Hybrid aerial hydraulic unmanned aerial vehicle

Abstract

A hybrid aerial hydraulic drone (10) is provided comprising a fuselage (12) having a plurality of hydraulic thrusters (14) supported on an outer surface of the fuselage (12) and configured to propel the fuselage (12) in a marine environment. The drone (10) further comprises a plurality of rotor arms (18) arranged on the fuselage (12), each rotor arm (18) comprising a rotor system (22) configured to propel the fuselage (12) in an aerial environment. Each rotor arm (18) is deployably arranged between a deployed position, in which the rotor system (22) extends from the fuselage (12) for air crossing, and a folded position, in which the arm (18) is hydrodynamically folded behind the fuselage (12) for ocean crossing. The fuselage (12) further comprises a controller (26), an energy source (28), a main ballast tank (30) and a pump (32) with a breather duct (34) for operating the drone (10).

Description

Technical Field

[0001] The present invention relates broadly to the field of unmanned aerial vehicles, such as unmanned aerial vehicles (UAVs) and unmanned underwater vehicles (UUVs), and more particularly to hybrid air-hydraulic UAVs. Background Art

[0002] The following discussion of the background art is intended only to facilitate an understanding of the present invention. The discussion does not constitute an admission or admission that any of the material referred to is or was ever part of the common general knowledge as at the priority date of the application.

[0003] Drones, such as unmanned aerial vehicles (UAVs) and unmanned underwater vehicles (UUVs), are aircraft and submersibles that do not have any human occupants, such as pilots, crew members, or passengers. Typically, drones are capable of remote control and / or autonomous operation. Such unmanned autonomous vehicles have been the focus of many development efforts and have a wide range of applications. Ongoing development has increased the capabilities of drones, such as in the military field. For example, remotely controlled or autonomous UAVs have found widespread use in military operations around the world, as well as in non-military applications such as agriculture and surveillance. Similarly, unmanned underwater vehicles (UUVs) are used in a variety of applications, including as remotely operated vehicles (ROVs) in several commercial field operations, such as deep-sea oil and gas extraction.

[0004] Both known vehicles, unmanned aerial vehicles (UAVs) and unmanned underwater vehicles (UUVs), are well suited for operation in their respective environments, air and water, respectively, but in some circumstances a single vehicle may be required to be able to operate in both environments. In particular, underwater crossings in marine environments are a disadvantage where proper control and ballasting are required. Applicants have therefore identified a need in the art for an unmanned aerial vehicle that is capable of operating as both a UAV and a UUV, and the present invention was conceived with that goal in mind. Summary of the invention

[0005] It will be understood by those skilled in the art that a "ballast tank" as referred to herein broadly refers to a compartment configured to contain water used as ballast to provide hydrostatic stability for a vessel, such as a drone, in a marine environment, reduce or control buoyancy, correct trim or heel, provide a more uniform load distribution along the hull, increase draft, and / or improve seakeeping or water resistance via appropriate weight adjustments. Therefore, references to a marine environment are inclusive and include any suitable body of water, such as an ocean, a dam, a lake, a river, a pond, a water tank, a pipeline, etc.

[0006] According to one aspect of the present invention, there is provided a hybrid aerial-hydraulic drone, comprising: body; a plurality of hydraulic thrusters supported on an outer surface of the fuselage and configured to propel the fuselage in a marine environment, the hydraulic thrusters being spaced circumferentially about the outer surface to facilitate controlled marine propulsion; and a plurality of rotor arms disposed on the fuselage, each rotor arm including a rotor system configured to propel the fuselage in an aerial environment, each arm deployably configured between a deployed position in which the rotor system extends from the fuselage for aerial crossing and a folded position in which the arm is hydrodynamically folded behind the fuselage for underwater marine crossing; The fuselage includes a controller, an energy source, a main ballast tank and a pump, wherein the controller is configured as follows: For airborne crossings, actuates the rotor arms to the deployed position, operates pumps to drain fluid from the main ballast tanks, and controls the rotor systems as required for controlled flight; and For ocean crossing, the rotor arms are actuated to the folded position, pumps are operated to drain liquid from the main ballast tanks, and the hydraulic thrusters are controlled as required for underwater ocean crossing.

