WO2021066666A1

WO2021066666A1 - Systems and methods for improved vehicles control

Info

Publication number: WO2021066666A1
Application number: PCT/RS2020/000015
Authority: WO
Inventors: Viktor VILDOVIC
Original assignee: Vildovic Viktor
Priority date: 2019-09-30
Filing date: 2020-09-30
Publication date: 2021-04-08
Also published as: RS20191276A1

Abstract

The present application relates to an airborne vehicle comprising a towing vehicle and a towed vehicle or person connected to and towed by the towing vehicle through a lightweight construction. The drag of towed vehicle or person creates a force through the lightweight construction behind the point of the center of gravity of the towing vehicle. The counter force of said force (thrust) directs the towed vehicle or person into the direction of lightweight construction and the towing vehicle. The towing vehicle is composed of at least one wing surface and a drive group with propulsion unit, stabilizing and control surfaces and a communication control system. The pilot in the towed vehicle or the person can control the moving direction of the towing vehicle - thereby the flying direction of the whole vehicle - through the lightweight structure.

Description

SYSTEMS AND METHODS FOR IMPROVED VEHICLES CONTROL

FIELD OF THE INVENTION

The invention more broadly belongs to the field of control of vehicles moving through fluids and on a hard surface. In the discovery that follows, we will show it through aviation, aircraft with a spherical construction, class B64C 15/12, B64C 29/00, B64C 39/06, B64C 39/08. Physics class G05B 1/04, G05D 1/08, G01C 9/00, carrying and / or can pull at least one person and / or payload, moving on a hard surface and through the air with great agility and freedom of movement.

SOLVING TECHNICAL PROBLEM

From ancient times, people have strived for greater freedom of movement through the air, water and on land, as well as by sending a payload to a desired destination.

BACKGROUND OF THE INVENTION

People have come up with various ways to move as freely as possible, as shown in patent applications:

• US 2,180,922 a solution that is very unsafe for the user, the environment and not feasible until the recent level of technological development.

• US 2,847,173 the solution is also very unsafe for the user and the environment.

• US 2,953,321 a very inefficient solution and not feasible until the recent level of technological development. US 3, 113,747 solution of major control problems, due to aerodynamic forces, because only the control of the propulsion system was used.

Or more recently:

• US 6,634,593 solution applicable to micro aircraft, without solving the problem of transporting cargo larger than a few kilograms.

• JP 4,899,069 B2 also a solution applicable to micro aircraft, without solving the problem of transport of cargo larger than a few kilograms and manual transport of the aircraft by the operator on a hard surface.

• US20180208312A1 a solution that meets the minimum transport requirements of one person but is extremely loud. Completely unusable in urban areas.

SUMMARY OF THE INVENTION

This discovery relates to improved steering and increased vehicle stability by shifting the primary steering system and payload behind a propulsion system with a secondary steering system (one unit that may be autonomous). The drive and towed part of the vehicle connected by a light construction whose main role is the transmission of forces, energy and information. The primary and secondary management systems can work in unison, independently or if only one is operational.

A small percentage of vehicles have a separate part of the vehicle behind the drive part of the vehicle, but no known vehicle has a separate part of the vehicle with the primary steering system behind the drive - traction part of the vehicle with secondary steering.

Since this control steering system is applicable to different types and categories of vehicles, a more detailed explanation follows on the example of the ultra-light VTOL aircraft, an optimized spherical shape of the propulsion part.

The main features of the spherical structure of the propulsion part of the aircraft are:

> to ensure the safety of users and the environment during operation

> to provide a safe border line when moving in an urban or environment with close proximity to other objects > When moving it on the ground, easily and safely roll the aircraft around the propulsion axis.

In the spherical propulsion part of the aircraft there is at least one wing surface, at least two control systems, at least one propulsion system with its components, communication and navigation system and other systems that thus form one independent functional aircraft, which is looking broadly the propulsion part of the aircraft. At least one fluid reservoir and at least one propulsion system is housed in the hull and wing cavities.

The lightweight construction that connects the drive and towed part of the vehicle is composed of at least one elongated segment that can be of different flexibility and length. In this example, a rigid cable with electrical installation consisting of power, communication and control lines.

