Movable platform for carrying objects

Abstract

The present disclosure provides a propulsion assembly for mounting on an aircraft platform, the propulsion assembly configured to generate thrust and enable controllable accelerated inflow and outflow of a mass flow of air. The propulsion assembly includes one or more fluid-based rotary actuators or motors in fluid communication with a source of active / pressurized working fluid, driving the one or more fluid-based rotary actuators by receiving the active working fluid. The propulsion assembly further comprises one or more actuator disk devices, each including a plurality of blades rotatable by one or more fluid-based rotary actuators. The valve mechanism of the propulsion assembly is disposed along a flow path between the source of active working fluid and the one or more fluid-based rotary actuators. The propulsion assembly further comprises at least one processing circuit and one or more memories connected to the at least one processing circuit and storing programming instructions executed by the at least one processing circuit, (1) the at least one processing circuit executing the programming instructions to control the valve mechanism so as to effect at least one of (i) a selected flow rate of the active working fluid within the one or more fluid-based rotary actuators or the active working fluid received by the one or more fluid-based rotary actuators, (ii) a selected fluid pressure, and (iii) a selected temperature. This configuration of the propulsion assembly enables control of the instantaneous angular acceleration and rotational speed of the motor, and thus enables control of the rotational movement of the actuator disk device.

Description

Technical Field

[0001] The present disclosure relates to the field of mobile platforms for moving objects, which are particularly useful in the applications of autonomous robots.

Summary of the Invention

[0002] Mobile platforms, vehicles, robots, and / or other devices having a structure of mechanized equipment for transporting payloads, people or objects have missions that are constrained by their power and energy density. Operating quickly, accurately, and inexpensively has long been the goal of autonomous robots and mobile platforms. As the applications of autonomous robots and robot missions evolve, high-power-density hardware is required. With the devices and methods described herein, autonomous applications can accelerate more quickly and accurately in all six degrees of freedom (DOF) within a space. Similarly, with high-energy-density hardware, energy storage devices, batteries and / or fuel containers, autonomous mobile platforms can operate for longer periods of time and complete their missions more quickly and accurately.

[0003] Today, the selection of energy storage devices, motors and / or engines for mobile platforms is a design process that follows the applications of mobile platforms and the missions of mobile platforms. For this reason, in most cases, subsystems of mobile platforms such as power trains, drive trains, transmissions and power plants determine the total output density and energy density of the mobile platforms.

[0004] The present disclosure presents an apparatus, a mobile platform, and a method that include a fluid drive subsystem, a part of a power train, a drive train, and a transmission subsystem connected to a power device. Further, the fluid drive subsystem and the power device provide a new type of mobile platform that is optimized for a mobile platform of an autonomous robot and has improved output density and energy density.

[0005] Furthermore, mobile platforms in aviation and aerospace, such as vertical takeoff and landing (VTOL) vehicles, can benefit from the technology of the present disclosure, thereby adding physical and aerodynamic capabilities such as unique disk loading with respect to the weight of the mobile platform, low polar moment of inertia of the propulsion system, a fixable and size-variable power train, and a flexible and adaptable structure of the mobile platform. And a mobile platform that flies partially in combination with various power sources and / or power devices is provided. This enables high specific output and specific energy for various classes, sizes, and shapes of the aerodynamic vehicle concept of the VTOL mobile platform.

[0006] Accordingly, one aspect of the present disclosure provides a propulsion assembly for mounting on an aircraft platform, the propulsion assembly configured to generate thrust and enable controlled accelerated air mass flow in and out. The propulsion assembly includes one or more fluid-based rotary actuators or motors in fluid communication with a source of energized working fluid / pressurized working fluid, and drives one or more fluid-based rotary actuators by receiving the energized working fluid. The propulsion assembly further includes one or more actuator disk devices, each including a plurality of blades rotatable by one or more fluid-based rotary actuators. The valve mechanism of the propulsion assembly is disposed along a flow path between the source of energized working fluid and the one or more fluid-based rotary actuators. The propulsion assembly further includes at least one processing circuit and one or more memories connected to the at least one processing circuit and storing programming instructions for execution by the at least one processing circuit, wherein (1) by executing the programming instructions by the at least one processing circuit, (i) a selected flow rate of the energized working fluid in the one or more fluid-based rotary actuators or the energized working fluid received by the one or more fluid-based rotary actuators, (ii) a selected fluid pressure, and (iii) a selected temperature, at least one of which is achieved by controlling the valve mechanism. This configuration of the propulsion assembly enables control of the instantaneous angular acceleration and rotational speed of the motor, and thus enables control of the rotational movement of the actuator disk device.

[0007] In some embodiments of the propulsion assembly, the plurality of blades are each coupled to a respective rotor by a hinge. The angle of attack of the plurality of blades is defined by the force acting on the hinge. That is, the hinge is a passive hinge, and the blade is rotatable about the hinge in response to forces acting on the hinge such as instantaneous torque and centrifugal force.

[0008] In some embodiments of the propulsion assembly, the processing circuit is configured to control a valve mechanism to produce a selected rotational profile of one or more actuator disk devices. The selected rotational profile maintains a selected RPM (revolutions per minute) in one revolution (i.e., the blades accelerate in part of the rotation and decelerate in part of the rotation, such that the total time for one revolution follows a predetermined and desired RPM), or maintains the selected RPM in a selected number of revolutions (i.e., the blades accelerate in part of the rotation within the selected number of revolutions and decelerate in part of the rotation, such that the total time for the selected number of revolutions follows a predetermined and desired RPM), and includes an angular velocity that varies in one or the selected number of revolutions while maintaining the selected RPM.

[0009] In some embodiments of the propulsion assembly, the processing circuit is configured to directly or indirectly control a source of active working fluid to affect the fluid pressure output therefrom and directed towards a fluid-based rotary actuator.

[0010] In some embodiments of the propulsion assembly, the active working fluid is a liquid, such as a hydraulic liquid, and one or more fluid-based rotary actuators are hydraulic motors.

[0011] In some embodiments of the propulsion assembly, the liquid flows in a closed-loop flow having one or more low-pressure loops and high-pressure loops.

[0012] In some embodiments of the propulsion assembly, the active working fluid is a gas, and one or more fluid-based rotary actuators are pneumatic motors and / or heat pump type rotary expanders.

[0013] In some embodiments of the propulsion assembly, the gas is air and one or more fluid-based rotary actuators operate based on an open loop flow of the gas. That is, the air involved in the operation of the motor is discharged to the surroundings, and new air is sucked into and compressed by the motor.

[0014] In some embodiments of the propulsion assembly, each of one or more actuator disk devices includes a rotor shaft coupled to one or more fluid-based rotary actuators to enable rotation of the respective fluid-based rotary actuators. The propulsion assembly further includes a rotor shaft angle position sensor configured to detect the angular position of the rotor shaft and generate rotor angle position data based thereon. The processing circuit is configured to control the rotation profile of the rotor shaft, and thus the rotation profile of the fluid-based rotary actuator, based on the angular position data of the fluid-based rotary actuator, and selectively control the rotational speed at each angular position according to a desired rotation profile.

[0015] In some embodiments of the propulsion assembly, the processing circuit is configured to control the rotational acceleration of the blades and the angle of attack of each blade.

[0016] In some embodiments of the propulsion assembly, the processing circuit is configured to independently control the angle of attack of each blade based on the time domain and / or based on the instantaneous angular position of the actuator disk.

[0017] In some embodiments, the propulsion assembly further comprises an inclination sensor for detecting the inclination of an aerial platform (vehicle) carrying the propulsion assembly and generating inclination data based thereon, and the processing circuit is configured to control a valve mechanism based on the inclination data.

[0018] In some embodiments of the propulsion assembly, the processing circuit is configured to control the valve mechanism by pulse-width modulation techniques. That is, the electronic device that operates the valve receives pulses at a rate faster than the load changes significantly.

[0019] In some embodiments of the propulsion assembly, the processing circuit is configured to control the valve mechanism to enable controlled maneuvering of an aircraft platform (vehicle) equipped with the propulsion assembly with at least six degrees of freedom.

[0020] In some embodiments of the propulsion assembly, the source of the active fluid includes at least two sub-sources of the active working fluid, each configured to supply the active working fluid at a different pressure so as to be able to supply fluid to one or more fluid-based rotary actuators within a fluid pressure range.

[0021] In some embodiments of the propulsion assembly, the source of the active working fluid includes one or more liquid pumps.

[0022] In some embodiments of the propulsion assembly, the source of the active working fluid includes one or more compressors.

[0023] In some embodiments, the propulsion assembly is in fluid communication with a source of the active working fluid and further includes a cooling device for cooling the active working fluid.

[0024] In some embodiments, the propulsion assembly further includes a power source for powering the source of the active working fluid. The power source may be a battery or a generator based on the consumption of non-renewable materials such as fuel.

[0025] In some embodiments, the propulsion assembly further includes a source of the active fluid. Note that the active fluid refers to a fluid characterized by any pressure higher than the ambient pressure and / or chemical reactivity.

[0026] In some embodiments of the propulsion assembly, the processing circuit controls the valve mechanism to control the angular position, velocity, and acceleration of one or more fluid-based rotary actuators, or at least a shaft rotatable by one or more fluid-based rotary actuators, so as to control the mechanical operation of one or more actuator disk devices, and one or more actuator disk devices generate thrust and acceleration of the air mass flow in the propulsion assembly.

[0027] In some embodiments of the propulsion assembly, each of the one or more fluid-based rotary actuators includes a rotatable motor shaft coupled to each actuator disk device within the one or more actuator disk devices to enable rotation of its respective rotor. The propulsion assembly further includes a motor shaft angular position sensor configured to detect the angular position of the motor shaft and generate motor angular position data based thereon. The processing circuit can control the rotation profile of the motor shaft, and thus the rotation profiles of the motor and the rotor, based on the motor angular position data, and is configured to selectively control the rotational speed at each angular position according to a desired rotation profile.

[0028] In some embodiments of the propulsion assembly, the one or more fluid-based rotary actuators are operable to cause an air mass flow through the propulsion assembly in two opposite directions. That is, air can flow from the top to the bottom of the propulsion assembly and from the bottom to the top of the propulsion assembly. In other words, since a portion of the air mass flow can enter the thrust inlet and, in some cases, the air mass can exit the thrust inlet, the air mass flow can change direction within the propulsion assembly.

[0029] In some embodiments of the propulsion assembly, the processing circuit is configured to controllably cause an air mass flow through the propulsion assembly in two opposite directions by controlling the valve mechanism according to a desired maneuver of the aerial platform.

[0030] In some embodiments, the propulsion assembly further comprises a combustion component configured to heat an air mass flow flowing from one or more actuator disk devices to further accelerate the air mass flow. The combustion component can obtain a hypersonic flow of the air mass flow through the propulsion assembly. The combustion component is disposed downstream of the actuator disk device with respect to the air flow path through the propulsion assembly.

[0031] In some embodiments of the propulsion assembly, the combustion component includes a nozzle, and the air mass flow is heated and accelerated, for example, to hypersonic speeds within the nozzle.

[0032] In some embodiments of the propulsion assembly, one or more actuator disk devices are configured to enable a hypersonic flow rate of the air mass.

[0033] In some embodiments of the propulsion assembly, one or more fluid-based rotary actuators are operable to obtain a hypersonic flow rate.

[0034] In some embodiments of the propulsion assembly, the aerial platform is an autonomous aerial platform or an aerial vehicle.

[0035] In some embodiments of the propulsion assembly, the thrust of the propulsion assembly includes a disk loading profile controlled by at least one characteristic of one or more actuator disk devices, namely, instantaneous torque, instantaneous angular torque, alternating instantaneous angular torque, instantaneous rotational speed, overall rotational speed, or any combination thereof.

[0036] In some embodiments of the propulsion assembly, the propulsion assembly is configured to generate rotational energy in response to the automatic rotation of one or more fluid-based rotary actuators, i.e., in response to the passive rotation of the blades, for example, while the aerial platform is descending.

[0037] In some embodiments of the propulsion assembly, the autorotational energy is used directly to drive one or more fluid-based rotary actuators or stored in an energy storage device of the propulsion assembly for later use.

[0038] In some embodiments of the propulsion assembly, one or more actuator disk devices include one or more tandem actuator disk devices, each having a pair of coaxial actuator disk device members.

[0039] In some embodiments, the propulsion assembly includes an odd number of one or more tandem actuator disk devices.