[0007] In one embodiment, each rotor arm includes a ballast tank, and the controller is configured to: For airborne crossing, draining liquid from the rotor arm ballast tanks; and For ocean crossings, liquid ballast within the corresponding rotor arm ballast tanks is regulated and controlled to facilitate controlled underwater ocean propulsion.

[0008] In one embodiment, the fuselage includes a fluid-tight compartment defining a streamlined shape to facilitate aerodynamic and hydrodynamic traversal.

[0009] In one embodiment, the fuselage comprises a double skin structure.

[0010] In one embodiment, the fuselage defines an interior cargo space accessible via a sealable hatch.

[0011] In one embodiment, the controller is configured to monitor and / or regulate the internal temperature and / or pressure of the internal cargo space.

[0012] In one embodiment, the hydraulic thrusters are rotatably disposed on the fuselage and controllable by the controller to allow steering in a marine environment.

[0013] In one embodiment, the drone includes four hydraulic thrusters, each thruster being arranged in a quadrant of the fuselage.

[0014] In one embodiment, the drone includes four rotor arms arranged on a fuselage in a quadcopter configuration.

[0015] In one embodiment, each rotor arm includes an electromechanical actuator under the control of a controller and configured to actuate the arm between the deployed and folded positions as desired.

[0016] In one embodiment, each rotor system includes a propeller and an electric motor disposed on one end of a rotor arm.

[0017] In one embodiment, the pump is configured to fill the main ballast tanks with liquid from the marine environment as needed to regulate and control the ballast for the ocean crossing.

[0018] In one embodiment, the controller and pump are configured to fill or drain fluid into each rotor arm ballast tank to regulate and control ballast for ocean crossings.

[0019] In one embodiment, a pump is selectively placed in fluid contact with each rotor arm ballast tank via suitable valves and fluid conduits.

[0020] In one embodiment, the pump includes a vent tube to facilitate filling and draining of fluid from the ballast tank.

[0021] In one embodiment, the pump is configured to suck in or exhaust atmosphere in order to drain or fill, respectively, the corresponding ballast tank with liquid.

[0022] In one embodiment, each rotor arm ballast tank includes a piston and cylinder arrangement configured to pneumatically inject or discharge liquid, such as water from a marine environment, into or from the ballast tank under the control of a controller to adjust the ballast of the rotor arm.

[0023] In one embodiment, the controller includes at least one inertial measurement unit (IMU) to allow the controller to calculate the altitude, speed and / or position of the drone.

[0024] In one embodiment, the energy source comprises at least one electrochemical cell.

[0025] In one embodiment, the drone includes a landing gear for supporting the drone during take-off and landing.

[0026] In one embodiment, the landing gear is configured to be stowed within the fuselage or to be hydrodynamically folded behind the fuselage for ocean crossing.