As a towed part of an aircraft with a primary steering control system, it will be shown here as, one person (may be more) who primarily controls aircraft with the displacement of his body using aerodynamic forces and through the front interface control secondary steering system on the towing aircraft. The towed part of the vehicle can also be a payload space in for example the shape of a wing segment with a minimum of two steering systems.

BRIEF DESCRIPTION OF THE DRAWINGS

The attached figures is show the principle of primary steering control displaced behind the propulsion part of a vehicle with secondary steering control, applied to a specific example of an ultra-light VTOL aircraft with all system components in one configuration.

Images by numbering:

1. Details of the towing aircraft

2. Top front view of the towing aircraft

3. Top back view of the towing aircraft

4. View of the towing aircraft from the front

5. Side view of the towing aircraft

6. Front view of the towing aircraft from the bottom

7. Back view of the towing aircraft from bottom

8. Aircraft on the ground, with a holder for transport by rolling around the circumference of the aircraft, on the protective part of the propeller space

9. Aircraft in the take-off or landing phase, configuration with hooked pilot

10. Aircraft in vertical flight or maintaining desired altitude

11. Aircraft in horizontal flight

12. Circular configurations of multiple propellers (circles, minimum one active) in multiple layers

13. Aircraft formation connected into a single system

14. Formation of moving aircraft, with multiple traction aircrafts connected in a single system by connection (31)

15. Formation of moving aircraft, with several connected into a single system (32)

16. Formation of moving aircraft

17. Primary control surfaces on towed aircraft

18. Minimal formation of moving aircraft

19. Pilot protection with information, communication and control systems DETAILED DESCRIPTION OF THE INVENTION

Steering of the towing vehicle (30) is realize in such a way that the towed vehicle (35) shifts its mass in space and by moving it towards the desired direction, directs the towing vehicle (30), which may or may not correct its direction by its secondary steering. Towing vehicle (30) orformation of towing vehicles (30) with secondary steering control (Fig. 16, 3 circles, one example of formation (33)) towing another part of the vehicle (35) which has the primary function of steering the whole system (30), (15), (35) in the desirable direction.

So that the vehicle (35) transmits the force and creates a moment of force relative to the point of gravity of the vehicle (30) by the connected position behind the center of gravity of the vehicle (30) and thus creating a moment of force which corrects the vehicle (30) in the direction of light construction (15). Proportionately depending on the magnitude of that moment of force, the system will have a faster response, the less torque and the response of the direction control command will be slower.

Such a system of movement can be applied in different physical environments, for example:

1. On the water, a water scooter (30) (a small speedboat without a driver going only forward) for which a skier (35) is attached with a rope (15). By moving his body or ski, the skier turns left or right by transferring the force to the towing vehicle (30) behind the position of the center of gravity of that vehicle and thus creating a moment of force that corrects the vehicle (30) in the direction of the rope (15).

2. In the water, a torpedo would be a towing vehicle (30) to which a rope (15) was attached and a diver would be a towed vehicle (35) steering by moving his fins (34).

3. In space Figure 14, two unmanned rockets (30) in front, connected to a larger system by a rigid link (31 ) pull an asteroid in that image in the shape of an airplane, while a third manned rocket a circle behind the aircraft. Connected by a line, a towing vehicle 30), which here has the role of control surfaces 34, controls the movement of the direction, creating a moment of force transmitted to the traction rockets (30), (31 )

4. In air, the movement of the towing vehicle system (30), the lightweight structure connecting them (15) and the towed vehicle (35) (payload) or at least one pilot (20) will be explained in detail below.

An example of the application of the shape and function of a towing vehicle (30) would be to function as a wheel of a vehicle moving on a hard surface by rotating around the axis of the holder (42) transmitting force to the hull (1) rolling on the protective belt around the propeller (2). Connected to the vehicle at the point of attachment, where the light construction (15) is. When it needs to take off, the wheels (30) would separate and be connected by light construction 15 to the vehicle (30), then take off in, for example, a formation (33). This would be very economical and practical to apply to robots that explore other planets or celestial bodies, such as Mars and Titan.