[0040] In some embodiments of the propulsion assembly, each member of a pair of coaxial actuator disk devices is configured to rotate in a direction opposite to the other member.

[0041] In some embodiments, the propulsion assembly includes one or more power devices. The power device is an integral part of the aerial platform, and in other embodiments, it is a power device external to the movable platform, which may be installed on the ground or be part of another vehicle or a fixed structure.

[0042] Yet another aspect of the present disclosure provides an aerial platform or an aerial vehicle. The aerial platform includes a propulsion assembly of any of the above-described embodiments or any combination thereof. The aerial platform further includes a platform mission and application utility configured to perform a desired operation while the aerial platform is in the air.

[0043] In some embodiments of the aerial platform, the platform mission and application utility are driven by an active working fluid supplied from a source of the active working fluid. The platform mission and application utility can perform any robotic application, such as fruit collection, excavation, etc.

Brief Description of the Drawings

[0044] To better understand the subject matter disclosed herein and to illustrate how it may be actually implemented, embodiments will be described below by way of non-limiting examples only, with reference to the accompanying drawings.

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Mode for Carrying Out the Invention

[0045] The technology of the present disclosure provides a novel approach for the construction and operation of a mobile platform for transporting various things. This technology provides a fluid-driven thrust vectoring system (FTVU) that can be attached to / mounted on a mobile platform (e.g., a robot).

[0046] Figures 1A and 1B are block diagrams of non-limiting examples of a propulsion assembly 100 configured and operable in accordance with the present disclosure. The propulsion assembly is attached to an aerial platform 650.

[0047] Figure 1A shows a propulsion assembly 100 that includes one or more fluid-based rotary actuators 200 driven by a working fluid (WF) supplied from a source 440 of active working fluid. The source of active working fluid is attached to the aerial platform 650 or is attached to an auxiliary land vehicle connected to the aerial platform 650. The working fluid WF is a liquid if the fluid-based rotary actuator 200 is hydraulic or a gas if it is pneumatic, and it is supplied to a power train 300, which is configured to controllably supply the working fluid WF to the fluid-based rotary actuator 200 by a controllable valve mechanism 720 controlled by a processing circuit (hereinafter also referred to as a computer system or control system) 700. The processing circuit 700 is configured to control the valve mechanism 720 by an execution command (EC), which is sent to the valve mechanism 720 to open and close the valves within the valve mechanism 720, thereby allowing the controllable flow rate of the active working fluid WF to flow towards the fluid-based rotary actuator 200.

[0048] The processing circuit communicates with a plurality of platform state sensors 779 configured to detect the platform state of an aerial platform, generate platform state data (PSD), and transmit it to the processing circuit 700. The platform state data PSD can include any one of the platform's position data, such as the platform's inclination, the platform's airspeed, the platform's ground speed, the platform's pitch, roll, yaw, the angular position of each of the fluid-based rotary actuators, the angular position of each of the actuator disk devices, or any combination thereof. The processing circuit 700 is configured to appropriately generate an execution command EC based on the platform state data PSD, thereby generating the desired torque and rotational speed of the fluid-based rotary actuator 200 to achieve the desired flight pattern or profile. The execution command EC can be in the form of pulse width modulation (PWM) or pulse duration modulation (PDM) techniques.

[0049] The fluid-based rotary actuator 200 is coupled to one or more actuator disk devices 120, and the actuator disk devices are rotatable by the kinetic energy KE supplied to them by the fluid-based rotary actuator 602. When the actuator disk devices 120 rotate, air masses flow through them, causing acceleration of the aerial platform or its desired maneuvering.

[0050] Note that in some embodiments, the platform state sensor 779, or at least a part of it, can be part of the propulsion assembly 100. Further, in some embodiments, the source of the active working fluid 440 can be part of the propulsion assembly 100.

[0051] The power train 300 should be broadly construed as a delivery tool for delivering an active working fluid and can be, for example, a duct or an array of ducts. The active working fluid can be generated by an active working fluid generator 440, which may not be mounted on the aviation platform 650. For example, the aviation platform 650 can be coupled to a land vehicle that includes the active working fluid generator 440 and deliver it to a source 440 of the active working fluid on the aviation platform 650. However, in some embodiments, the active working fluid generator 440 can be provided on the aviation platform 650 itself. The active working fluid generator 440 can be a pump or an array of pumps configured to increase the pressure of a working fluid WF, such as a working liquid, and deliver it to the power train 300 at an appropriate flow rate.

[0052] This aviation platform 650 can be coupled to or integrated with a platform mission and application utility 800 capable of performing a selected operation, such as excavation, branch cutting, fruit collection, or any other desired application. This platform mission and application utility 800 is configured to be driven by a working fluid WF supplied to the aviation platform 650 and the propulsion assembly 100 by the active working fluid generator 440. Further, the control of the power source and, optionally, the control of the operation itself can be performed by a processing circuit 700 on the propulsion assembly 100.

[0053] Referring now to FIG. 1B, it differs from FIG. 1A in that it includes a cooling device 370, a fluid energy storage device 325, and a combustion component 550. The cooling device 370 is configured to receive a portion of the working fluid WF, cool it, and return it for further use in the propulsion assembly 100. This is necessary because the working fluid WF is heated while operating in the propulsion assembly 100.

[0054] The fluid energy storage device 325 is configured to store the energy EN and supply it as needed. The energy storage device 325 is used, for example, to store the energy EN generated by the automatic rotation of the actuator disk device 120, such as when the aerial platform 650 descends and its potential energy is converted into kinetic energy (KE). That is, the fluid-based rotary actuator 200 is configured to also function as a generator when driven by the actuator disk device 120, and the energy EN generated thereby is sent to the electrical energy storage device 470 and stored therein.

[0055] The combustion component 550 is arranged to be configured to receive the air mass flow moved by the actuator disk device 120. That is, the combustion component 550 is arranged downstream of the actuator disk device 120 along the path of the air mass flow. The combustion component 550 is configured to heat the air mass received therein and accelerate it through a nozzle (not shown) that is part of the combustion component, thereby enabling the air mass to be accelerated to hypersonic speeds.

[0056] Various specific non-limiting examples of the configuration and operation of the propulsion assembly / system of the present disclosure will be described below with reference to FIGS. 2-4, FIGS. 5A and 5B, FIGS. 6A and 6B.

[0057] It should be noted that although the present disclosure refers to specific drawings, if an element is not shown in a particular drawing, it should be noted that the teachings of such an element need to be obtained from the drawings in which the element is shown.

[0058] In some embodiments of the technology / system of the present disclosure, the FTVU 100 is driven by a fluid power train, a fluid drive train, and / or a fluid transmission subsystem 300, which includes, but is not limited to, a part of an autonomous robotic mobile platform 650, or any vehicle that can move, maneuver, hover, fly, receive thrust, and / or propel. Due to the configuration and operation of the FTVU 100 described herein, an autonomous robotic application or any mobile platform 650 can accelerate more quickly and accurately in all six degrees of freedom (6DOF) in space. The six degrees of freedom (6DOF) refer to the degrees of freedom of the motion of a rigid body in three-dimensional space.

[0059] Accordingly, in a broad aspect of the present invention, one or more FTVU 100s configured to be attached / mounted to a single mobile platform and / or robot 650 are provided. The single mobile platform 650 can carry a combination of various types of thrust deflection systems. For example, the single mobile platform 650 can include one or more FTVU 100s combined with another type of thrust deflection system. Accordingly, a single mobile platform 650 according to some embodiments of the present disclosure can be further associated with a combination of various types of thrust deflection systems, such as a combination of the FTVU 100, gas dynamic steering (GDS), gas dynamic control (GDC), an electric thrust deflection system (ETVS) 801, a shaft cupel thrust deflection system (STVS) with a fuel engine, a propellant injection deflection system (PIVS), a vernier propulsion system (VTS), and / or a thrust deflection of a rocket nozzle.

[0060] The single movable platform 650 includes, but is not limited to, missiles, rockets, low-earth orbit satellites, aerospace movable platforms / carriers, aviation movable platforms, aircraft, and / or any type of flying machine and / or vehicle. The movable platform 650 with the FTVU100 introduced here can move in the earth's atmosphere and its surroundings, and / or on any planet in the solar system, and / or in interplanetary space.

[0061] In some embodiments, as shown in FIG. 2, the FTVU100 has a coaxial rotor and / or tandem rotor and / or meshing rotor actuator disk 120 configuration, whereby a disk loading 500 with a radial area 520 is obtained. The two coaxial rotors 121, 122 can rotate in both directions 291, 292 on the axis of rotation 195 of the fluid-driven thrust vectoring unit (FTVU) 100. The FTVU100 of the example shown in FIG. 2 includes two fluid actuators 200, each connected to a tilting hinge rotor / blade system 120. As shown in FIG. 2, the fluid actuator 201 is mechanically coupled (130) to the rotor 121 by a passive tilting hinge mechanism 131. Similarly, the hollow shaft fluid actuator 202 is coupled to the passive rotor system 122 via a mechanical hub 132.

[0062] In other embodiments, as shown in FIG. 2, a fluid-driven thrust vectoring unit (FTVU) 100 is attached to a movable platform 650 by a mechanical joint 660. The movable platform of FIG. 2 includes a payload 615 and wings and control surfaces 620. Alternatively, in the configuration schematically shown in FIG. 2, a computer system 700 and / or a drive train / power train 300 and / or a power unit 400 may be part of the thrust vectoring unit (FTVU) 100 and / or part of the movable platform 650 and / or part of the payload 615 and / or part of the main application 815 of the thrust vectoring unit (FTVU) 100 and / or part of the main application 815 payload and remote job 820.

[0063] Accordingly, according to the present disclosure, the thrust vectoring unit (FTVU) 100 may be driven by an unknown power unit 400, and the power train 300 functions as a network of internal components and accessories of devices such as pipes 330 and / or fluid lines 401, 409, 325, 730, 735, 250, 260, and / or fluid actuators 200, fluid transmission subsystem 130, fluid pump 440, fluid valve device 720. Also, in other cases where the power unit 400 is not connected, the FTVU 100 may be driven only by a pressurized tank 325 or accumulator 325 that is part of the power train 300 network of fluid lines. As shown in FIG. 2, in other cases where the power unit 400 is connected to the power train 300, the configuration of an accumulator 325 that is part of the power train 300 drives and controls one or more fluid actuators 200 that are part of the FTVU 100, while being connected in parallel and / or series and / or directly and / or indirectly to the fluid lines 401, 405, 409 of the power unit 400.

[0064] Referring again to the non-limiting example shown in FIG. 2, computer system 700 can be part of FTVU 100 and / or part of mobile platform 650 and / or part of payload 615 and / or part of main applications 815, 820. Computer system 700 has a fluid valve device 720 connected to a power electronics board 710 that is managed by real-time software 780. Software 780 operates on computer system 700 and transmits and receives signals, which are digital, optical, analog, and / or radio frequency (RF) signals, to and from power electronics board 710 via built-in cable 705 and / or via connection 705 and / or via wireless link 705.

[0065] In some embodiments, as schematically shown in FIG. 4, power electronics board 710 converts and calculates signals, data, and information received from software 780 into powered electrical signals 711, 719 in one or more different ways and configurations of control systems 717, 713 shown in FIG. 4. Examples of these powered electrical signals 711, 719 are applied to electromechanical valve device 720 in watts / second, volts / second, and / or amps / second.

[0066] Referring again to the non-limiting embodiment shown in FIG. 2, these powered electrical signals 711, 719 generated by power electronics board 710 are transmitted via connection 715 and applied to electromechanical valve device 720. Valve device 720 converts the power in watts / second and / or signals 711, 719 received from power electronics board 710 into mechanical energy that acts as a valve mechanism on the working fluid 320 entering valve device 720. Working fluid 320 enters device 720 from a network of pipes 330 of power train 300 via inlet port 730 and outlet port 735.

[0067] In some embodiments, although not particularly shown in FIG. 2, the valve device / machine 720 can operate inside the fluid actuator 200 itself, within the hub mechanism 130, within accessories of the power train 300, and / or within components of the power unit 400. Alternatively, as schematically shown in FIG. 2, the computer system 700 can be a part incorporated into the FTVU 100 and / or configured as a modular part of the movable platform 650 and / or the movable platform application 815.