[0027] According to another aspect of the present invention there is provided a hybrid aerial-hydraulic drone substantially as described and / or illustrated herein. BRIEF DESCRIPTION OF THE DRAWINGS The description will be made with reference to the accompanying drawings, in which: Figure 1is a schematic perspective view of one embodiment of a hybrid air-water drone according to one aspect of the present invention; Figure 2 yes Figure 1 Schematic side view of the hybrid air-hydraulic drone with landing gear deployed and rotor arms in the extended position; Figure 3 yes Figure 1 Schematic side view of the hybrid air-hydro drone with landing gear hydrodynamically folded behind the fuselage for ocean crossing; Figure 4 yes Figure 1 A schematic close-up view of a rotor arm with a rotor system of a hybrid air-hydraulic drone; Figure 5 yes Figure 1 Schematic perspective view of a hybrid aerial-hydraulic drone; Figure 6 yes Figure 1 A schematic side view of a hybrid aerial-hydraulic drone (without ballast components shown) showing the rotor arms in a folded position; Figure 7 yes Figure 6 A schematic top view of a hybrid air-hydraulic drone of FIG. 1 with the rotor arms in a deployed position for aerial traversal; Figure 8 yes Figure 7 Schematic top view of a hybrid air-hydraulic drone with the rotor arms in a folded position for ocean crossing; Fig. 9 yes Figure 1 Schematic side view of a hybrid aerial-hydro drone transitioning between a marine environment and an aerial environment; Fig.10 yes Figure 1 Schematic side view of a hybrid air-water drone entering or leaving a marine environment; and Fig.11 is a schematic cross-sectional side view of one embodiment of a hybrid aerial-hydraulic drone showing a double skin structure with an internal cargo space. DETAILED DESCRIPTION

[0028] Other features of the present invention are more fully described in the following description of several non-limiting embodiments. This description is only used to illustrate the present invention to those skilled in the art. It should not be understood as a limitation to the above-mentioned generalization, disclosure or description of the present invention.

[0029] In the accompanying drawings, in order to illustrate the features of the example embodiments, the same reference numerals are used to identify the same components. In addition, features, mechanisms and aspects that are well known and understood in the art will not be described in detail because these features, mechanisms or aspects will be within the scope of understanding of those skilled in the art.

[0030] Broadly speaking, the present invention provides a drone 10 that can operate in both aerial and marine environments, i.e., in air and water, as desired. To achieve this hybrid operation, the drone 10 includes various specific configurations and features described in more detail herein.

[0031] Referring now to the accompanying drawings, one possible embodiment of a hybrid air-hydraulic drone 10 is shown, which generally includes a fuselage 12, a plurality of hydraulic thrusters 14 supported on an outer surface of the fuselage 12, and a plurality of rotor arms 18 arranged on the fuselage 12, as shown. The fuselage 12 may include a fluid-tight cabin defining a streamlined shape to facilitate aerodynamic and hydrodynamic traversal, as shown. Of course, those skilled in the art will appreciate that the fuselage may take a variety of forms, and such variations are possible and contemplated.

[0032] In one embodiment, Fig.11 As shown, the fuselage 12 includes a double skin structure 48. In one embodiment, the fuselage 12 also defines an internal cargo space 50, which is generally accessible via a sealable hatch 52. The internal cargo space 50 may also include rails, etc. for securing cargo thereto. In one embodiment, the controller 26 may also be configured to monitor and / or adjust the internal temperature and / or pressure of the internal cargo space 50. For example, suitable valves and / or electrical heating elements 56 may be used to adjust such internal temperature and / or pressure as needed.

[0033] The drone 10 generally includes a plurality of hydraulic thrusters 14 supported on an outer surface of the fuselage 12, which are configured to propel the fuselage 12 in a marine environment 16. In one embodiment, the hydraulic thrusters 14 are circumferentially spaced on the outer surface of the fuselage 12 to facilitate controlled propulsion in a marine environment. Typically, the hydraulic thrusters 14 are rotatably arranged on the fuselage and can be controlled by a controller 26, which will be described in more detail below, to allow the drone 10 to turn in a marine environment 16. In one embodiment, the drone 10 includes four hydraulic thrusters 14 arranged at quadrants of the fuselage 12, as shown, but variations are possible and expected. It should be understood by those skilled in the art that such appropriate spacing of the hydraulic thrusters 14 on the fuselage 12, such as arranging hydraulic thrusters 14 on each quadrant of the fuselage 12, etc., generally facilitates the drone 10 to cross the underwater ocean.

