately 8 inches (20.32 cm), a maximum horizontal speed of approximately 15 miles per hour, a maximum vertical speed of approximately 6 feet per second (1.83 meters per second), a maximum altitude of approximately 6,000 feet (1,830 meters), a maximum payload of approximately 3 ounces, a range of approximately 7 miles, a hover accuracy within about 6 inches (15.24 cm), and a gust tolerance of about 10 miles per hour.
Looking now to
Illustrative rotor system 152 of unit 22 includes four flexible plastic rotor blades 158 coupled to a central hub 160 of rotor system 152. Blades 158 are foldable for compact storage and flexible to withstand repeated crashes and rough handling with little or no damage. As a result, unit 20 requires no landing gear and can be landed or recovered by way of the method illustrated in
Tail assembly 154 of unit 22 includes an elongated boom 162, a semi-circular rotor guard 164 coupled to boom 162 and positioned to extend beyond an end 166 of boom 162. A gearbox 168 of tail assembly 154 is coupled to end 166 of boom 162 and variable thrust tail rotor system 170 is coupled to gearbox 168. Tail rotor system 170 includes two oppositely extending blades 172 coupled to a central hub 174 of tail assembly 154.
Illustrative units 22 are approximately 2.5 pounds allowing a single operator to carry up to ten units 22 in a field pack. Illustrative rotor system 152 has a rotor diameter of 24 inches (60.96 cm). A length of each unit 22 is approximately 30 inches (76.20 cm). Each unit 22 can attain a maximum horizontal speed of approximately 50 miles per hour, a maximum vertical speed of approximately 10 to 15 feet per second (3.05 to 4.57 meters per second), and a maximum altitude of approximately 7,000 feet (2,133 meters). Unit 22 has a range of approximately 20 to 60 miles with a hover accuracy of approximately plus or minus one foot (30.48 cm). Unit 22 is capable of carrying a payload of approximately 4 to 8 ounces at 30 miles per hour.
Looking now to
Rotor system 50 of unit 24 is the same as or similar to rotor system 50 of unit 18 discussed above. Rotor system 50 includes upper blades 68, 70, and lower blades 72, 74 and the associated rotor drive components 257 (see
Unit 24 further includes a drive module 180 coupled to rotor system 50, and a power module 182 coupled to drive module 180. Drive module 180 includes an internal combustion gas fueled engine (not shown) and air vents 94 to prevent the engine from overheating, for example. Power module 182 includes a fuel tank (not shown) containing fuel for the gas fueled engine. The engine of unit 24 is a highly efficient diesel fuel engine. Illustratively, enough diesel fuel may be provided to permit unit 24 to fly for approximately two to four hours. A recoil pull-start (not shown) is provided for easy starting.
As mentioned above with respect to unit 18, rotor system 50 includes flexible plastic rotor blades 68, 70, 72, 74 which fold downward to a stowed position for compact storage. Plastic blades 68, 70, 72, 74 can withstand repeated crashes and rough handling with little or no damage. Although illustrative blades 68, 70, 72, 74 are made of plastic, it is within the scope of this disclosure to include rotor blades made of other materials such as metals, fibrous composites, etc.
Each illustrative miniature unit 24 is approximately 4-5 pounds allowing one operator to carry up to six units 24 each within protective carrying case 144, for example. The rotor blade diameter of rotor system 50 is approximately 36 to 48 inches (1.22 meters), the length of body 52 of unit 24 is approximately 36 inches (91.44 cm). The illustrative unit 24 is able to accelerate to a maximum horizontal speed of approximately 30 miles per hour, a maximum vertical speed of approximately 10 to 15 feet per second (4.57 meters per second), and to ascend to a maximum altitude of approximately 7,000 feet (2,133 meters). Illustrative unit 24 can carry a payload of approximately 1 to 2 pounds and can survey a range of up to approximately 180 miles while remaining in communication with integrated network 26. Unit 24 has a hover accuracy of plus or minus approximately 4 feet (1.22 meters) and a gust tolerance of approximately 30 miles per hour.
