WO2017042757A1

WO2017042757A1 - Autonomous hovercraft

Info

Publication number: WO2017042757A1
Application number: PCT/IB2016/055814
Authority: WO
Inventors: Ricardo Antonio DE LEVANTE; Deyka GARCÍA
Original assignee: Universidad Tecnológica De Panamá
Priority date: 2016-07-13
Filing date: 2016-09-29
Publication date: 2017-03-16

Abstract

The present invention consists of a hovercraft vehicle which autonomously performs several tasks. These tasks include, among others, following a route automatically, inspecting a terrain which may include plants, land or water, depositing asphalt or spreading chemicals, or even operating in highly contaminated grounds without risking the driver life, since everything is performed in an autonomous manner or being previously programmed by a user. More particularly, this hovercraft vehicle comprises at least a propulsion device, a position sensor, a speed sensor and blowing means, controlled by means of a control unit.

Description

AUTONOMOUS HOVERCRAFT

FIELD OF THE INVENTION The object of the present invention is an autonomous ground-effect hovercraft vehicle which does not require a user and which is capable of hovering and moving along a path autonomously, as well as performing different actions.

BACKGROUND OF THE INVENTION

Currently, ground-effect hovercraft vehicles, or crafts, have blowers which inject air beneath the vehicle so as to form an air cushion. Thus, they reduce the vehicle contact with the ground surface, and allow it to glide thereon. In order to prevent air forming the air cushion from escaping, a skirt is placed around the vehicle.

These hovercraft vehicles feature a wide range of applications. They have been used for people transport in military missions and even in search and rescue tasks. The fact that the hover vehicle glides makes it possible for it to adapt to difficult and uneven terrains.

Additionally, the most novel applications of the hovercraft vehicles are the use thereof for chemical spreading and asphalt spreading which involve a risk for the driver. Prolonged exposure to certain chemicals has proven to be harmful for human health. An example of this application is shown in the document US4290500 describing a ground-effect vehicle having a system for spreading pesticide or chemicals. However, this system requires a driver who can be intoxicated.

DESCRIPTION OF THE INVENTION

The present invention consists of a hovercraft vehicle which autonomously performs several tasks. These tasks include following a route automatically, inspecting a terrain including plants, land or water, depositing asphalt or spreading chemicals, or even operating in highly contaminated grounds without risking the driver life, since everything is performed in an autonomous manner previously programmed by a user. More particularly, the autonomous ground-effect hovercraft vehicle comprises: a frame constituting the bottom of the hovercraft vehicle, blowing means arranged in the frame so as to generate an air cushion which lifts the hovercraft vehicle with respect to a terrain, a skirt arranged around the frame so as to avoid sudden escape from said air cushion, a propulsion device being arranged at the rear side of the hovercraft vehicle and comprising a plurality of rotating blades and levers for displacing the hovercraft vehicle, a position sensor for measuring the position in which the hovercraft is, a speed sensor for measuring the traveling speed of the hovercraft vehicle, and a control unit linked to the blowing means, wherein the propulsion device, levers and sensors, intended for establishing an autonomous or pre-programmed route, control direction and speed of the hovercraft vehicle.

Additionally, the hovercraft vehicle comprises a coupling unit which allows linking an interchangeable accessory to the hovercraft vehicle and to the control unit.

Preferably, the accessory is selected from: a sprinkler, a spade and a bucket implemented with an elevator. On the other hand, the control unit comprises a main controller which controls first and second slave controllers, which in turn respectively control a first and a second subsystem.

The first subsystem comprises a camera generating first signals which are processed by an image processing unit and sent to the first slave controller, where they are processed again and sent to the main controller for obtaining information about the terrain over which the hovercraft vehicle travels.

The first slave controller is linked to a coupling controller, which in turn is linked to the coupling unit so as to control the interchangeable accessory.

The second slave controller is linked to the sensors, through a kinematic sensor, in order to process the information being received and control a speed regulator, linked to the propulsion device, which controls the rotation speed the blades thereof, and the position of the levers thereof. DESCRIPTION OF THE FIGURES

To implement the present description being made and in order to provide a better understanding of the characteristics of the invention, according to a preferred practical embodiment thereof, a set of drawings is attached as part of this description, with an illustrative but not limitative purpose, which represents the following:

Figure 1. It shows a schematic top view of the preferred embodiment of the invention.

Figure 2. It shows a side schematic view of the preferred embodiment of the invention.

Figure 3. it shows a front schematic view of the preferred embodiment of the invention. Figure 4. It shows a connection diagram of the preferred embodiment of the invention.

Figure 5. It shows a schematic view of a plurality of accessories.

Figure 6. It shows a schematic view of a plurality of propulsion devices of the preferred embodiment of the invention.

DETAILED DESCRIPTION OF THE FIGURES

In a preferred embodiment, as it is shown in figure 1 , a hovercraft vehicle (1) is shown comprising a control unit (2), a skirt (3), a frame (4), a propulsion device (5), a position sensor (6a), a speed sensor (6b) and blowing means (7a, 7b).

The hovercraft vehicle (1) is limited in the extension thereof by the skirt (3). This skirt (3) is connected to the frame (4) which particularly constitutes the bottom of the hovercraft vehicle (1). More particularly, the blowing means (7a, 7b), such as compressors or blowers, generate an air cushion which lifts the hovercraft vehicle (1) with respect to the terrain, and the skirt (3) avoids sudden escape of said air cushion, which, with assistance from the propulsion device (5), causes displacement of the hovercraft vehicle (1). Additionally, the propulsion device (5) comprises a plurality of rotating blades and is coupled to the rear side of the hovercraft vehicle (1). This propulsion device (5) comprises levers (5a, 5b) for control of the direction in which the hovercraft vehicle (1) travels.