[0068] Additionally or alternatively, the fluid flowing into the valve device 720 via line 730 is measured by the fluid sensor 760 of the computer system 700. Similarly, the working fluid 320 flowing out of the valve device 720 via fluid line 735 is measured in real time by the fluid sensor 765. Those fluid sensors 760, 765 are part of the computer system 700 and are configured to measure the performance of the valve device 720 and / or the characteristics of the working fluid 320 (e.g., temperature, pressure, volume velocity, and / or physical state before and after flowing into and out of the electromechanical valve actuator mechanism 720).

[0069] In another embodiment shown in FIG. 3, the electromechanical fluid valve device 720 can be directly connected to the inlet port 250 of the fluid rotary actuator 200 which is part of the power train 300 configuration. In other cases shown in FIG. 4, this valve device 720 drives the fluid rotary actuator 200 in a pulse width modulation (PWM) or pulse duration modulation (PDM) mode, where high-speed real-time modulation of the volume 220 and / or pressure 230 is performed.

[0070] Accordingly, according to the present disclosure, as shown in FIG. 2, the fluid actuators 201, 202 within the FTVU 100 are supplied via the intake port 250 and / or restricted via the outlet port 260 and / or are directly connected to the fluid lines 730, 735, 405, 401, 409, 730, 735 and / or 325 of the power train 300.

[0071] As further shown in FIG. 2, the power unit 400 can have one or more energy container storage devices 420 or fuel tanks 420. This fuel tank 420 is connected to the engine 430 by piping hardware 425 and / or a fuel supply machine 425, and the engine thermodynamically converts the chemical energy of the fuel within the storage device 420 into useful mechanical energy 460 by performing combustion and / or mixing one or more types of fuel and gas. In some embodiments of the configuration of the power unit 400, an electrical utility power socket 470 and / or a fuel cell 470 and / or a battery 470 and / or any type of chemical energy storage device 470 for electronics and power can supply power to the electric motor 430. In some embodiments, the electric motor 430 converts the electrical energy received from the battery 470 via the grid cable 740 into useful mechanical energy 460.

[0072] Thus, the useful mechanical energy 460 generated by the engine 430 and / or the motor 430 is transmitted to the fluid pump 440 by the mechanical coupler 450. The useful mechanical energy 460 obtained by the mechanical coupler 450 is applied to the pump mechanism 440. As a result, the pump mechanism 440 imparts energy to the fluid that enters the pump 440 from the power train 300 via the inlet line 405 and exits the pump via the outlet fluid line 401. Similarly, the pump mechanism 440 can create a pressure difference and / or a volume movement between the fluid entering the pump 440 via the inlet line 405 and the active fluid exiting the pump via the outlet fluid line 401.

[0073] Accordingly, according to the present disclosure, the powertrain 300 can receive various types of working fluids 320, such as air and / or oil and / or any type of liquid and gas. Additionally or alternatively, the powertrain 300 can be configured as an open-loop system and / or a closed-loop system with one or more layers of a network of pipes 330. In some cases, additional layers and accessories of the pipes 330 that are part of the powertrain 300 subsystem can serve the purpose of cooling 370 by the heat pump fluid and / or the working fluid 320 itself. Similarly, the powertrain 300 can include a lubrication setup, additional pilot lines from the actuator 200 and the pump 440, and / or the powertrain 300 can include high-pressure, medium-pressure, low-pressure, and negative-pressure fluid lines.

[0074] According to the present disclosure, as shown in FIG. 5A, an afterburner nozzle configuration 500 is used by arranging a nozzle afterburner setup 550 at the outlet 160 of the FTVU 100. This nozzle deflection unit (FTVU) 100 configuration includes a fan actuator disk 120 driven by a fluid actuator 200 with an afterburner 550, whereby during operation of the afterburner 500, the deflection unit (FTVU) 100 and / or the movable platform 650 can accelerate at high speed with the thrust-to-weight ratio further tripled. Similarly, due to the operation of the afterburner, in addition to the absolute speed of 1000 km / h of the deflection unit (FTVU) 100 and / or the movable platform 650, an additional speed of +500 km / h can be obtained, at which time the disk loading configuration 500 is a fan.

[0075] Alternatively, in the configuration schematically shown in FIGS. 5A and 5B, the configuration 500 of the nozzle deflection unit (FTVU) 100 uses an active fluid stator 180 and a built-in hypersonic channel 185 not shown in FIGS. 6A and 6B to direct the air mass 580 of the intake 150 of the deflection unit (FTVU) 100 to flow directly through the configuration of the nozzle 550, thereby achieving hypersonic speed.

[0076] The autonomous robot application 800 of the present disclosure can include a single mobile platform and / or one or more fluid-driven thrust deflection units (FTVUs) 100 attached to the autonomous robot 650. Each fluid thrust deflection unit (FTVU) 100 can have different or similar disk loading configurations 500. Each fluid thrust deflection unit (FTVU) 100 attached to the single mobile platform 650 can have different or similar outputs, or different or similar thrust profiles 525, shapes and sizes 520 of the disk loading 500, can have different or similar types of working fluids 320, and can have different or similar thrust outputs 170 as means for the air mass flows 590, 595.

[0077] The technology of the present disclosure can utilize one or more fluid-driven thrust deflection units (FTVUs) 100 attached to an aircraft, an aerospace and / or spacecraft vehicle and / or a mobile platform 650. With the one or more attached thrust deflection units (FTVUs) 100, the mobile platform 650 can perform launch, ascent, hovering, movement, ground travel, flight, floating, rapid descent, inclination, yawing, rolling, pitching, steering and navigation in 6DOF in space.

[0078] Referring to the non-limiting example shown in FIG. 5B, the thrust output 170 of the deflection unit (FTVU) 100 refers to the thrust deflection or propulsive force 170 obtained from the acceleration of the air mass outlets 590, 595 of the deflection unit (FTVU) 100. The force output 170 of the deflection unit (FTVU) 100 is represented by the disk loading 500, shape 520, and profile 525 measured with respect to the geometric shape 101 of the deflection unit (FTVU) 100. The thrust deflection unit (FTVU) 100 generates a controllable propulsive force 170 with variable thrust acceleration, thereby providing the movable platform 650 with rapidly changing linear and angular acceleration values while the movable platform is maneuvered in 6DOF within the space.

[0079] In some embodiments, as shown in FIG. 5B, the size 175 or amplitude 175 of the force vector 170 is measured in Newtons or kg. As shown in FIG. 5A, the force vector 170 is the mass of the air passing through the nozzle configurations 550, 553 and / or the exhaust port 160 of the thrust deflection unit (FTVU) 100 exiting the thrust deflection unit (FTVU) 100, multiplied by the acceleration (m / sec 2 ). It is a physical representation that combines the kinetic energy and thermodynamic energy of the air mass flows 590, 595. The size or amplitude 175 of the force vector 170 can have a geometric relationship 101 with the center of gravity and / or the cross-sectional second moment and / or the polar angular momentum and / or the center of the moment of inertia and / or the gyroscopic axis and / or the center of lift (CL) of the deflection unit (FTVU) 100 and / or the movable platform 650.

[0080] Similarly, the angle 179 and / or angular direction 179 of the force vector 170 is measured in radians, and the origin 173 of the force vector 170 is measured with respect to the geometric structure 101 of the thrust deflection unit (FTVU) 100 and / or is measured in relation to the center of gravity and / or the cross-sectional second moment and / or the polar angular momentum and / or the center of the moment of inertia and / or the center of lift (CL) of the deflection unit (FTVU) 100 and / or the movable platform 650.

[0081] Thus, according to the present disclosure, the origin 173, angle 179, and magnitude 175 of the thrust force 170 of the thrust vectoring unit (FTVU) 100 may refer to one or more combined thrust vectoring units (FTVUs) 100, and / or may refer to the mass distribution, thermodynamic, and aerodynamic characteristics of the movable platform 650 related to all types of three-dimensional (3D) axes and coordinates 101 and / or quaternion force 170 representations in 6DOF.

[0082] In some embodiments, a combination of one or more fluid-driven thrust vectoring units (FTVUs) 100 is attached to a single movable platform 650, thereby obtaining a vertical takeoff and landing (VTOL) vehicle and / or enabling short takeoff and landing (STOL) of any type of movable platform 650, such as mechanized devices 670, 690 that carry or transport something on the ground, sea, and / or air, but not limited thereto. For example, in some embodiments, a power plant 400 subsystem that is part of the movable platform 650 can perform a short takeoff and landing, and the remaining part of the movable platform 650 can perform a vertical takeoff and landing (VTOL).

[0083] Additionally or alternatively, in some embodiments, an aircraft mechanization device, an aircraft and / or a spacecraft and / or a mobile platform 650 uses an aerodynamic deflection using any other combination of aircraft control types of rudders, flaps and / or flight control surfaces 620 to use a thrust vectoring unit (FTVU) 100 having a combination of auxiliary wings and / or elevators to aerodynamically control the force output 170 of the vectoring unit (FTVU) 100 and / or the motion state of the mobile platform 650 in space. The aerodynamic surface control 620 can interact with air that can have various levels of air density, air pressure and air temperature. For this reason, whether or not the control surface 620 is attached, the thrust vectoring unit (FTVU) 100 can pilot the mobile platform 650 in 6DOF while controlling the angle of attack of the mobile platform 650, thereby providing additional stability and / or managing the landing, ascent and change in potential energy of the mobile platform 650 itself.

[0084] Furthermore, according to some embodiments of the technology of the present disclosure, an aircraft and / or aerospace mobile platform 650 can have one or more fluid-driven thrust vectoring units (FTVUs) 100 attached to a single mobile platform 650. Each thrust vectoring unit 100 can have its own main frame 110. The attached thrust vectoring system 100 can perform gimbal, tilt, reverse, flap, alignment, movement and rotation while physically connected to the joint connector 660 portion of the main frame 610 of the mobile platform 650, as shown, for example, in FIGS. 2 and 3.

[0085] According to some embodiments, the main frame 110 of the fluid-driven thrust deflection unit is the movable platform 650 itself. For example, the fluid-driven thrust deflection unit (FTVU) 100 can be part of the movable platform 650, the body / main frame 610, the landing gear, the control surface 620, the rotary cylinder structure, the fuel tank 420, the engine battery 420 and / or the wing 630 and / or the parachute configuration. Additionally or alternatively, in some embodiments, the main frame 110 of the thrust deflection unit 100 can operate aerodynamically and thermodynamically to mimic the configuration of the duct casing 115 that is part of the main frame 610 of the movable platform 650.

[0086] Thus, according to the present disclosure, the fluid thrust deflection unit (FTVU) 100 can have a total specific output and / or output density of 6 kg / kW to 0.01 kg / kW depending on the total mass (kg) of the deflection unit (FTVU) 100 and the mass associated with the deflection unit (FTVU) 100. Also, the specific output of the deflection unit (FTVU) 100 also depends on the geometric configuration 101 of the deflection unit (FTVU) 100, for example, the characteristics of the fluid rotary actuator 200, the type of the working fluid 320, and the disk loading configuration 500 of the actuator disk 120.

[0087] In some embodiments, as shown in FIG. 5A, when a combination of chemical action propellant and / or two-component propellant and / or fuel mixed with an oxidizer is used in the nozzle configuration 550, the total output-to-weight ratio (PWR), specific output, or output-to-weight ratio can reach 100 kW / kg. The configuration of this deflection unit (FTVU) 100 is similar to that of a turbofan with an afterburner setup.

[0088] According to the present disclosure, as schematically shown in FIG. 5A, the fan configuration of this example has a plurality of actuator disks 120 mechanically coupled to a rotary actuator 200, and the afterburner is a nozzle configuration 550. In the nozzle configuration 550, the combustion unit 577 is configured to burn the fuel from the fuel tank 420, heat the air received in the nozzle, and accelerate it to hypersonic speeds if necessary.

[0089] In some non-limiting examples, there is a joint operation 660 between two or more solids, such as a fluid thrust vectoring unit (FTVU) 100, and a movable platform 650. This joint operation 660 is performed by introducing mechanical movement and motion between the movable platform 650 and the vectoring unit (FTVU) 100 itself, thereby managing and directing the force output 170 generated from one or more thrust vectoring units (FTVUs) 100 attached to the movable platform 650. In some embodiments, the combination of mechanical joints 660 can include gimbal mechanisms, prism joints, pin joints, ball joints, knuckle joints, turnbuckle cotter pin bolts, universal joints, U-joints and / or fluid actuators and / or electric actuators.