A miniature landing assembly 184 of unit 24 is coupled to payload module 88. Landing assembly 184 allows unit 24 to stand upright for landing and/or take-off, and allows unit 24 to be launched without the use of mobile base unit 14, for example. Landing assembly 184 includes a circular ring or brace 186 around payload module 88 and slideable along axis 60 and upper leg supports 188 each being pivotably coupled to brace 186 at one end, and pivotably coupled to a respective landing leg 190 of assembly 184 at another end. Illustratively, landing assembly 184 includes four support legs 188 equally spaced about brace 186 and four corresponding landing legs 190. However, it is within the scope of this disclosure to include a landing assembly having any suitable number of legs to maintain the body 110 of unit 24 in an upright position as shown in
Each lower leg 190 of landing assembly 184 is coupled to a hinge 192 by a pin 194 to allow each lower leg 190 to pivot about pin 194. Each hinge 192 is coupled to a lower ring or brace 195 around payload module 88. As shown in
In operation, rotorcraft unit 24 sits passively on the ground atop landing assembly 184. During launch, rotor system 50 is activated to develop a generally downward thrust force that lifts unit 24 into the air. Landing assembly 184, including landing legs 190, can either remain attached to unit 24 in flight and for subsequent landings, or can be dropped off or left on the ground to reduce flying weight.
Looking now to
In one method of deployment of the unit 310, fins 312 extend as unit 310 is dropped from an airplane at altitude. Rotor blades 68, 70, 72, 74 remain retracted alongside body portion 50 immediately after unit 310 is deployed. Fins 312 guide unit 310 in a controlled descent from altitude until such time as rotor blades 68, 70, 72, 74 are extended. Once blades 68, 70, 72, 74 are extended for flight, fins 312 may drop off to allow unit 310 to continue on its own power. Similar to the micro-rotorcraft units described above, unit 310 is also miniature in size and may be hand-held for manual deployment by an operator as well.
Looking now to
Yaw control outriggers 342 of unit 330 include collectively pitchable rotor systems 344 that fold or retract alongside power module 86 about a hinge axis 346 on rotatable gearboxes 348 coupled to power module 86. A gearbox 350 supports each rotor system 344 on an outer end of boom 352 and contains bevel gears (not shown). Yaw control outriggers 342 are movable between an extended position, as shown in
As shown in
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One feature of variable speed electric motors 376 is that no complex gears or drive shafts are required to drive each rotor system 378. Fixed-pitch rotors 378 can be simpler and lighter than collective-pitch rotors (such as rotors 344 of unit 330). Each outrigger arm 372 is also fitted with a video camera 384 providing a human operator (not shown) with stereo vision and/or range-sensing capabilities.
As used herein, rotor blades, landing legs, aerodynamic fins, sensor arms, and yaw control outriggers are all known and referred to as “extendable-retractable elements” and generally share a common trait of being foldable or retractable alongside the respective elongated body portion of each unit.
The small or miniature size of each of units 18, 20, 22, 24, 310, 330, 370 allows a remote operator to silently look into windows, see over hills, observe from great heights and operate over any terrain or obstacle. Multiple units can be fused into the integrated data network 26 to cooperate with each other for large scale missions, for example. System 10, with units 18, 20, 22, 24, 310, 330, 317 disclosed herein, is provided to extend situational awareness of tactical forces, and to enhance the ability of the forces to accurately deliver sensors and ordnance. As mentioned above, each miniature unit is provided with interchangeable body modules for quickly adapting each unit to various configurations for any number of tasks, as a particular situation may require. System 10 provides a means and methods for deploying, recovering, and storing the micro-rotorcraft units disclosed herein.