Furthermore, the hovercraft vehicle (1) comprises, on the surface thereof, the position sensor (6a) for measuring the position in which the hovercraft vehicle (1) is, and the speed sensor (6b) for measuring the speed to which the hovercraft vehicle (1) travels. Preferably, the position sensor (6a) is a GPS module and the speed sensor (6b) is an inertial measurement unit.

Additionally, also in the surface thereof, the hovercraft vehicle (1) comprises a coupling unit (8) intended to allow assembly of interchangeable elements. The two sensors (6a, 6b) and the coupling unit (8) are linked to the control unit (2).

More particularly, figure 2 shows a side view of the hovercraft vehicle (1) wherein it can be seen how the skirt (3) extends around the frame (4), wherein said skirt (3) is the only contact between the hovercraft vehicle (1) and the surface over which it glides. This view also shows, only in a schematic manner, that the hovercraft vehicle (1) comprises in the surface of said frame (4) a camera (9) to take images of the surface over which the hovercraft vehicle (1) is moving along. Said camera (9) is linked to the control unit (2). On the other hand, figure 3 shows a front view of the hovercraft vehicle (1), wherein the propulsion device (5) and levers thereof (5a, 5b) are shown in further detail.

Links with the control unit (2) are shown in figure 4. More particularly, this figure 4 shows a connection diagram of the control unit (2), which can be programmed by a user before starting the hovercraft vehicle (1), wherein the information that can be programmed includes travelling routes, decision algorithms based on image recognition, among others. More particularly, the control unit (2) comprises a main controller (10) comprising a first and a second slave controller (1 1a, 1 1 b), respectively controlling a first and a second subsystem (17a, 17b). The first subsystem (17a) includes the camera (9) which generates first signals. These signals are processed by an image processing unit (12) and are subsequently sent to the first slave controller (11a). The first slave controller (11a) sends second signals to a coupling controller (13) which is linked to the coupling unit (8) for it to act according to the programming thereof. Additionally, the first slave controller (11a) sends third signals to the main controller (10), such that it inspects the presence of anomalies that may be a reason for deactivating the first subsystem (17a) if any anomaly is found.

The second subsystem (17b) is intended for monitoring the route of the hovercraft vehicle (1). This second subsystem (17b) comprises a kinematic sensor (15) linking the second slave controller (1 1 b) with sensors (6a, 6b). This second slave controller (11 b) processes the received information and controls a speed regulator (14), which is linked to the propulsion device (5) and which controls the rotation speed of its blades and the position of its levers (5a, 5b). Therefore, speed and position of the hovercraft vehicle (1) is automatically controlled so as to follow the programmed route.

It should be noted that depending on the use of the hovercraft vehicle (1), a different accessory can be connected to the coupling unit (8). Examples of these accessories are shown in a non-limitative and schematic manner in figure 5. Figure 5 shows a sprinkler (18) intended for fumigations, a spade (19) for digging, and a bucket (20) coupled to an elevator so as to empty the bucket content onto the terrain.

Finally, figure 6 shows alternatives to the propulsion device (5), for example a propulsion device featuring two propellers (21) which can be rotated at different speeds in order to change direction of the hovercraft vehicle (1); it also shows a single propulsion device having a wheel (22), wherein the wheel rotates and can be connected to a rudder so as to control turning thereof.

It should be noticed that the figures are representative and are not to scale. Actual dimensions and shape of the elements of the hovercraft vehicle (1) may change. Only the most important parts of the hovercraft vehicle (1) are shown, however a person skilled in the art may appreciate how it will be constructed, considering the due common general practice. Since the hovercrafts require design considerations for construction thereof, some details have been removed from the drawings, including blowing holes, ducts, junctions, among others, so as to facilitate understanding of the present invention. The power system of the hovercraft vehicle (1) is not included in the drawings but it must be understood as existing. Some components have been exaggerated in the proportion thereof.

Claims

1. Ground-effect autonomous hovercraft vehicle comprising: a frame constituting the bottom of the hovercraft vehicle, blowing means arranged in the frame so as to generate an air cushion which lifts the hovercraft vehicle with respect to a terrain, a skirt arranged around the frame so as to avoid sudden escape from said air cushion, a propulsion device being arranged at the rear side of the hovercraft vehicle which comprises a plurality of rotating blades and levers for displacing the hovercraft vehicle, a position sensor for measuring the position in which the hovercraft is, a speed sensor for measuring the traveling speed of the hovercraft vehicle, and a control unit linked to the blowing means, wherein the propulsion device, levers and sensors, intended for establishing an autonomous or pre-programmed route, control direction and speed of the hovercraft vehicle.

2. Hovercraft vehicle according to claim 1 , further comprising a coupling unit which allows linking an interchangeable accessory to the hovercraft vehicle and to the control unit.

3. Hovercraft vehicle according to claim 2, wherein the accessory is selected from: a sprinkler, a spade and a bucket implemented with an elevator.

4. Hovercraft vehicle according to claim 2, wherein the control unit comprises a main controller which controls a first and a second slave controller, respectively controlling a first and a second subsystem.

5. Hovercraft vehicle according to claim 4, wherein the first subsystem comprises a camera generating first signals which are processed by an image processing unit and sent to the first slave controller, where they are processed again and sent to the main controller for obtaining information about the terrain over which the hovercraft vehicle travels.

6. Hovercraft vehicle according to claim 4, wherein the first slave controller is linked to a coupling controller, which in turn is linked to the coupling unit for control of the interchangeable accessory.

7. Hovercraft vehicle according to claim 4, wherein the second slave controller is linked to the sensors, through a kinematic sensor, for processing the received information and controlling a speed regulator, linked to the propulsion device, which controls the rotation speed of its blades and the position of its levers.