[0034] The drone 10 also typically includes a plurality of rotor arms 18 disposed on the fuselage 12. Each rotor arm 18 includes a ballast tank 20 and a rotor system 22 configured to propel the fuselage 12 in an aerial environment 24. Typically, each rotor system 22 includes a propeller 38 and an electric motor 40 disposed on one end of the rotor arm 18. Importantly, each rotor arm 18 is deployably configured between a deployed position, in which the rotor system 22 extends from the fuselage 12 for air traversal, and a folded position, in which the rotor arm 18 is hydrodynamically folded behind the fuselage 12 for ocean traversal.

[0035] In one embodiment, drone 10 includes four rotor arms 18, as shown, arranged on fuselage 12 in a quadcopter configuration, but variations thereon are possible. Typically, each rotor arm 18 includes an electromechanical actuator 36 under the control of controller 26 that is configured to actuate arm 18 between deployed and folded positions as desired.

[0036] The fuselage 12 of the drone 10 also generally includes a controller 26, an energy source 28, a main ballast tank 30, and a pump 32 with a vent pipe 34, wherein the controller 26 is configured to actuate the rotor arm 18 to the deployed position for air crossing, operate the pump 32 to discharge the liquid from the ballast tanks 20 and 30, and control the rotor system 22 as required for controlled flight. Alternatively, for ocean crossing, the controller 26 is configured to actuate the rotor arm 18 to the folded position, operate the pump 32 to adjust and control the liquid ballast in the corresponding ballast tanks 20 and 30, and control the hydraulic thrusters 14 as required for ocean crossing.

[0037] In one embodiment, the pump 32 is configured to fill the corresponding ballast tanks 20 and 30 with liquid, such as water, from the marine environment 16 as needed to adjust and control the ballast for the ocean crossing. In one embodiment, the pump 32 is configured to suck in or exhaust the atmosphere via the vent pipe 34 to exhaust or fill the corresponding ballast tanks 20 and 30 with liquid, respectively.

[0038] For example, in one embodiment, each ballast tank 20 of rotor arm 18 includes a piston 42 and cylinder 44 arrangement configured to pneumatically inject a liquid, such as water from marine environment 16, into or out of the ballast tank 20 via a pump 32 under the control of controller 26 to adjust rotor arm 18. In one embodiment, pump 32 is selectively in fluid contact with each ballast tank 20 as needed through appropriate valves and fluid conduits.

[0039] In this way, the drone 10 is able to fly in an aerial environment 24 with the aid of the rotor system 22. If it is necessary to cross the marine environment 16, the drone 10 can land on the water, after which the various ballast tanks 20 and 30 can be filled with water via the pump 32 and snorkel 34, and air is usually vented from the tanks 20 and 30 to draw water into the tanks 20 and 30 as needed. The rotor arms 18 can also be actuated to a folded position to provide a streamlined and hydrodynamic shape to the drone 10, which can be propelled and maneuvered by the hydraulic thrusters 14.

[0040] Once the ocean crossing is complete and an air crossing is required, the drone 10 can draw air into the ballast tanks 30 and 30 via the snorkel 34 and pump 32 to control the ballast within the tanks 20 and 30 so as to displace water from the respective ballast tanks 20 and 30. Once the water is displaced, the drone 10 will become buoyant and float on the surface of the ocean environment 16 due to the air in the ballast tanks 20 and 30. The rotor arms 18 can now be actuated to the deployed position and flight can be achieved in the quadcopter configuration.

[0041] In one embodiment, controller 26 includes at least one inertial measurement unit (IMU) to allow controller 26 to calculate the altitude, speed, and / or position of drone 10. In one embodiment, energy source 28 generally includes at least one electrochemical cell or a plurality of battery cells to form a battery device, although variations thereon are possible.

[0042] In one embodiment, the drone 10 may also include landing gear 46, such as legs, to support the drone 10 during takeoff and landing on the ground. In one embodiment, the landing gear 46 may be configured to be stowed within the fuselage or folded hydrodynamically behind the fuselage for ocean crossing or flight.

