WO2017068325A1

WO2017068325A1 - An unmanned vehicle for transporting a payload

Info

Publication number: WO2017068325A1
Application number: PCT/GB2016/053145
Authority: WO
Inventors: Kirill Yankovskiy
Original assignee: Kirill Yankovskiy
Priority date: 2015-10-20
Filing date: 2016-10-10
Publication date: 2017-04-27
Also published as: GB2543523A; GB2543523B; GB201518550D0

Abstract

A vehicle (10), for transporting a payload (100), and which comprises propulsion means (15) operable to move the vehicle (10) in a horizontal direction; a terrain engaging portion (50); and a support leg (40) with an upper end (41) pivotally attached to the propulsion means (15) and a lower end (42) attached to the terrain engaging portion (50). The support leg (40) further comprises a payload carrying means (62). The propulsion means (15) comprises an unmanned aircraft (20) with at least one rotor (30) and is operable to propel the vehicle (10) in a substantially horizontal direction with the support leg (40) in a substantially vertical position and the terrain engaging portion 50 in contact with and travelling along the terrain. During operation of the vehicle (10), the support leg (40) provides a balance point and supports the majority of the weight of the vehicle (10) about the terrain engaging portion (50).

Description

AN UNMANNED VEHICLE FOR TRANSPORTING A PAYLOAD

The present invention relates to an unmanned vehicle for transporting a payload. It is often the case that aerial vehicles capable of vertical flight like the quad copters and their variants can transverse almost any environment but have little operation time and limited payload capacity. However, more traditional vehicles like the car can operate for extended periods of time and can carry a fairly large load but is limited by the type and diversity of the terrain it needs to transverse. Thus there is a need to bridge the gap between locomotion versatility, maximum range and payload capacity.

SUMMARY OF THE INVENTION

According to the present invention, there is provided a vehicle comprising:

a propulsion means operable to move the vehicle in a horizontal direction; a terrain engaging portion; a support leg with an upper end pivotally attached to the propulsion means and a lower end attached to the terrain engaging portion; the support leg further comprising a payload carrying means, wherein the propulsion means comprises an unmanned aircraft with at least one rotor and is operable to propel the vehicle in a substantially horizontal direction with the support leg in a substantially vertical position and the terrain engaging portion in contact with and travelling along the terrain.

The present invention therefore provides a vehicle which can move a payload along any type of terrain in a convenient manner, by the use of an unmanned aircraft, while minimizing friction. During operation of the vehicle, the support leg provides a balance point and supports the majority of the weight of the vehicle about the terrain engaging portion.

The at least one rotor may comprise a plurality of rotors, preferably at least two rotors, and even more preferably four rotors such that the vehicle acts as a quadcopter. Alternative examples of propulsion means which may be used include ducted fans, propellers, or other means that can produce appropriate thrust with sufficient thrust control.

The propulsion means may also be operable to move the vehicle in a vertical direction; wherein the propulsion means is operable to elevate the vehicle, such that the support leg and terrain engaging portion are suspended substantially vertically from the propulsion means and the terrain engaging portion is not in contact with the terrain, and to move the vehicle in a substantially horizontal direction while elevated.

The propulsion means may further comprise a wing or rudder, or other aerodynamics components to improve the aerodynamics of the vehicle.

The pivotal attachment between the propulsion means and the support leg preferably permits at least two degrees of freedom, more preferably three degrees of freedom, and even more preferably four or more degrees of freedom.

The support leg may be formed of a plurality of portions jointed in a telescopic manner, or which can be folded relative to each other, to allow the position of the propulsion means relative to the payload to be altered, and to allow the size of the vehicle to be reduced when not in use.

The support leg may comprise a plurality of support legs to allow better support for the payload being transported.

Better manoeuvrability of the vehicle relative to the transported payload may also be achieved by the terrain engaging portion being pivotally connected to the support leg.

To ensure the centre of gravity of the vehicle is as close to the terrain as possible, the payload carrying means is preferably located nearer the lower end than the upper end of the support leg. Preferably, the payload carrying means is located on the lowermost half, even more preferably the lowermost third, of the support leg.