[0090] Additionally or alternatively, as shown in FIG. 6A, the joint 660 on the movable platform 659 may be part of the cable reel and can hold the pipe (330) and other cables / connections (715, 740, 705) shown as lines 640. The joint cable 640 is connected between modular movable platforms 659 and / or between modular setups of the thrust vectoring unit (FTVU) 100. This modular setup of the movable platform 659 allows the thrust vectoring unit (FTVU) 100 or multiple thrust vectoring units (FTVU) 100 to be operable while the movable platform 650 is decoupled from the application task 820 and / or from the main application robot hardware 815 and / or from the payload 615 of the movable platform and / or from the movable platform 650 and / or from the power unit 400. Each mechanical joint 660 can include a set of motion sensors 779 that measure the 6DOF movement of the joint. This allows the weight of the payload 615 and / or the forces and torques of the main application 815 to be measured. The sensor motion 779 can measure in real-time (777) additional information such as the suction angle with respect to the total thrust vector 170 of the movable platform 650 and / or the thrust vector 170 of each decoupled thrust vectoring unit (FTVU) 100.

[0091] Referring again to the non-limiting embodiment shown in FIG. 6A, the fluid thrust vectoring unit (FTVU) 100 can be attached to the main frame 410 of the power unit 400 by a joint 660, as shown in the movable platform 659. With this joint operation 660, the power unit 400 can hover alone with a specific output of less than 1 kg / kW. At this specific output density, for example, the power unit 400 can include a plurality of masses combined with each other, such as fuel tanks 420, 425 as its energy source, an engine 430, and a fluid pump 440 portion of the main components of the power train 400. However, as shown as the movable platform 651 in FIG. 6A, when the hovering and separated power unit 400 is fixed on the payload 615 itself, the payload itself becomes the main frame 610 of the movable platform 650. While hovering with the payload 615 to which the modular power unit 400 is attached, the total specific output of the movable platform 651 can reach 6 kg / kW. According to some embodiments, the mechanical joint 660 can be a part of the main frames 110, 115 of the unit 100, and / or a part of the payload 615, and / or any part of the movable platform 650, such as the control surface 620, the wing 630, the payload 615 and / or its main frame 610 and / or the application of the movable platform 815, 815, etc.

[0092] According to some embodiments of the present disclosure shown in FIG. 3, due to the intake area 150 (square meters) of the thrust vectoring unit (FTVU) 100, an air mass flow 580 can enter the thrust vectoring unit (FTVU) 100 and exit the unit 100 through the unit outlet 160 region as an accelerated air mass flow 590, thereby generating a propulsive force 170.

[0093] Additionally or alternatively, the deflection unit 100 can include a built-in channel 185, as shown for example in FIG. 5A, which includes one or more intake ports 150 and one or more outlet ports 160 and can coexist on a single Fixed Thrust Vectoring Unit (FTVU) 100 and / or a movable platform 650.

[0094] Referring again to the non-limiting example shown in FIG. 3, in some other cases, the configuration of the air fluid stator 180 can be used as the main frame 110 of the thrust deflection unit (FTVU) 100. In some embodiments, the stator configuration is an active air stator 180, and its angle of attack can be adjusted actively, dynamically and in real time by transmitting and receiving information from the computer system 700. The operation and control of the stator 180 configuration can be managed by the real-time decision-making software 780 of the computer system 700 and / or based on information received by a set of sensors 771 that measure the temperature, pressure and velocity / acceleration of the air masses 580, 585, 590 before and after passing through the stator 180 configuration of the unit 100.

[0095] In some embodiments, a combination of the air fluid stator configurations 180 can be part of the main frame 110 of the thrust deflection unit (FTVU) 100 and / or part of the movable platform 650 and / or part of the main frame 610 of the movable platform. The air fluid stator configuration 180 can provide a laminar air flow of the air mass 580 before entering the thrust deflection unit (FTVU) 100 and / or while the air mass flow 585 is moving within the thrust deflection unit (FTVU) 100 and / or while the air masses 590, 595 are leaving or exiting or being discharged from the thrust deflection unit (FTVU) 100. In some embodiments, the air fluid stator configuration 180 can function as a rudder configuration for the air masses 590, 595 leaving the thrust deflection unit (FTVU) 100, as shown for example in FIG. 5A.

[0096] The fluid thrust vectoring unit (FTVU) 100 can include the actuator disk 120, or a propeller, rotor, prop, fan, airscrew, set of blades, and / or a combination of one or more disks such as any actuator disk where the working fluid is atmospheric air. When the fluid rotary actuator 200 rotates, the actuator disk 120 provides the movement of the air masses flows 580, 585, 590 throughout the fluid thrust vectoring unit (FTVU) 100.

[0097] For this reason, the thrust vectoring system 100 can be constructed from the main frame 110 attached to the movable platform 650. In some embodiments of the present disclosure, the fluid thrust vectoring unit (FTVU) 100 can be constructed considering an aerodynamic structure such as the duct aerodynamic structure 115 while one or more actuator disks 120 are rotating bidirectionally within the fluid thrust vectoring unit (FTVU) 100. This coaxial actuator disk 120 and / or tandem rotor 120 configuration is also known as a coaxial rotor and / or tandem rotor and / or meshing rotor, thereby providing a fluid thrust vectoring unit (FTVU) 100 with no gyroscopic forces, a released torque axis, and an effective area of disk loading 520 that is twice that of a single actuator disk configuration 120.

[0098] In some embodiments of the present disclosure shown in FIGS. 2 and 3, the coupling mechanism 130 can mechanically couple the actuator disk 120 to the fluid rotary actuator 200. Thereby, the actuator disk 120 can obtain its power and / or torque and / or rotational motion in the form of mechanical energy from the coupled fluid motor 200, fluid shaft drive motor 200 or fluid rotary actuator 200. Additionally or alternatively, the coupling mechanism 130 can be an integral mechanical part of the actuator disk 120 and / or an integral element of the fluid rotary actuator 200. In some cases, without being limited to current technological innovations, the coupling mechanism 130 can be composed of gears, gearboxes, colloquial gears, Jesus nuts, freewheel units, belt-pulley configurations, masts, drums, shaft rods, quill shafts, and other transmission mechanisms, titling links, scissor links, swash plates, hinges, and / or mechanical bearings, for example, sliding bearings, ball bearings, roller bearings, rolling element bearings, rotor fluids, flexure bearings, ceramic bearings, journal bearings, sleeve bearings, rifle bearings, composite bearings, non-contact bearings and / or magnetic bearings, etc.

[0099] In some embodiments of the present disclosure, the actuator disk 120 is mechanically driven and powered by the kinetic energy obtained from the attached fluid rotary actuator 200. One actuator disk 120 may be powered and driven by one or more fluid rotary actuators 200. In some other non-limiting examples, the fluid rotary actuator 200 can power and drive one or more actuator disks 120. The fluid rotary actuator 200 can couple and transmit mechanical energy and motion such as force, velocity, acceleration, torque, angular momentum, linear momentum, angular acceleration and / or any other type of mechanical energy and motion to the actuator disk 120.

[0100] Similarly, the actuator disk 120 is driven by the air mass flow 580 and itself enters into the thrust vectoring unit (FTVU) 100. This forced air mass flow 580 can be generated by the movement of the movable platform 650 within the space and / or when the vectoring unit (FTVU) 100 loses potential energy. As a result, this forced air mass flow 580 rotates the actuator disk 120. The automatic rotation of the actuator disk 120 within the unit 100 generates mechanical energy in the fluid rotary actuator 200, which thereby operates as a fluid pump. As a result, the accumulated mechanical energy generated by the fluid rotary actuator 200 is converted into fluid energy as the active working fluid 401 on the power train 300.

[0101] Thus, according to the present disclosure, when the forced air mass 580 enters the unit (FTVU) 100, the fluid rotary actuator 200 generates the active fluid 401 and sends it to the power unit 300 via the network of pipes 330. At the same time, the power train 300 can distribute the generated active fluid 401 to the adjacent fluid thrust vectoring unit (FTVU) 100 attached to the movable platform 650. With this automatic rotation configuration, while one unit (FTVU) 100 generates fluid energy, it becomes possible for a second adjacent fluid thrust vectoring unit (FTVU) 100 to use this generated fluid energy to generate the thrust vector 170. According to some embodiments, the active fluid 401 generated by the fluid rotary actuator 200 is transferred to the power train 300 and stored as fluid energy within the fluid storage device 325 and / or accumulator 325 and / or return tank 325 portion of the power train 300.

[0102] For example, when the movable platform 650 loses or changes its potential or kinetic energy, the forced air mass 580 can pass through the thrust vectoring unit (FTVU) 100. This can occur while the movable platform 650 is braking and / or during gliding and / or parachuting and / or while the movable platform 650 is changing its angle of attack.

[0103] Accordingly, according to the present disclosure, the event of the forced air mass 580 passing through the thrust vectoring unit (FTVU) 100 can occur while other deflection thrust systems 801 on the movable platform 650 and / or one or more thrust vectoring units (FTVUs) 100 are still operating and / or generating thrust. The fluid thrust vectoring unit (FTVU) 100 through which the forced air mass 580 passes can generate the active fluid 401 by forced rotation of the actuator disk 120 caused by the forced air mass flow 580 passing through the thrust vectoring unit (FTVU) 100. Similarly, the electric deflection thrust system 801 attached to the movable platform 650 can generate power on the electrical grid 740 from the energy of the passing forced air mass 580.

[0104] In some embodiments of the present disclosure, the actuator disk 120 is driven by the fluid rotary actuator 200 and receives power supply. In other cases, the actuator disk 120 can be automatically actuated or freewheeled by the forced air mass 580 entering the thrust vectoring unit (FTVU) 100. Additionally or alternatively, the torque generated by the actuator disk 120 from the forced air mass 580 can be equal to the torque output 190 of the fluid rotary actuator 200 and may even exceed the stall torque 190 of the fluid rotary actuator 200.

[0105] Referring now to FIG. 4, according to the present disclosure, the fluid rotary actuator 200 can vary, alternately switch, pause, interrupt, block, start, and activate the driving torque 210 based on the angular position 290 and / or the angular velocity 295 and / or the angular acceleration 299 of the fluid rotary actuator 200 and / or the actuator disk 120. Thereby, it becomes possible to manage and control the air mass 585 that generates the thrust vector 170 passing through the unit 100. The driving torque 210 generated by the fluid rotary actuator 200 can be controlled by the active working fluid 401 entering the rotary actuator 200 and / or the working fluid exiting the rotary actuator 200 (409).

[0106] Since the fluid rotary actuator 200 can operate at the stall torque 190 as needed, the thrust vectoring unit (FTVU) 100 can instantaneously pause the operation of the actuator disk 120 at a specific angular position 290. The instantaneous pause of the actuator disk 120 by the rotary actuator 200 can convert the stationary actuator disk 120 into the control surface 620 and / or the stator configuration 180 and / or the blade 630. Similarly, the thrust vectoring unit (FTVU) 100 can instantaneously generate a negative instantaneous torque 211 and / or instantaneously generate a reverse mechanical motion, thereby decelerating the rotational speed of the disk 120 or even rotating the actuator disk 120 in the reverse direction. This instantaneous torque 210 can instantaneously generate a negative amplitude 175 of the propulsive force 170 of the thrust vectoring unit (FTVU) 100. Similarly, the fluid rotary actuator 200 can release the torque 212 from the actuator disk 120 and automatically operate or freewheel the disk 120 together with the rotary actuator 200 without introducing kinetic energy into the working fluid 409 entering the actuator 200 and / or without introducing kinetic energy into the working fluid 409 existing in the actuator 200.

[0107] In some cases, although not limited to current technological innovations, for example, as shown in FIG. 4, the output torque 210 of the rotary actuator 200 can result from the volume change 220 of the working fluid entering and leaving the rotary actuator 200 and / or the pressure change 230 of the working fluid 409, in relation to the rotation angle characteristics 290, 295, 299 and / or according to the time domain 777 driven by the real-time clock 707 of the computer 700. For example, the angular positions 290 of the rotary actuator 200 and / or the actuator disk 120 can be measured by a set of sensors 775, and these sensors measure additional mechanical and hydrodynamic characteristics of the rotary actuator 200 and / or the actuator disk 120 and / or the working fluid 409 entering and leaving the rotary actuator 200, thereby enabling the real-time decision-making software 780 of the computer 700 to change and modify the angular instantaneous torque 210.