An ultra-light VTOL aircraft for moving through the gas is presented, the system or complex vehicle is composed of a towing vehicle (30), a light construction that connects them (15) and a towed vehicle (35) (payload) or at least one pilot (20). The towing vehicle (30) is composed of:

1. From the fuselage (1 ), in which there may be functional parts of the aircraft

2. Propeller working space protection and at the same time the surface that rolls on the hard surface (2) and in that way the aircraft moves on the ground,

3. Upper rudder for direction (3) in which there may be functional parts of the aircraft

4. At least one propeller (4),

5. Front upper wing (5), in which there may be functional parts of the aircraft

6. Rear upper wing (6) in which there may be functional parts of the aircraft

7. Front central part of the fuselage for the ballistic parachute and / or propulsion group and / or cargo space and / or other systems (7) 8. At least one wing surface 8 extending on the other side of the middle part of the fuselage (7) in which there may be functional parts of the aircraft

9. Elevation rudder on the right (9) in which there may be functional parts of the aircraft

10. Rear central part of the fuselage for the ballistic parachute and / or propulsion group and / or cargo space and / or other systems (10)

11 . Elevation rudder left (11 ) in which there may be functional parts of the aircraft

12. Front lower wing (12) in which there may be functional parts of the aircraft

13. Rear lower wing (13) in which there may be functional parts of the aircraft

14. Lower direction rudder (14) in which there may be functional parts of the aircraft

15. Lightweight structure (15) connecting the drive and towed part of the vehicle, is composed of at least one elongated segment (length, width and function) of different flexibility and length. In this example it was chosen, a rigid steel cable (can be carbon, composite pipe or other) with an electrical installation consisting of power, communication and control lines

16. Lightweight reinforcement (15) and pilot armrests (20)

17. Pilot helmet (17)

18. Joint connection (18) by which a communication, navigation, control system (23) is placed in front of the pilot (20)

19. Bracket (19) for communication, navigation, control system (23)

20. Pilot (20)

21. Joysticks (21) with a screen (24) which can also be an ordinary communication device of the user (today a smartphone, tomorrow maybe something else, more advanced) all together communication, navigation, control system (23)

22. Pilot parachute (22)

23. Communication, navigation, control system (23)

24. Screen for 24 communication, navigation and control system (23)

25. Pilots upper aerodynamic surfaces, which provide additional lift and control (25)

26. Lower aerodynamic surface of the pilot, which provide additional lift and control (26)

27. Pilot in wing suit at the position of maximum lift (27)

28. Configuration (28) represents (5) the position of at least one active propeller per circle, viewed from the front in at least one of several planes, when the drive group may also be in sections (5), (6), (7), (8) , (9), (10), (11 ), (12), (13)

29. Configuration (29) represents (7) the position of at least one active propeller per circle, viewed from the front in at least one of several planes, when the drive group may also be in sections (5), (6), (7), (8) , (9), (10), (11 ), (12), (13)

30. Traction propulsion vehicle (30) with secondary control, moving by ejecting the mass of the working fluid behind its direction of movement, at a speed greater than zero m / s (source of energy by origin may be, chemical, electrical, nuclear, combined or other)

31. Rigid connection (31 ) with which traction vehicles (30) are connected in a rigid or combined formation (33)

32. Towing vehicle (30) in folded mode with towed vehicle (35)

33. Towing vehicle formation associated with towed vehicle (33)

34. Minimum of two control aerodynamic surfaces (34)

35. Towed vehicle (35) with primary control using aerodynamic surfaces (34), (25), (26), changing the center of gravity of the vehicle or other methods creating a moment of force at the point of attachment to the towing vehicle (30). Where that point of connection is any point in the volume of the towing vehicle (30) except the point of its center of gravity 36. Protective, informational, communication control helmet for pilot (36)

37. Pilot visual information system (37) (today: smart glasses or something else and in the future maybe something more advanced)

38. Pilot sound information system (38)

39. A pilot microphone (39) connected to a communication, command system

40. Second human-machine connection (40) (today: direct connection to the brain - neuro, EEG-type connection, another or perhaps something more advanced in the future)

41 . Motion sensors in the X and Y direction (41) which are placed on a part of the body which moves in relation to a part of the body, which is relatively fixed, and the control of a defined part or the whole aircraft is achieved. With the sensor system (41 ) on figure 19 shown on the head but may be on any joint, joint system or multiple joint sensors (41 )

42. Auxiliary shaft (42) which can mount on the vehicle (30) in order to move easily on the ground by rolling on the protection of the propeller working space (2)

Figure 9 shows the positions of the system in an autonomous take-off / landing configuration and the pilot can perform command correction or take control via manual commands (23) and / or helmet commands (36) and / or others.