Preferably, the payload carrying means is located directly beneath the propulsion means (i.e. within the ground blueprint of the propulsion means) when the support leg is in the vertical position.

To simplify the construction of the vehicle, in some embodiments the terrain engaging portion may only have one terrain engaging portion.

The vehicle may comprise a wireless communication means for receiving wireless signals from a remote location for operating the propulsion means. Alternatively, or in addition, the vehicle may comprise a user interface for receiving commands directly from a user for operating the propulsion means.

The terrain engaging portion may comprise one of a substantially spherical body, a wheel, a ski, or a float, to enable the vehicle to travel over a variety of surfaces including hard and soft ground, water, ice, snow, and sand.

A power source for the propulsion means may be located in or attached to the support leg.

DESCRIPTION OF THE FIGURES

The invention will now be described, by example only, with reference to the accompanying drawings in which:

Figure 1 A shows a perspective view of a vehicle in accordance with one embodiment of the invention;

Figure 1 B shows a side view of the vehicle of Figure 1 A;

Figure 1 C shows a top view of the vehicle of Figure 1 A; and

Figure 1 D shows a bottom view of the vehicle of Figure 1 A.

Figure 2 shows a side view of the vehicle.

Figure 3 shows a side view of the vehicle being elevated above the ground.

Figure 4 shows a side view of a vehicle with a ground engaging portion that is suitable for use on water/snow.

Figure 5 shows a perspective view of a portion of a vehicle comprising a

compartment for stowing a payload.

Figure 6 shows a perspective view of a vehicle comprising a support surface for stowing a payload.

DETAILED DESCRIPTION

Starting with Figures 1 A-1 D, there is shown one example of a vehicle 10 which comprises propulsion means 15, a support leg 40, and a ground engaging portion 50.

The propulsion means 15 has a main body 20 connected to four rotors 30. The four rotors 30 are spaced equally around the main body 20, and preferably each comprise a rotatable joint 35 which allows each rotor 30 to connect with, and pivot relative to, the main body 20. The pivot joints 35 allow each of the rotors 30 to propel the vehicle in a horizontal direction, a vertical direction, and directions in between. While this example uses four rotors 30, the propulsion means 15 may include one or more rotors, or a plurality of ducted fans, propellers, or other means that can produce appropriate thrust with sufficient thrust control to control the movement of the vehicle 10.

Extending in a downward direction from the main body 20 is a support leg 40. A top end 41 of the support leg 40 is pivotally connected to the main body 20 by a pivotal connector 45, which may be a ball-joint or other flexible connection which provides multiple degrees of freedom, preferably at least 4 degrees of freedom. The pivotal connector 45 thus allows the support leg 40 to be inclined in relation to the main body 20.

The lower end 42 of the support leg 40 is connected to or integral a ground engaging portion 50. In Figures 1 A-1 D, the ground engaging portion 50 takes the form of a spherical ball. The ball could be rigidly connected to or integral with the support leg 40, or in this case, a pivotal connector 55 may connect the ground engaging portion 50 with the bottom end 42 of the support leg 40. The shape of the ground engaging portion 50 is not limited to being a sphere, and can take a number of different shapes as will be described further below.

Located in the vehicle 10, preferably in the support leg 40 and/or the main body 20, is an electronic control box 60 that is responsible for controlling the operation of the vehicle 10 and its components. The control box 60 is electronically connected to each of the rotors 30, and preferably electronically connected to the rotatable joint 35 of each rotor 30, and the pivotal connectors 45 and 55. The control box 60 is powered by a power source 65 in the vehicle 10. The power source 65 is preferably a series of rechargeable batteries. The power source 65 may be housed in the support leg 40, and if so, may be towards the lower end thereof to lower the centre of gravity of the vehicle 10.