[0108] In another embodiment, as shown in FIG. 3, the real-time decision-making software 780 of the computer 700 can change and modify the angular instantaneous torque 210 of the rotary actuator 200 according to information obtained from sensors 781, 785, 789 that measure the thrust vectoring unit (FTVU) 100 and / or the movable platform 650 and / or the mission 800 of the movable platform 650. For example, navigation sensors 781 such as a GPS module, an IMU, and a timing aid on north-east-down (NED) coordinates can measure the position on the earth and in space. This sensor 781 provides the astronomical time to the real-time clock 707, whereby the real-time software 780 can determine and filter the movement of the movable platform 650 and / or the vectoring unit (FTVU) 100 in space and time. Sensor 785 measures motion vectors such as acceleration in three degrees of freedom (3DOF) and angular velocity in a similar three degrees of freedom. According to some embodiments, sensor 785 can also measure the physical movement of the wing 630 and / or the control surface 620 in relation to the geometric shape of the movable platform 650 and / or the geometric shape of the vectoring unit (FTVU) 100. Additionally or alternatively, sensor 789 can be part of the task 815 of the main application 800 and / or the application robot payload or job 820. This set of sensors 789 can include vision hardware, artificial intelligence (AI) sensors and / or any optical sensing hardware, radio frequency (RF) sensing hardware, and embedded electronic hardware for means of communication and computation.

[0109] In some other embodiments shown in FIG. 5B, the thrust vector 170 of the deflection unit (FTVU) 100 has an angle 179 and an amplitude 175. This vector 170 includes hinges, swash plates, shear links, torque links, hub trunnions, and can be generated by an actuator disk mechanism 120 similar to the main head system of a helicopter that allows each blade and / or all blades to mechanically feather, flap, and lead / lag.

[0110] According to the present disclosure, as shown in FIG. 2, the actuator disk mechanism 120 includes a monospina configuration and / or a rotor configuration without a swash plate, whereby, while the disk 120 is rotating, by changing and alternately switching the instantaneous angular torque 210, each blade and / or all blades can feather, flap, and lead / lag in a passive mechanical manner during one rotation.

[0111] Additionally or alternatively, in a rotor configuration 130 without a swash plate, such as shown in FIG. 2 for example, the instantaneous angular torque 210 can alternately switch between the angular positions 290 on both sides, or sway during one rotation of the tilting hinge angle. Thereby, the actuator disk 120 can change its rotating blade from high pitch to low pitch in the same way as changing the angle of attack of the rotor 120 which is part of each blade of the actuator disk 120.

[0112] This is made possible by alternately switching the rotational torque 210 of the actuator disk 120 during one rotation while maintaining the rotational speed of the actuator disk 120 at a constant pace or a constant revolutions per minute (RPM). For example, when repeatedly measuring the time it takes for the disk 120 to make one rotation of 360 degrees or 2π, the rotational speed of the disk 120 is constant. However, during one rotation over a specific angular distance 290, or number of angular positions 290, the instantaneous angular velocity 295 may be changed and / or the angular acceleration 299 may be varied. In order to keep the rotational speed of the disk 120 constant, changes in the instantaneous angular velocity and acceleration 295, 299 may occur more than twice per rotation during one rotation.

[0113] According to the present disclosure, the rotation 200 and the disk 120 are geometrically (101) related to the main frame 110 of the thrust vectoring unit (FTVU) 100 and / or the main frame 615 of the movable platform 650, and / or related to the vector characteristics of the thrusts 170, 173, 175, 179. In response to the angular position 290, the angular torque 210 can be repeatedly changed and varied. Due to the change in the instantaneous angular torque 210 with respect to the main frame 110 of the thrust vectoring unit (FTVU) 100 and / or geometrically (101) along the angular position 290 of this fluid rotary actuator 200, it becomes possible to adjust the profile 525, size 520, and shape of the disk loading 500 in real time while the disk 120 is rotating.

[0114] Therefore, according to the present disclosure, repeatedly changing and varying the instantaneous angular torque 210 according to the aerodynamic needs and mission 800 of the movable platform 650 can be achieved by the pressure fluctuations 230 and / or volume fluctuations 220 of the working fluid 320 flowing in and out of the fluid rotary actuator 200.

[0115] Referring again to the non-limiting embodiment shown in FIG. 2, complex forces such as the instantaneous angular torque 210, component forces, centrifugal forces, gyroscopic forces, etc. may act simultaneously on the blade tilting hinge mechanisms 130, 131, 132. For example, when the instantaneous torque 210 changes its value, a change may also occur in the sum of the forces acting on the blade tilting hinge angle, which is part of the hinge mechanism 130. As a result, the blade connected to the hinge mechanism 130 changes its angle of attack, thereby causing a change in the disk unloading thrust profile 525 of the thrust vectoring unit (FTVU) 100. This tilting force may act on and be added to the disk 120 during rotation. In some cases, although not limited to current technological innovations, in order to actively correct the tilting angle, the tilting hinge angle can incorporate an actuator (not shown) that is part of the hinge mechanism 130. In other cases, the tilting hinge mechanism 130 can balance itself by the total force acting on the hinge, thereby realizing a change in the blade angle of attack in real time in relation to the angular position 290.

[0116] According to the present disclosure, as shown in FIG. 3 for example, the real-time decision-making software 780 can calculate the complex tilting force of this disk 120 (700) by fusing the information from the sensors 779 that provide the 6DOF inclination, acceleration, gyroscope and / or noise and vibration acting on the main frame 110 of the thrust vectoring unit (FTVU) 100 with its geometric characteristics 101. According to some embodiments, the sensor 771 provides information regarding the output of the disk 120 in real time and measures the disk unloading profile 525 mainly by measuring the stages and thermodynamic states of the air masses 580, 585, 590, 595, such as temperature, pressure, volume flow rate, air mass and / or air entropy, air humidity / air density, etc. Additionally or alternatively, information regarding the instantaneous angular torque 210 of the actuator 200 can be obtained from the sensor 775 while the actuator disk 120 maintains a constant rotational speed (measured in RPM).

[0117] As schematically shown in FIG. 2, according to the present disclosure, two rotary actuators 201, 202 can have coupling mechanisms 130, 131, 132 with coaxial actuator disks 120, 121, 122 within a single thrust vectoring unit (FTVU) 100. For example, a single rotary actuator 202 is a hollow shaft 132 fluid motor 200 and is connected to a tilting hinge rotor 132 without a swash plate that rotates clockwise 291. The second coaxial actuator disk 121 in this example is connected to a second tilting hinge rotor 131 driven by a second rotary actuator 201. Thus, both disks 121, 122 can share a single axis of rotation 195 and the same disk loading region 520, together with both shafts 131, 132 and actuators 201, 202.

[0118] In some embodiments of the present invention, the actuator disk 120 is driven and powered by a fluid rotary actuator 200. The fluid rotary actuator 200 can adjust its maximum torque at any desired rotational speed 190, and at the same time, can alternately switch its instantaneous angular torque 210 in real time. Thus, the actuator disk 120 can correspond to almost any suitable geometric rotor solidity ratio. Similarly, since the fluid rotary actuator 200 can provide any instantaneous torque 210 at any desired instantaneous rotational speed 295 and / or overall rotational speed 190, the actuator disk 120 can be designed with a rotor hub to blade ratio according to the application 800.

[0119] For example, according to the present disclosure, the mobile platform 650 can be designed, in some cases, in the form of an air cushion vehicle (ACV), a hovercraft and / or a vertical takeoff and landing vehicle, a short takeoff and landing vehicle. The mobile platform 650 can have a thrust vectoring unit (FTVU) 100 provided with an actuator disk 120 as a centrifugal blade for applying inflation pressure within the main frame 615 and / or within its inflated skirt to the mobile platform 650. One or more additional vectoring units (FTVUs) 100 attached on the mobile platform 650 can have an actuator disk 120 with a high rotor solidity (exceeding 0.8) to provide an air cushion mass flow and / or a vertical lift thrust vector 170 to the mobile platform 650. Similarly, one or more additional vectoring control units (FTVUs) 100 can provide an actuator disk 120 with a low rotor solidity ratio (e.g., 0.1) to the mobile platform 650. This vectoring unit (FTVU) 100 with a low rotor solidity ratio can provide the thrust surge and sway forces 170 of the mobile platform 650 to the mobile platform 650.

[0120] Alternatively, in a configuration where the mobile platform 650 has only a two or more tandem rotor configuration, one vectoring unit (FTVU) 100 can rotate clockwise, together with an actuator disk 120 having a large disk loading area 520 and a rotor solidity ratio of, for example, 0.1. The second tandem vectoring unit (FTVU) 100 can rotate counterclockwise and can have an actuator disk 120 with a smaller disk loading area 520 but a rotor solidity ratio greater than, for example, 0.6. This tandem rotor configuration enables an odd number of tandem vectoring units (FTVUs) 100 to be attached to a single mobile platform 650.

[0121] In some embodiments of the present disclosure, as shown in FIG. 3, the actuator disk 120 is driven by the fluid rotary actuator 200 and receives power supply. The fluid rotary actuator 200 has one or more inlet ports 250 and one or more outlet ports 260 that connect to a network of pipes 330 that is part of the power train 300. The power train 300 can operate in an open-loop configuration when the working fluid 320 is a compressible fluid such as gas and / or air. Alternatively, in an open-loop configuration, the outlet port 260 of the rotary actuator 200 can be used as a gas exhaust port, vent, throttle, and / or any pressure or flow resistor.

[0122] In some embodiments, when the working fluid 320 is an incompressible fluid such as oil, the power train 300 can operate in a closed-loop configuration. In a closed-loop configuration, the outlet port 260 of the rotary actuator 200 connects to a return network 330 of low-pressure pipes that is part of the power train 300.

[0123] In some cases, although not limited to current technological innovations, the fluid valve device 720 is an integrated electromechanical element of the fluid rotary actuator 200 and / or the power train 300 that is part of the piping network 330, and / or an integrated element of the power unit 400 that is part of the fluid pump mechanism 440. The electromechanical fluid valve device 720 can control, restrict, release, switch, and / or valve the working fluids 320, 401, 405, 409 flowing into the inlet port 250 of the rotary actuator 200. Similarly, the fluid valve device 720 can function in the same way for the working fluids 320, 401, 405, 409 flowing out of the outlet port 260.

[0124] In some embodiments, a combination of electromechanical fluid valve devices 720 can be disposed before the working fluids 320, 401, 405, 409 enter the rotary actuator 200 and / or after the working fluids 320, 401, 405, 409 exit the rotary actuator 200, whereby the computer system 700 can manage and control, by software 780, the physical operation of the rotary actuator 200, such as braking and / or instantaneous direction change of the rotation of the disk 200, and / or freewheeling. Further, the fluid valve device 720 physically controls and manages the molecular weight and / or volume 220 and / or pressure 230 and / or fluid entropy of the fluids 213, 212, 211 passing through the actuator 200, as shown as regions 213, region 212, and region 211 in FIG. 4, or as shown as the integral of the 210 curve.

[0125] In some embodiments, a combination of one or more fluid-driven thrust vectoring units (FTVUs) 100 is attached to a single movable platform 650. In this example, each thrust vectoring unit (FTVU) 100 can produce a total output density of 0.3 kg / kW when the weight of the thrust unit 100 is between 0.05 kg and 500 kg. This class of fluid-driven thrust vectoring unit (FTVU) 100 includes a fluid rotary actuator 200 that operates with a compressible fluid, such as air, which is part of the thrust vectoring system (TVU) 100. The air-driven thrust vectoring unit (FTVU) 100 can be used in volatile environments where the use of an electric motor is not permitted or not suitable. Similarly, the air-driven thrust vectoring unit (FTVU) 100 can provide a torque rating of approximately 1 N·m to the actuator disk 120 for a thrust vectoring unit (FTVU) 100 of less than 1 kg and a maximum torque rating of 1 kN·m for a thrust unit 100 weight of more than 1 kg.