[0043] Applicants believe that the present invention is particularly advantageous in providing a hybrid air-hydraulic drone 10 that can be interchangeably operated in both air and marine environments as required. The drone 10 includes a main body 12 and a rotor arm 18, both of which have different ballast tanks 20 and 30, via which the ballast of various parts of the drone can be controlled as required. The drone 10 also includes separate propellers for air crossings and hydraulic thrusters for marine crossings, thereby improving the efficiency of such crossings. The rotor arm 18 can also be deployed to facilitate aerodynamic or hydrodynamic crossing requirements, further improving the efficiency of operation, especially when the drone 10 is submerged in water.

[0044] The optional embodiments of the present invention can also be said to broadly include parts, elements and features mentioned or indicated herein individually or jointly, and any or all combinations of two or more parts, elements or features, wherein the specific integers mentioned herein have known equivalents in the field to which the present invention belongs, and these known equivalents are deemed to be included in this article, just like being set forth separately. In the example embodiments, well-known processes, well-known equipment structures and well-known technologies are not described in detail because those skilled in the art will readily understand. After reading this application, changes (such as modifications and / or enhancements) of one or more embodiments described herein may become apparent to those of ordinary skill in the art. The inventor expects that those skilled in the art will appropriately adopt such changes, and the inventor hopes that the claimed subject matter can be practiced outside the specific description herein.

[0045] In the context of describing various embodiments (particularly in the context of claimed subject matter), the use of the terms "a," "an," "said," "the," and / or similar references should be interpreted to cover both the singular and the plural, unless otherwise indicated herein or clearly contradicted by context. Unless otherwise indicated, the terms "comprising," "having," "including," and "containing" should be interpreted as open-ended terms (i.e., meaning "including but not limited to"), unless otherwise indicated. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items. No language in the specification should be construed to indicate that any non-claimed subject matter is essential to the practice of the claimed subject matter.

[0046] For ease of description, spatially relative terms such as "inside," "outside," "below," "below," "lower," "above," "upper," etc. may be used herein to describe the relationship of one element or feature to other elements or features, as shown in the figures. Spatially relative terms may be intended to cover different orientations of the device in use or operation in addition to the orientation shown in the figures. For example, if the device in the figure is turned over, the elements described as "below" or "below" other elements or features will be oriented "above" the other elements or features. Thus, the example term "below" can include both above and below directions. The device can be oriented in other ways (rotated 90 degrees or in other orientations), and the spatially relative descriptors used herein may be interpreted accordingly.

[0047] It should be understood that "one example" or "an example" of the present invention, or similar exemplary language (e.g., "such as"), mentioned herein is not exclusive. Various substantial and specific practical and useful exemplary embodiments of the claimed subject matter are described herein in text and / or graphical form to implement the claimed subject matter. Thus, one example may illustrate certain aspects of the present invention, while other aspects are illustrated in different examples. These examples are intended to assist those skilled in the art in practicing the present invention, and are not intended to limit the overall scope of the present invention in any way unless the context clearly indicates otherwise.

Claims

1. A hybrid aerial-hydraulic UAV, comprising: body; a plurality of hydraulic thrusters supported on an outer surface of the fuselage and configured to propel the fuselage in a marine environment, the hydraulic thrusters being spaced circumferentially about the outer surface to facilitate controlled marine propulsion; as well as a plurality of rotor arms disposed on the fuselage, each rotor arm including a rotor system configured to propel the fuselage in an aerial environment, each arm deployably configured between a deployed position in which the rotor system extends from the fuselage for aerial crossing and a folded position in which the arm is hydrodynamically folded behind the fuselage for underwater marine crossing; The fuselage includes a controller, an energy source, a main ballast tank and a pump, and the controller is configured as follows: for air travel, actuating the rotor arms to the deployed position, operating the pumps to drain fluid from the main ballast tanks, and controlling the rotor system as required for controlled flight; as well as For ocean crossing, the rotor arms are actuated to the folded position, the pumps are operated to discharge liquid from the main ballast tanks, and the hydraulic thrusters are controlled as required for underwater ocean crossing.