A user interface (not shown in the Figures) may be located on the vehicle 10 and is electronically connected with the control box 60 to allow a user to control the operation of the vehicle 10 as will be described. The vehicle may also comprise a wireless

communication means 70, in electronic communication with the control box 60, which allows commands from a remote location to be sent to the vehicle 10, and which therefore allows the vehicle 10 to be remotely operated. The vehicle 10 is provided with holding means 62 for securing a payload 100. The holding means 62 is located on the support leg 40, for example, as shown schematically in Figures 5 and 6. Preferably, the holding means 62 is located towards the lower end 42 of the support leg 40 to provide the vehicle 10 with a lower centre of gravity and better stability. In Figure 5, there is shown a container 63 in which a payload 100 can be stowed and which is attached to the support leg 40, for example, via two connecting straps 64 which wrap around the support leg 40. An access point 65 is located on one side of the container 63 for allowing access into the container 63. Rather than a container 63, the holding means 62 could be a platform 67 with elevated edges 68, as shown in Figure 6, extending around the support leg 40 and on which the payload 100 can be transported. It will be appreciated that these are merely examples and many other configurations are possible for the payload holding means 62, and this may be attached to the support leg 40 in any suitable manner. The leg 40 could also be shaped with an enlarged portion defining a chamber to provide a payload holding means integral with the leg 40.

Operation of the vehicle 10 is shown in relation to Figures 2 and 3. Initially, the vehicle is supported against a stand, or is located flat along the ground. From this initial position, the propulsion means 15 is operated to raise the support leg 40 and hold the vehicle 10 in a generally upright position. Once a payload has been mounted onto the vehicle 10, commands are sent to the control box 60 either from a remote location via the wireless communication means 70, or from commands sent using the user interface, which instruct the operation of the vehicle 10. To move the vehicle 10 in a forward direction, a command is sent from the control box 60 to move either the rotors 30 such that the rotors 30 become inclined in relation to the vertical. Once the rotors 30 are then operated in this inclined position, as shown in Figure 2, an element of the thrust from the rotors 30 acts to generate a horizontal driving force F which moves the vehicle 10 forward along the ground via the ground engaging portion 50. To stop the vehicle 10 moving forward, commands from the control box 60 are sent to move either the rotors 30 and/or the support leg 40 such that the rotors 30 apply a horizontal retardation force on the vehicle 10.

In this state, the support leg 40 is maintained substantially vertical or close to vertical, e.g. no more than +/- 80 degrees from the vertical, preferably +/- 45 degrees from the vertical, and is pulled along by the propulsion means 15 such that the ground engaging portion 50 rolls, slides, or glides along the terrain being navigated. The weight of the vehicle 10 and any payload 100 is taken primarily by the ground engaging portion 50, with the propulsion means 15 providing sufficient lift to raise the support leg 40 to the generally vertical position and sufficient thrust to propel the vehicle 10 forwards.

In some situations, it may be necessary to temporarily elevate the vehicle 10 off from the ground as shown in Figure 3. This may be necessary, for instance, if the vehicle is required to cross a ford or some other obstacle. To elevate the vehicle 10 in these circumstances, the rotors 30 from the vehicle 10 may be inclined, as shown for example in Figure 3, to provide a near vertical thrust force T that is sufficient to overcome the weight of the vehicle 10, yet also to provide a small horizontal driving force F' to drive the vehicle 10 also in a forward direction. When the vehicle 10 is elevated, both the support left 40, any payload 100 and the ground engaging portion 50 are suspended substantially vertically below the propulsion means 15, which may therefore take their full weight.

Once elevation of the vehicle 10 is no longer required, both the position of the rotors 30 and the power delivered to the rotors 30 are changed such that generated vertical thrust force T is reduced, thus allowing the vehicle 10 to descend back towards the ground.

It will be appreciated that more power is needed to elevate the vehicle 10 off from the ground, as shown in Figure 3, than to drive the vehicle in a forward direction along the ground as shown in Figure 2. Operation of the vehicle 10 in its elevated state shown in Figure 3 should therefore be kept to a minimum to maximise the use-time of the vehicle 10.

It will be appreciated that many modifications could be made to the vehicle 10 described above.