[0126] Additionally or alternatively, in some embodiments, a combination of one or more fluid-driven thrust vectoring units (FTVUs) 100 are attached to a single movable platform 650. Each thrust vectoring unit (FTVU) 100 can provide a total output density of 0.05 kg / kW when the weight of the thrust unit 100 is between 1 kg and 5,000 kg. This class of fluid-driven thrust vectoring unit (FTVU) 100 includes a fluid rotary actuator 200 that operates with an incompressible fluid 320 such as hydraulic fluid. The hydraulic-driven thrust vectoring unit (FTVU) 100 can have an output power density reaching 1.5 MW / kg·s, while a hydraulic-driven propulsion unit 100 with a weight of about 1000 kg can reach an output power of up to 1 MW / s. For example, a movable platform 650 equipped with one or more hydraulic-driven thrust (FTVUs) 100 can have a total weight of less than 8 tons, while the movable platform 650 can, for example, be 50 kg / m 2 lift a payload of up to 30 tons in the following disk unloading area 520.

[0127] Additionally or alternatively, the fluid thrust vectoring unit (FTVU) 100 introduced herein has a polar moment of inertia 190 that is one-tenth as small as that of an existing engine shaft cupola / direct thrust vectoring system (STVS) 804 and / or an electric thrust vectoring system (ETVS) 801 having similar mechanical energy, torque, angular momentum, and the same total disk loading area. For example, the movable platform 650 can include a plurality of attached thrust vectoring units (FTVUs) 100, includes the power plant 400 and the power train 300, and has a total dry weight of, for example, 100 kg. This setup of the movable platform 650 can generate up to 500 kgf with little or no polar moment of inertia 190 because the rotating element within the movable platform 650 is mainly the actuator disk 120 which is part of the thrust vectoring unit (FTVU) 100. The movable platform 650 may not include a rotating mass in the shape of a shaft, or a rotating mass in the shape of an electric coil and / or a magnet. According to the present disclosure, the movable platform 650 with a low polar moment of inertia 190 can be maneuvered and accelerated without resistance to angular displacement of forces such as gyro, centrifugal force, and internal torque / torsion.

[0128] In some embodiments of the present disclosure, the fluid rotary actuator 200 is powered by the working fluid 320 obtained from the fluid power train 300 by the network of pipes 330. The working fluid 320 may be a compressible fluid such as, for example, air gas. By these types of working compressible fluids 320, the fluid rotary actuator 200, which is part of the thrust deflection unit 100, can have a mechanical configuration of an air motor such as a rotary vane, axial piston, radial piston, gerotor, turbine, V-type, and diaphragm motor. Similarly, when the useful mechanical work 460 from the engine 430 drives those air pumps 440, the mechanical configuration of those air motors can be used as gas pumps and / or compressors 440. Thus, the gas pumps and / or compressors 440, which are part of the power unit 400, can supply the active working fluids 401, 409 to the power train 300 network of pipes 330 in terms of mass flow rate and pressure.

[0129] In some embodiments, the working fluid 320 of the fluid rotary actuator 200 may be an incompressible fluid such as hydraulic oil. Thus, according to a broad aspect of the present invention, the fluid rotary actuator 200, which is part of the hydraulically driven thrust deflection unit (FTVU) 100, can include a hydraulic and / or hydrostatic and / or incompressible fluid motor configuration, such as, for example, a gear motor, vane motor, piston motor, radial piston, axial piston motor, angled shaft motor, low-speed hydraulic motor, outer cam motor, inner eccentric cam motor, two flow direction motor, and / or low-end orbital motor. In some cases, although not limited to current technological innovations, this incompressible fluid motor configuration can be used as a working fluid pump 440, which obtains its useful mechanical work 450 from an attached engine and / or power unit 430 and / or from self-generated active working fluid units 670, 680, 690 that are remote parts of the movable platform 650.

[0130] According to the present disclosure, the mechanical configuration of the pump 440 and / or the operating principle of the energized working fluid 401 can include pump setups such as on positive displacement pumps, centrifugal pumps, axial pumps, radial pumps, positive displacement pumps, reciprocating pumps, rotary pumps, gear pumps, external gear pumps, lobe pumps, internal gear pumps, gerotor pumps, cam pumps, screw pumps, vane pumps, piston pumps, axial piston pumps, radial piston pumps, reciprocating pumps, and the like.

[0131] According to some embodiments, as shown in FIG. 5A, by disposing a nozzle configuration 550 at the outlet 160 of the thrust vectoring unit (FTVU) 100, additional control of the propulsive force 170 exiting the thrust vectoring unit (FTVU) 100 can be provided. In some embodiments, the nozzle configuration 550 of the thrust vectoring unit (FTVU) 100 can dynamically and in real time change the characteristics and / or entropy of the air mass 590 entering the nozzle mechanism 550. The nozzle 550 can transfer the fluid characteristics of the incoming air mass flow 590 in terms of temperature and / or pressure and / or mass and / or velocity and / or acceleration and / or fluid energy and / or entropy of the passing air mass. This conversion can be performed by changing the nozzle exhaust area 553, and / or adding a combustion process 577, and / or adding a propellant 420, and / or changing the nozzle angle 551 with respect to the geometric shape 101 of the thrust vectoring unit (FTVU) 100. Also, these processes are also known as nozzle control by geometric area ratio, effective area ratio, and / or differential area ratio.

[0132] Accordingly, according to the present disclosure, while passing through the nozzle 550 configuration, additional degrees of freedom of angle 179 and amplitude 175 are introduced to the propulsive force 170. The air mass flow 580 entering the thrust vectoring unit (FTVU) 100 can flow out from the deflection unit (FTVU) outlet 160 as an accelerated air mass flow 590. Additionally or alternatively, a portion of the accelerated air mass flow 590 exits the deflection unit (FTVU) 100, and a portion enters the nozzle mechanisms 550, 551, 553 and then leaves, exits, or is discharged from the deflection unit (FTVU). Similarly, a portion of the air mass flow 580 flowing into the deflection unit (FTVU) 100 can directly pass through the built-in channel 185 passing through the nozzle mechanism 550 and be discharged from the deflection unit (FTVU) 100 as an accelerated air mass flow 595 passing through the nozzle outlet 553.

[0133] Accordingly, the computer system 700 of the thrust vectoring unit (FTVU) 100 and / or the movable platform 650 can control the thrust vector 170 of the thrust vectoring unit (FTVU) 100 by actively managing the function of the nozzle 550. In some cases, although not limited to current technological innovations, the nozzle mechanisms 550, 551, 553 and methods can include axisymmetric, convergent-divergent nozzles (C-D), convergent nozzles, effective deflection angle nozzles, fixed nozzles, fluid thrust vectoring nozzles, geometric deflection angle nozzles, three-axis bearing swivel duct nozzles (3BSD), three-dimensional (3-D) and two-dimensional (2-D) deflection nozzles, thrust vectoring (TV) nozzles, thrust vectoring flight control (TVFC) nozzles, two-dimensional convergent-divergent (2-D C-D) nozzles.

[0134] The movable platform 650 can include a fluid power train 300 that is physically connected using a group of pipes 330 between the power unit 400 and the thrust deflection system (FTVU) 100. In some embodiments, one or more thrust deflection systems 100 can be connected to one or more power units 400 using long, flexible, and lightweight groups of pipes 330, 640. In other embodiments, the piping networks 330, 640 of the fluid power train 300 are in the rigid portions of the main frame 610 of the movable platform, and / or the rigid portions of the main frame 410 of the power unit, and / or the rigid portions of the main frame 110 of the thrust deflection system (FTVU) 100.

[0135] According to the present disclosure, the fluid power train 300 transfers the active working fluid 401 generated by the power unit 400 and / or another self-actuating deflection system (FTVU) 100 and / or the stored fluid energy 325 to another thrust vertical system 100. For this reason, the active working fluid 401 can flow into the fluid rotary actuator 200, which is part of the thrust deflection system 100, from the fluid power train 300. The fluid rotary actuator 200 converts the fluid energy 401 into kinetic energy as useful mechanical work on the actuator disk 120. After performing the work, the working fluid 409 exits the fluid rotary actuator 200 through the outlet port 220 and returns to the power train 300 via the network of pipes 330.

[0136] The term "fluid power train" 300 includes, but is not limited to, fluid power devices, the hydrodynamic network of pipes 330, fluid connectors, fluid accessories (e.g., hydrostatic transmissions, pneumatic components and / or hydraulic elements). According to the present disclosure, the fluid power train 300 can include one or more accumulators 325, control valves 720, filter regulators, lubrication devices and / or silencers and / or fluid sensors and / or embedded fluid electronics hardware connected in parallel and / or in series. Similarly, the electromechanical valve control device 720 can include accessories of the power train 300, elements such as electro-hydraulic controls and solenoids, and provides a port A, a port B, a sink, a pilot link 705, a common 715, a power electronics cable 740, and a power input / output section to the rotary actuator 200.

[0137] Accordingly, according to the present disclosure, the power train 300 includes a hydrostatic or hydrodynamic hydraulic power train and / or a pneumatic power train, other gas hydrodynamics, a pilot pipe, a mechanism electrically attached to a fluid induction operating device, which includes, for example, an energy storage device, a pressurized tank, a discharge tank or sink, lubricating gears and a cooling / heat recovery device, a heat pump and / or a cooling unit and a fluid. According to some embodiments, the working fluid 320 can act as a cooling fluid, and heat exchange ribs 370 are shown, for example, in FIG. 3. In other cases, a heat pump setup is included in the power train subsystem 300 and it is possible to use the fluid energy 401 for cooling purposes.

[0138] In some embodiments of the present disclosure, a fluid power train 300 is connected to one or more fluid rotary actuators 200, and at the same time, the fluid power train 300 is also connected to one or more power units 400. The term "power unit" can include, but is not limited to, an energy source 420 that supplies electrical energy 450 and / or fuel energy 450 to an engine / motor 430, as shown, for example, in FIG. 2. The engine / motor 430 is mechanically coupled (450) to a fluid pump / compressor 440. The power unit 400 can have one or more energy sources 420, 470 such as a battery pack 470 and / or a fuel tank 420. Similarly, the power unit 400 can have one or more engines / motors 430 mechanically coupled to one or more pumps / compressors 440. The power unit 400 can include a structural frame 410 that is part of a movable platform 650. In some embodiments, the power unit 400 includes a unique frame 410 that is not part of the main frame 610 of the movable platform.

[0139] In other configurations shown in FIG. 6B, the power unit 400 and its frame 410 can have wheels, flywheels, track wheels, railroad wheels, flanged wheels, tracks, and / or any other means for traveling on the ground and / or creating friction with an object on the ground. In some configurations 650, 670, 680, 690, the power unit 400 can include means for traveling on the ground, creating friction between the power unit 400 and the ground, and / or creating displacement in meters between the main frame 410 of the power unit 400 and the ground.

[0140] With a similar configuration in other embodiments, the power unit 400 forms part of a ship, a boat-shaped container, a boat, and / or other means for moving the power unit 400, and can float and / or propel on and under water surfaces in water areas, and can submerge within and between water areas. The water through which the power unit 400 moves can include other states / phases of water such as liquid, snow, and ice. In some embodiments of the present disclosure, the power unit 400 is fixed to the ground and / or water areas, and / or fixed to ice and snow, and / or fixed to a known movable platform.

[0141] In some embodiments of the present disclosure, as shown in FIG. 6B, the movable platform configuration 600 includes a power unit 400 configuration 680 having one or more thrust deflection systems 100 attached to the frame 410, whereby the power unit 400 can jump, hover, move, drive on the ground, fly, tilt, yaw, roll, pitch, and steer independently from the movable platform main frame 610. In some other embodiments, the power unit main frame 410 can be steered in 6DOF independently from other thrust deflection system (FTVU) 100 parts of the movable platform 650. According to some embodiments, the power unit frame 410 can be steered in 6DOF independently while sharing and connecting with other self-hovering thrust deflection systems (FTVUs) 100 (640), and can also be shared and connected by the same power train 300 network of pipes 330 and cables. Additionally or alternatively, in some embodiments, the main frame 410 of the power unit 400 can connect and share the piping network 330 of the power train and other cables 740, 715, 705, and the communication means 799, 795, 791 shown as line 640 in FIG. 6A.

[0142] In some embodiments of the present disclosure, an engine / motor 430, which is part of a power unit 400, consumes energy from energy sources 420, 470, converts this energy into useful work 460, and provides kinetic energy to a shaft 450. The engine / motor 430 transfers this useful mechanical work 460 to a fluid pump / compressor 440, which adds fluid energy to an incoming working fluid 405. For example, in some embodiments, the working fluid 320 is oil, and thus the fluid pump 440 adds hydraulic energy to the incoming working fluid 405. Similarly, if the working fluid 320 is air, the fluid pump 440 adds pneumatic energy to the incoming working fluid 405. This working fluid 401 line enters the power train subsystem 300 and then enters a fluid rotary actuator 200 that is part of a thrust vectoring unit (FTVU) 100.