The telemetry system of each unit 18, 20, 22, 24, 310, 330, 370 transmits sensor information to remote operators either in the field or within mobile command center 12. Each unit 18, 20, 22, 24, 310, 330, 370 may be ideal for long-term perimeter surveillance and networked systems. Although the units disclosed herein are small or miniature in size, multiple units 18, 20, 22, 24, 310, 330, 370 working together may collect data to allow a remote operator to observe wide geographic areas from great heights and for extended time periods.
Units 18, 20, 22, 24, 310, 330, 370 may be programmed to operate individually, or in multiples to create a coordinated group of units 18, 20, 22, 24, 310, 330, 370. In addition to military uses, other applications of system 10 with units 18, 20, 22, 24, 310, 330, 370 include law enforcement such as for search-and-rescue missions, drug interdiction, surveillance, sampling of emissions and pollutants and other special situations, for example. System 10 also has applications in scientific research such as for atmospheric sampling and remote inspection, and within business such as for construction oversight, surveying, inspection of difficult to reach or hazardous areas and aerial photography, for example.
The various units 18, 20, 22, 24, 310, 330, 370 described above may be provided in a hand-held, miniature, flying micro-rotorcraft unit kit. In other words, one or more of the component parts, or any combination thereof, may be provided within a kit for assembly at a micro-rotorcraft assembly site, for example. Each kit may therefore be assembled to provide a miniature flying surveillance machine (or rotorcraft unit) operable by remote control.
In one illustrative embodiment, the kit includes hand-held payload module 88 including means (such as video camera 105, biological and/or chemical sensors, and/or an infra-red camera, for example) for conducting surveillance activities during flight. The kit also includes a hand-held lift generator module, such as rotor system 50, or other rotor systems described above. The lift generator module includes first hub 56 supported for rotation about vertical axis 60 in first direction 69 to rotate the first pair of rotor blades 68, 70 coupled to the first hub 56, and second hub 58 supported for rotation about vertical axis 60 in second direction 71 to rotate the second pair of rotor blades 72, 74 coupled to second hub 58.
The kit further includes a hand-held power module, such as modules 86 or 182, for example, containing a supply of energy, and a hand-held drive module, such as modules 84, 180, for example, including means for rotating the first and second hubs 56, 58 in opposite directions about vertical axis 60 to turn rotor blades 68, 70, 72, 74 to generate a thrust force that acts in a direction parallel to the vertical axis 60 using energy stored in the hand-held power module 86, 182. The kit also includes a quick-disconnect module coupling, such as coupling 96. The quick-disconnect module coupling of the kit is adapted to be installed at a junction between each pair of adjacent modules to retain each pair of adjacent modules in fixed relation to one another to unite the modules in series to cause the thrust force generated by the hand-held lift generator module to lift the united payload, power, and drive modules into the air to initiate flight.
The kit may also include one or more of the following: a hand-held navigation module, such as module 54, comprising means for determining a global position of the hand-held elongated body 50 during flight, a landing gear system, such as system 184, and anti-torque mechanisms such as aerodynamic fins 312 and/or yaw control outriggers 342, 372 for stabilizing the micro-rotorcraft unit in the yaw direction. Additionally, it is within the scope of this disclosure for the micro-rotorcraft unit kit to include any one or more components and combinations thereof described above with respect to units 18, 20, 22, 24, 310, 330, 370.
Although this invention has been described in detail with reference to certain embodiments, variations and modifications exist within the scope and spirit of the invention as described and defined in the following claims.
This application claims priority under 35 U.S.C. § 119(e) to U.S. Provisional Patent Application Ser. Nos. 60/342,680, filed Dec. 21, 2001 and 60/372,308, filed Apr. 12, 2002, the disclosure of each of which is hereby incorporated by reference herein.
| Number | Date | Country | |
|---|---|---|---|
| 60342680 | Dec 2001 | US | |
| 60372308 | Apr 2002 | US |
| Number | Date | Country | |
|---|---|---|---|
| Parent | 10499530 | Jun 2004 | US |
| Child | 11616201 | US |