Regarding the ground engaging portion 50 for instance, this may be shaped as needed so that the vehicle 10 can be used on a wide variety of different terrain. In one embodiment, the ground engaging portion 50 may comprise at least one ski plate 75 as shown in Figure 4 to allow the vehicle 10 to be better used on snow, ice or water. The ski plate 75 in this embodiment is pivotally connected to the bottom end 42 of the support leg 40 via the pivotal connector 55.

The ground engaging portion 50 could alternatively be a wheel to roll over the ground, or a float for use on water. For such situations, the vehicle 10 may comprise one or more buoyancy modules to allow the vehicle 10 to better float on water. The buoyancy modules preferably form part of the ground engaging portion 50.

The vehicle 10 is preferably made of strong but lightweight materials, for instance plastics or other materials with a low density.

To allow the vehicle 10 to be better collapsed whilst it is not in use, the support leg 40 is preferably formed of a series of interconnected portions that are either telescopic or foldable in relation to each other.

In some embodiments, more than one support leg 40 could be used, for example a pair of legs which support a payload carrying means between them. The use of more than one support leg could also allow for better control of the ground engaging portion 50. To enhance the aerodynamics of the vehicle when it is airborne, the vehicle 10 could be provided with wings or other aerodynamic components, such as a rudder.

In some embodiments, more than one vehicle may be used to carry a single payload. It will be appreciated by those skilled in the art that other variations and modifications can be made to the vehicle 10 herein described without departing from the scope of the invention as set out in the claims.

Claims

1 . A vehicle comprising:

a propulsion means operable to move the vehicle in a horizontal direction; a terrain engaging portion;

a support leg with an upper end pivotally attached to the propulsion means and a lower end attached to the terrain engaging portion;

the support leg further comprising a payload carrying means,

wherein the propulsion means comprises an unmanned aircraft with at least one rotor and is operable to propel the vehicle in a substantially horizontal direction with the support leg in a substantially vertical position and the terrain engaging portion in contact with and travelling along the terrain.

2. A vehicle according to claim 1 , wherein the propulsion means comprises an unmanned aircraft with a plurality of rotors.

3. A vehicle according to any preceding claim, wherein the propulsion means is also operable to move the vehicle in a vertical direction; wherein the propulsion means is also operable to elevate the vehicle, such that the support leg and terrain engaging portion are suspended substantially vertically from the propulsion means and the terrain engaging portion is not in contact with the terrain, and to move the vehicle in a substantially horizontal direction while elevated.

4. A vehicle according to any preceding claim, wherein the propulsion means comprises an unmanned aircraft with one or more ducted fans or propellers.

5. A vehicle according to any preceding claim, wherein the propulsion means further comprises at least one wing and/or rudder.

6. A vehicle according to any preceding claim, wherein the pivotal attachment between the propulsion means and the support leg permits at least two degrees of freedom.

7. A vehicle according to any preceding claim, wherein the support leg comprises a plurality of portions joined in a telescopic manner.

8. A vehicle according to any of claims 1 -6, wherein the support leg comprises a plurality of portions joined so as to be foldable relative to each other.

9. A vehicle according to any preceding claim, wherein the support leg comprises a plurality of support legs.

10. A vehicle according to any preceding claim, wherein the terrain engaging portion is pivotally connected to the support leg.

1 1 . A vehicle according to any preceding claim, wherein the payload carrying means is located nearer the lower end than the upper end of the support leg.

12. A vehicle according to any preceding claim, wherein the payload carrying means is located directly beneath the propulsion means when the support leg is in the vertical position.

13. A vehicle according to any preceding claim, wherein the terrain engaging portion has only one terrain engaging portion.

14. A vehicle according to any preceding claim, wherein the terrain engaging portion comprises one of a substantially spherical body, a wheel, a ski, or a float.

15. A vehicle according to any preceding claim, wherein a power source for the propulsion means is located in or attached to the support leg.

16. A vehicle according to any preceding claim, further comprising a wireless communication means for receiving wireless signals from a remote location for operating the propulsion means.

17. A vehicle according to any preceding claim, further comprising a user interface for receiving commands directly from a user for operating the propulsion means.