[0143] In some cases, the power unit 400 includes a plurality of pumps 440, each pump being directly linked to the rotary actuator 200 by a group of pipes 330. In some embodiments, a combination of fluid pumps is used, one of which is used, for example, as a heat pump 440 coupled to the engine 430 by a shaft that releases heat accumulated by the working fluid 320 using, for example, a radiator 320, and other pumps 440 on the same power unit 400 are used to impart energy to the working fluid 320 for the purpose of driving one or more actuators 200 with the active working fluid 401.

[0144] In some embodiments, a combination of one or more fluid-driven thrust vectoring units (FTVUs) 100 attached to a single movable platform 650 forms a total disc loading configuration 500 of the movable platform 650. Each thrust vectoring unit (FTVU) 100 provides a disc loading size 520 clearly defined in square meters.

[0145] According to some embodiments, the thrust vectoring unit (FTVU) 100 can have a disk loading configuration 500 in which the payload 615 of the movable platform 650 functions as the main frame 610 of the movable platform 650. When the mission of transporting the payload 615 by the movable platform 650 is completed, the movable platform can continue its mission without the payload 615 in a modular manner. In some embodiments, the modular movable platform 650 can be detached from its main frames 110, 410, 610 during landing, lifting, transporting, hovering, and / or mission execution. This separation mode of the movable platform while hovering and maneuvering in the air allows for connecting elements of the power train 300 such as the pipe 330 and / or a part of the computer system 700 such as the communication 705, power electronics 715, and / or the electrical grid 740 cables between the separated part and the modular part of the movable platform 650. According to this example, for instance, the assembled configuration of the modular movable platform 650 while lifting and hovering a payload of 30 tons has a disk loading exceeding 6 kg / kW and a disk loading of 50 kg / m 2 and can have a disk loading configuration 500. According to this example, in the case of the detached modular movable platform 650 without the payload 615, the movable platform 650 can have a higher hovering efficiency, for example, less than 3 kg / kW, with a disk loading of less than 20 kg / m 2 2.

[0146] According to some embodiments, the movable platform 650 without the payload 615 has a total weight to disk loading area of the movable platform 650 of 0.1 kg / m 2The flexible disk loading reaching 520 area can achieve high hovering vertical lift efficiency. Additionally or alternatively, a combination of one or more fluid-driven thrust vectoring units (FTVUs) 100 can be used as a human-powered helicopter. According to this example, the human-powered movable platform can be equipped with a power plant 400 that can generate power at a maximum of 7 - 4 W / kg, for example, with a vertical lift efficiency of 512 kg / kW and a disk loading of 0.1 kg / m 2 and can produce a disk loading of 2 .

[0147] Similarly, an efficient maneuvering platform 650 driven by a fuel engine 430 with a total weight of about 200 kg can be equipped with one or more thrust vectoring units (FTVUs) 100. According to this example, assuming that the power plant 400 reaches a maximum of 0.5 kg / kW and includes a fuel tank, the fuel-driven movable platform can provide only 1 kg / kW to the movable platform 650 while maintaining a disk loading of less than 15 kg / m 2 2 .

[0148] In some embodiments of the present disclosure, the actuator disk 120 and the fluid rotary actuator 200, which are part of the fluid thrust vectoring unit (FTVU) 100, house and / or mount and / or wire / embed an internal computer system 700. The real-time clock 707 can include an interrupt handler function 777, in this case a timer interrupt handler 777, and perform the periodic work described above on the electromechanical valve 720 by means of the PWM method 711 with power fluctuations 713 and / or perform the positioning of servo control 719 with power fluctuations 717. In some cases, the signals 711, 719 for driving the electromechanical valve device 720 are represented as digital signals 711 and / or analog signals 719 that control and manage the working fluid 730 flowing into (730), passing through (320) and / or flowing out of (735) the valve device 720. In some cases, the signals 711, 719 can be synchronized by the timeline 777 and act on the valve device 720 together simultaneously. In other embodiments, the signals 711, 719 can act independently and / or be synchronized by the timeline 777 and act alternately between the two signals 711, 719.

[0149] In some embodiments shown in FIGS. 2 and 3, power electronics pulses (volts / amps) and / or signals 711, 719 and / or average power (watts) 711, 719 are exchanged between the power electronics and the control connection 715 and the fluid valve device 720. When the signals 711, 719 reach the fluid valve device 720, the device converts the direct current (DC) and / or alternating current (AC) and / or instantaneous power (W) and / or instantaneous electrical energy (W / second) 711, 719 and / or the pulse width modulation (PWM) or pulse duration modulation (PDM) of the electrical signals 711, 719 into mechanical motion that functions as a valve mechanism acting on the fluid flowing into (730) and out of (735) the valve device 720.

[0150] For example, as shown in FIG. 4, the valve device 720 portion of the actuator 200 body can include one or more solenoids and / or servo motors and / or a combination of both. The computer system 700 can transmit power electronics signals 711 and / or 711 from the power electronics board 710 to the valve device 720. As a result, the electromechanical valve device 720 can provide the instantaneous torque 210 and / or the fluid power 213, 212, 211 that acts on the internal mechanism of the actuator 200 to provide useful work to the actuator disk 120 and / or provide the rotational actuator 200 with fluid power. For this reason, the instantaneous torque 210 controls and manages the angular motion and position 290, 295, 299 of the actuator 200. This control method can be repeatedly and synchronously executed by the runtime 777.

[0151] In some embodiments of the present disclosure, each movable platform comprises one or more thrust vectoring units (FTVUs) 100. Each thrust vectoring unit (FTVU) 100 can include an embedded independent computer system 700 having a clock 707 and real-time software 780, and / or one or more real-time thrust control units 700 for each single movable platform 650. In other embodiments, a single computer system 700 is connected to a plurality of power electronics boards 710, each of which is connected to a single thrust vectoring unit (FTVU) 100 that is part of a single platform 650 for real-time management. Similarly, each thrust vectoring unit (FTVU) 100 can have only one or more power electronics boards 710 attached / connected to a remote computer system 700 and / or a remote server cloud 791.

[0152] Computer system 700 includes a power electronics controller board 710 and can include a fluid valve device 720. Each of the controller 710 and the device 720 may be part of the computer and control system 700 and / or may be connected to the computer system 700 by digital and analog transmission and reception of voltage / power and / or electromagnetic signals and / or optical signals. The connections between the internal elements of the computer 700 system 780, 710, 720 can be made via cable means such as wireless RF and / or wireless free optical elements and / or optical fibers and / or metal wires.

[0153] In some embodiments of the present disclosure, the movable platform 650 can include one or more fluid thrust vectoring units (FTVUs) 100 and one or more additional electric thrust vectoring systems (ETVSs) 801 powered by an electrical grid 740. The electrical grid 740 is part of the computer system 700 and is managed by the thrust control system software 780. A power electronics controller 710, which is part of the computer unit 700, can drive, manage, and control the fluid thrust vectoring unit (FTVU) 100 and / or the thrust system (ETVS) 801 attached to the movable platform 650.

[0154] In some embodiments of the present disclosure, the movable platform 650 can include one or more fluid thrust vectoring units 100 and one or more additional electric thrust vectoring systems (ETVSs) 801. In some cases, during the mission 800 of the movable platform 650, the electric thrust vectoring system (ETVS) 801 can be automatically activated by the forced air mass flow 580 entering the electric thrust vectoring system (ETVS) 801 and generate power by itself. The power generated by the thrust system (ETVS) 801 may be attenuated within the electrical grid 740 and stored in the battery unit 470 portion of the power plant 400.

[0155] In other cases, one or more computer units / systems 700 can generate power using a fluid generator, and the self-generated power may be used by a power electronics board 710. For example, as shown in FIG. 3, a fluid generator 745 is attached to the actuator 200. This generator 745 can be part of the power unit 400 and / or connected in series with the fluid power train 300 and / or can be part of the fluid-driven thrust vectoring unit (FTVU) 100.

[0156] Additionally or alternatively, a mechanical generator 745 can be attached to the main frame 110 of the fluid thrust vectoring unit (FTVU) 100 and can self-generate power in units of joules, watts, and / or kWh. The mechanical generator 745 can generate its power from the mechanical motion of the fluid rotary actuator 200 and / or the air mass flow 580, 585, 590, 595 passing through the active working fluid 401 and / or the thrust vectoring control unit (FTVU) 100.

[0157] Therefore, according to the present disclosure, the computer system 700 is composed of a thrust controller software 780, a power electronics system 710, and a fluid valve device 720. Thus, the computer system 700 is also connected to a set of sensors, among which sensors 760, 765 measure the performance of the valve device 720 and / or the working fluid 320 flowing in and out of the valve device 720. Similarly, sensors 771, 775, 779 detect and measure the performance of the thrust vectoring control unit (FTVU) 100 by calculating and computing the size 175 and angle 179 of the thrust vector 170 using the air mass physical data 580, 585, 590, 595 to provide information and / or by measuring the total entropy of the working fluid 320 flowing in and out of the actuator 200 and / or by measuring the motion of the thrust vectoring unit (FTVU) 100.

[0158] Alternatively, as shown schematically in Figure 3, sets of sensors 781, 785, 789 can measure the movement and position for navigation purposes of the thrust vectoring unit (FTVU) 100 and / or can measure 6DOF information for application purposes 800. Additionally or alternatively, the remote sensor 799 can provide measurable information about the remote position and / or the space around the movable platform 650 and / or the application 800 and / or the thrust vectoring unit (FTVU) 100 and / or measurable information about the air mass around and / or remote from the thrust vectoring unit (FTVU) 100.

[0159] The real-time software 780 and computer hardware 700 can include various layers of software and hardware attached to the movable platform 650 and / or the fluid thrust vectoring unit (FTVU) 100. The software 780 can operate under a high-speed real-time clock (RTC) 707 with a closed-loop algorithm and / or an open-loop algorithm. For this purpose, the real-time clock 707, which is part of the computer system 700, provides the instantaneous torque 210 generated by the rotary actuator 200 together with the timing 777 at a high sampling rate of 10k samples per second while the rotational speed 190 of the actuator 200 is, for example, less than 10k RPM. In some cases, the computer hardware 700 attached to the actuator 200 can use a timing means such as a temperature-controlled crystal oscillator, an optical oscillator, and / or a radioactive oscillator to tick at a speed of 100 kHz up to a maximum of 10'0 GHz (707).

[0160] Accordingly, according to the present disclosure, computer software 780 (programming and algorithms) is part of computer system 700 and can receive physical data from movable platform 650 and / or fluid thrust vectoring unit (FTVU) 100 by means of attached sensors and / or by remote sensor 799 using remote communication means 795 and / or internal and external communication and power cables 705, 715. This may include radio frequency (RF) communication between components, elements, and layers of computer system 700 of movable platform 650 and / or thrust vectoring unit (FTVU) 100.

[0161] In some embodiments of the present disclosure, the computer system 700 operates in a cloud computing mode 791 and can utilize computer power, storage, and resources on demand by a computer functionally connected to distributed sensors 760, 765, 771, 775, 779, 781, 785, 789 and / or distributed power electronics substrates 710 and / or distributed fluid valve devices 720 and / or distributed remote components 791, 795, 799, etc. across multiple locations (e.g., data centers, servers, embedded hardware, and / or self - managed computer units 700 of any size, type, and shape). This distributed cloud computing network 700 provides one or more mobile platforms 650 and / or one or more fluid - driven thrust vectoring units (FTVUs) 100 and can operate and function in real - time in a group configuration while performing a group of missions 800 across time, space, and inherent geometric configurations. For example, the computer system 700 on the mobile platform 650 can use remote information from 799, 795, 791 to operate and manage one or more fluid - deflecting thrust units 100 in the cloud - distributed mode 791. Similarly, multiple mobile platforms 650 can execute a group of missions 800, and each computer system 700 on each mobile platform communicates (795) with and operates with any thrust vectoring unit (FTVU) 100 that is part of the group of mobile platforms 650.