2. The hybrid air-hydraulic drone according to claim 1, wherein: Each rotor arm includes a ballast tank, and the controller is configured to: For aerial crossing, draining the liquid from the rotor arm ballast tanks; as well as For ocean crossings, liquid ballast within the corresponding rotor arm ballast tanks is regulated and controlled to facilitate controlled underwater ocean propulsion.

3. The hybrid aerial-hydraulic drone according to claim 1 or 2, wherein: The fuselage includes a fluid-tight compartment defining a streamlined shape to facilitate aerodynamic and hydrodynamic traversal.

4. The hybrid air-hydraulic drone according to any one of claims 1 to 3, wherein: The fuselage comprises a double skin structure.

5. The hybrid air-water drone according to any one of claims 1 to 4, wherein: The fuselage defines an interior cargo space accessible via a sealable hatch.

6. The hybrid air-water drone according to claim 5, wherein: The controller is configured to monitor and / or regulate an internal temperature and / or pressure of the internal cargo space.

7. The hybrid air-water drone according to any one of claims 1 to 6, wherein: The hydraulic thrusters are rotatably disposed on the fuselage and are controllable by the controller to allow steering in a marine environment.

8. The hybrid air-water drone according to any one of claims 1 to 7, wherein: The drone includes four hydraulic thrusters, each thruster being arranged on a quadrant of the fuselage.

9. The hybrid air-water drone according to any one of claims 1 to 8, wherein: The drone includes four rotor arms arranged on the fuselage in a quadcopter configuration.

10. The hybrid air-water drone according to any one of claims 1 to 9, wherein: Each rotor arm includes an electromechanical actuator under the control of the controller and configured to actuate the arm between the deployed position and the folded position as desired.

11. The hybrid air-water drone according to any one of claims 1 to 10, wherein: Each rotor system includes a propeller and an electric motor disposed at one end of the rotor arm.

12. The hybrid air-water drone according to any one of claims 1 to 11, wherein: The pump is configured to fill the main ballast tank with liquid from the marine environment as needed to regulate and control the ballast for ocean crossings.

13. The hybrid air-water drone according to any one of claims 1 to 12, wherein: The controller and pump are configured to fill or drain fluid into each rotor arm ballast tank to regulate and control ballast for ocean crossings.

14. The hybrid air-water drone according to claim 13, wherein: The pump is selectively placed in fluid contact with each rotor arm ballast tank via suitable valves and fluid conduits.

15. The hybrid air-water drone according to any one of claims 1 to 14, wherein: The pump includes a vent tube to facilitate filling and draining of fluid from the ballast tank.

16. The hybrid air-hydraulic drone according to any one of claims 1 to 15, wherein: The pump is configured to suck in or exhaust atmosphere in order to drain or fill the corresponding ballast tank with liquid, respectively.

17. The hybrid air-water drone according to any one of claims 1 to 16, wherein: Each rotor arm ballast tank includes a piston and cylinder arrangement configured to pneumatically inject or discharge liquid, such as water from a marine environment, into or from the ballast tank under the control of the controller to adjust the ballast of the rotor arm.

18. The hybrid air-water drone according to any one of claims 1 to 17, wherein: The controller includes at least one inertial measurement unit (IMU) to allow the controller to calculate the altitude, speed and / or position of the drone.

19. The hybrid air-water drone according to any one of claims 1 to 18, wherein: The energy source includes at least one electrochemical cell.

20. The hybrid air-water drone according to any one of claims 1 to 19, wherein: The drone includes a landing gear for supporting the drone during take-off and landing.

21. The hybrid air-water drone of claim 20, wherein: The landing gear is configured to be stowed within the fuselage or to be hydrodynamically folded behind the fuselage for ocean crossing.

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