[0162] In some embodiments, as shown in FIG. 6B, one or more pumps / compressors 440 (441, 442, 443) are connected to the engine / motor 430. Optionally, although not limited to current technological innovations, the pump / compressor 440 can include a variable displacement pump 440 that is controlled by the valve device 720 and / or directly controlled by the computer 700 power electronics board 710. Each pump 441, 442, 443 can communicate with the electronic board 720 using signals 711, 719 and fluid information in a manner similar to the way the valve device 720 operates. Optionally, the servo solenoid control mechanism within the mechanical setup of the pump 440 includes a swash plate and / or an internal electromechanical actuator controlled by signals 719, 711, thereby managing the working fluid 320 entering and exiting the pump 440.

[0163] Referring again to the non-limiting embodiment shown in FIG. 6A, one or more pumps 441, 442, 443 can be connected directly and / or in parallel and / or in series to one or more rotary actuators 200 by a network of fluid pipes 330 and other cables 740, 715, 705 and communication means 799, 795, 791 as shown by line 640 in FIG. 6A. Thus, each pump 441, 442, 443 can power any combination of one or more thrust vectoring units (FTVUs) 100 and / or a movable platform 650 and / or any platform configuration 600. For example, computer system 700 can generate a plurality of control signals 719, 711 by its real-time software 780, and / or computer system 700 can generate different signals 711, 719, in which case, for each pump 441, 442, 443, signals are generated in an independent manner. Those signals 719, 711 can change the swashplate angle and / or displacement volume and / or pressure of pump 440 while useful mechanical work 460 is being performed on pump 440 by engine / motor 430. This makes it possible to connect each pump 441, 442, 443 independently to rotary actuator 200 and / or an array of actuators 200. This platform configuration 600 can power each thrust vectoring unit (FTVU) 100 only by changing the displacement of each pump 440 by the real-time software 780 of computer system 700.

[0164] Referring again to the non-limiting embodiments shown in FIG. 6B, in some platform configurations 670, 680, 690, the active working fluid 320 can be generated by the internal pump 440 and / or by an unknown method 680 of generating the active working fluid 320 that is part of the remote platform configurations 670, 680, 690. In some cases, the platform configuration 690 can provide useful mechanical work 460 only to one or more movable platforms 650 and / or one or more thrust vectoring units (FTVUs) 100 by operating one or more pumps 440.

[0165] In other cases, as shown in FIG. 6B, the platform configuration 680 can include an unknown power plant 400 and a power train 640 connected to one or more rotary actuators 200 that are attached to and / or manage an associated robotic application 800 along with the wings 630 and / or control surfaces 620.

[0166] The term "platform application" 800 can include, but is not limited to, physical useful work on and / or physical interaction with an object 820. The object 820 can be in the form of mass and / or can have force and / or can have momentum and / or can have a center of gravity and / or a cross-sectional moment of inertia and / or a moment of inertia. In some applications 800, the object 820 can be a mass with blackbody radiation and / or an object 820 that emits radiation and / or an object 820 that absorbs radiation. Additionally or alternatively, the thrust vectoring unit (FTVU) 100 is directly attached to the object 820, or in other cases, the thrust vectoring unit (FTVU) 100 is located at a position remote from the object 820.

[0167] In some embodiments of the present invention, the platform configurations 100, 650, 670, 680, 690, 600 can include a payload 615 and / or an application payload 820 and / or a power tool 815 and a robotic device 815. Each platform configuration 100, 650, 670, 680, 690, 600, and / or any combination between those platform configurations can provide a specific application 800 powered by one or more thrust vectoring units (FTVUs) 100.

[0168] In some cases, the application 800 can provide torque and / or extreme friction between 815 and 820, and in other cases, the application 800 can provide friction and / or any type of force and / or momentum between 815 and 820. Additionally or alternatively, the application 800 can provide communication means and / or vision means between 815 and 820. The application 800 can provide a thermodynamic environment between 815 and 820 by changing the temperature, fluid entropy and / or volume and pressure between 815 and 820. For this reason, the platform configuration can sustain other methods of stabilization and / or control systems to achieve the interaction between 815 and 820 and / or between 650 and 615.

[0169] In some embodiments of the present disclosure, the sensors and devices of the platform configurations 100, 600, 650, 670, 680, 690 can include optical sensors, camera systems, image sensors, vision machines and / or remote sensing sensors, including high-speed parallel computer hardware 700 such as FPGA, GPU, ARM and / or embedded hardware. The application 800 can include a robotic arm, cargo loading as a payload and / or passenger transportation.

Claims

1. A propulsion assembly configured to be mounted on an aircraft platform to generate thrust, One or more fluid-based rotary actuators having fluid communication with a source of active working fluid, comprising one or more fluid-based rotary actuators that receive active working fluid to drive one or more fluid-based rotary actuators, One or more actuator disk devices, each of the one or more actuator disk devices comprising a plurality of blades rotatable by the one or more fluid-based rotary actuators, each of the one or more actuator disk devices connected by a rotor shaft to a corresponding one or more fluid-based rotary actuator, wherein the rotation of the one or more actuator disk devices results in a mass flow of air through the one or more actuator disk devices and causes acceleration or steering of the aircraft platform, A valve mechanism is arranged along a flow path between the source of the active working fluid and the one or more fluid-based rotary actuators, An angular position sensor configured to detect the angular position of the rotor shaft and generate angular position data based on that, The system comprises at least one processing circuit and one or more memories connected to the at least one processing circuit, which store programming instructions executed by the at least one processing circuit to control the valve mechanism to provide a selected rotation profile for the one or more actuator disk devices based on angular position data of the rotor shaft. A propulsion assembly characterized in that the selected rotational profile of the one or more actuator disk devices includes changing the angular acceleration during a single rotation or a selected number of rotations while maintaining a selected rotational speed (RPM) during the single rotation or a selected number of rotations, thereby accelerating the blade during a portion of the single rotation or the selected number of rotations, decelerating the blade during a portion of the single rotation or the selected number of rotations, and the total time of the single rotation or the selected number of rotations corresponds to a predetermined desired RPM.

2. In the propulsion assembly according to claim 1, A propulsion assembly characterized in that the plurality of blades are connected to their respective rotors by hinges, and the angle of attack of the plurality of blades is determined by the force acting on the hinges.

3. In the propulsion assembly according to claim 1, A propulsion assembly characterized in that the processing circuit is configured to control the valve mechanism to provide at least one of the following: (i) a selected flow rate of the active working fluid directed toward one or more fluid-based rotary actuators, (ii) a selected fluid pressure, and (iii) a selected temperature of the active working fluid located within or supplied to the one or more fluid-based rotary actuators.

4. In the propulsion assembly according to any one of claims 1 to 3, The propulsion assembly is characterized in that the processing circuit is configured to perform at least one of the following: directly or indirectly control the supply source of the active working fluid to affect the fluid pressure output therefrom, and control the rotational speed of the blades and the angle of attack of each blade.

5. In the propulsion assembly according to any one of claims 1 to 3, A propulsion assembly characterized in that the active working fluid is a liquid, and the one or more fluid-based rotary actuators are hydraulic motors.

6. In the propulsion assembly according to claim 5, A propulsion assembly characterized in that the liquid flows in a closed-loop flow.

7. In the propulsion assembly according to any one of claims 1 to 3, A propulsion assembly characterized in that the active working fluid is a gas, and the one or more fluid-based rotary actuators are pneumatic motors.

8. In the propulsion assembly according to claim 7, A propulsion assembly characterized in that the gas is air, and the one or more fluid-based rotary actuators operate based on the open-loop flow of the gas.

9. In the propulsion assembly according to any one of claims 1 to 3, A propulsion assembly characterized in that the processing circuit is configured to independently control the rotational speed of the blades and the angle of attack of each blade.

10. In the propulsion assembly according to any one of claims 1 to 3, A propulsion assembly comprising a tilt sensor that detects the tilt of an aircraft platform and generates tilt data therefrom, wherein the processing circuit is configured to control the valve mechanism based on the tilt data.

11. In the propulsion assembly according to any one of claims 1 to 3, A propulsion assembly characterized in that the processing circuit is configured to control the valve mechanism by pulse width modulation technology.

12. In the propulsion assembly according to any one of claims 1 to 3, The propulsion assembly is characterized in that the processing circuit is configured to control the valve mechanism to enable controlled steering of the aircraft vehicle with at least six degrees of freedom.

13. In the propulsion assembly according to any one of claims 1 to 3, A propulsion assembly characterized in that the active fluid source includes at least two sub-sources of active working fluid, each configured to supply the active working fluid at a different pressure so as to be able to supply fluid to the one or more fluid-based rotary actuators within a fluid pressure range.

14. In the propulsion assembly according to any one of claims 1 to 3, A propulsion assembly characterized in that the source of the active working fluid includes one or more liquid pumps.

15. In the propulsion assembly according to any one of claims 1 to 3, A propulsion assembly characterized in that the source of the active working fluid includes one or more compressors.

16. In the propulsion assembly according to any one of claims 1 to 3, A propulsion assembly characterized by being in fluid communication with the source of the active working fluid and comprising a cooling device for cooling the active working fluid.

17. In the propulsion assembly according to any one of claims 1 to 3, A propulsion assembly characterized by comprising a power source for supplying power to the source of the active working fluid.

18. In the propulsion assembly according to any one of claims 1 to 3, The propulsion assembly is characterized in that the processing circuit is configured to control the mechanical operation of the one or more actuator disk devices by controlling the valve mechanism to control the angular position, velocity, and acceleration of the one or more fluid-based rotary actuators, or at least the shafts rotatable by the one or more fluid-based rotary actuators.

19. In the propulsion assembly according to any one of claims 1 to 3, Each of the one or more fluid-based rotary actuators includes a rotatable motor shaft coupled to each actuator disk device within the one or more actuator disk devices to enable the rotation of its respective rotor, The propulsion assembly further includes a motor shaft angle position sensor configured to detect the angular position of the motor shaft and generate motor angular position data based thereon, The propulsion assembly is characterized in that the processing circuit is configured to control the rotation profile of the motor shaft based on the motor angular position data.

20. In the propulsion assembly according to any one of claims 1 to 3, A propulsion assembly characterized in that one or more fluid-based rotary actuators are operable to generate an air mass flow through the propulsion assembly in two opposite directions.

21. In the propulsion assembly according to claim 20, The propulsion assembly is characterized in that the processing circuit is configured to control the valve mechanism to controlly generate an air mass flow passing through the propulsion assembly in two opposite directions.

22. In the propulsion assembly according to any one of claims 1 to 3, A propulsion assembly characterized by including a combustion component configured to heat the air mass flowing from the one or more actuator disk devices to further accelerate the air mass flow.

23. In the propulsion assembly according to claim 22, A propulsion assembly characterized in that the combustion component includes a nozzle, and an air mass flow is heated and accelerated within the nozzle.

24. In the propulsion assembly according to any one of claims 1 to 3, A propulsion assembly characterized in that the aforementioned aircraft platform is an autonomous aircraft platform.

25. In the propulsion assembly according to any one of claims 1 to 3, A propulsion assembly characterized in that the propulsion force of the propulsion assembly includes a disk loading profile controlled by the characteristics of at least one of the one or more actuator disk devices, namely instantaneous torque, instantaneous angular torque, alternating instantaneous angular torque, instantaneous rotational speed, overall rotational speed, or any combination thereof.

26. In the propulsion assembly according to any one of claims 1 to 3, The propulsion assembly is characterized in that it is configured to generate automatic rotational energy in response to the automatic rotation of the one or more fluid-based rotary actuators.

27. In the propulsion assembly according to claim 26, A propulsion assembly characterized in that the automatic rotational energy is used directly to drive the one or more fluid-based rotary actuators or stored in an energy storage device of the propulsion assembly.

28. In the propulsion assembly according to any one of claims 1 to 3, The propulsion assembly is characterized in that the one or more actuator disk devices include one or more tandem actuator disk devices, each having a pair of members of a coaxial actuator disk device.

29. In the propulsion assembly according to claim 28, A propulsion assembly characterized by including an odd number of the one or more tandem actuator disk devices.

30. In the propulsion assembly according to claim 28, A propulsion assembly characterized in that each member of the pair of coaxial actuator disk devices is configured to rotate in the opposite direction to the other member.

31. In the propulsion assembly according to any one of claims 1 to 3, A propulsion assembly characterized by including a source of the active working fluid.

32. It is an aviation platform, A propulsion assembly according to any one of claims 1 to 3, An aerial platform comprising a platform mission and application utilities configured to perform a desired operation while the aerial platform is in the air.

33. In the aircraft platform according to claim 32, An aerospace platform characterized in that the platform mission and application utilities are driven by an active working fluid supplied from an active working fluid source.

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