Figure 10 shows the position of the system in an autonomous configuration vertical flight or holding the altitude position with the control console lowered (23) so that the pilot can make corrections or take command of the same and / or command in the helmet (36) and / or others.

Figure 11 shows the position of the system in an autonomous configuration horizontal flight or holding the position of the direction with the raised control console (23) so that the pilot can make corrections or take command of the same and / or command in the helmet (36) and / or others. To fully control the aircraft (30) using aerodynamic surfaces (25), (26), changing the center of gravity of the vehicle or other methods creating a moment of force at the point of attachment to the towing vehicle (30). Where that point of connection is any point in the volume of the towing vehicle 30) except for the point of its center of gravity.

Autonomous system control means that the information obtained from the satellite position sensor and the forces acting on the vehicle, the controller within the group (10) controls the output force of the drive, moves the control surfaces (3), (9), (11), (14) to maintained the assigned stable pilot command.

Claims

1. A method of controlling vehicle, towing vehicle (30) to tow another part of the vehicle (35), characterized by that the towed vehicle (35) displaces its mass in space and thereby creates a moment of force by the connection point behind point, of the center of gravity, of the vehicle (30). Direct the towing vehicle (30) in the direction of light construction (15), and the vehicle (30) may or may not, by secondary control on it, also correct its movement

2. Use according to claim 1 , characterized by that the at least one towing vehicle (30) or the formation of the vehicle (30) moves in different physical environments in space

3. Product operated according to claim 1 and moving according to claim 2, characterized by that the towing vehicle (30) is composed of at least one wing surface (8), at least one drive group with a communication control system (10) and other systems which make it independent. To tow another part of the vehicle (35) or at least one person (20) with primary control (for example the surface (34) or (26) in that order) over a light structure (15)

4. Towing vehicle product (30) of claim 3 moves in space, characterized by ejecting the mass of the working fluid behind its direction of travel, at a speed greater than zero m/s

5. Towing vehicle product (30) of claim 3 is moved according to claim 4 in a gaseous medium, characterized by using at least one propeller marked with a circle (at least one propeller) in the configuration (28) and (29) viewed from the front. To the minimum one of several planes when the drive group can also be in sections (5), (6), (7), (8), (9), (10), (11 ), (12), (13)

6. Towing vehicle product (30) according to claims 3, 4, 5, characterized by that the information obtained from the satellite position sensor and the forces acting on the vehicle, the controller within the group (10) controls the output force of the drive, moves the control surface (3), (9), (11 ), (14) to maintain the given stable pilot command

7. Towing vehicle product (30) of claim 3 is moved on a solid surface, characterized by that, it rotates by rolling around the circumference about the axis of the holder (42).

8. The method of controlling the product of claims 3, 4, 5, 6, characterized by that when using: take-off / landing of Figure 9, hovering / vertical flight of Figure 10, horizontal flight of Figure 11 and the pilot can control (one or more points at the same time):

^• use the joysticks (21) and the screen (24) with hands via the communication, navigation and control system (23)

^• Voice commands via the microphone (39) via a computer

^• Moving the body part in relation to the fixed body part by sensor register (41 )

^• By moving the mass of the entire second towed part of the aircraft (35) in relation to the first towing (30), by inertia or aerodynamic forces

9. The method of product management according to claims 3, 4, 5, 6, characterized by that when using take-off / landing of Figure 9, hovering / vertical flight of Figure 10, horizontal flight of Figure 11 , controlled from a remote location by a human or computer pilot

10. Product control method according to claims 3, 4, 5, 6, characterized by that when registering values on the sensors within the group (10) and / or in the control system (23) higher than the previously defined value, the control system opens the ballistic parachute, which may be in section (7) or (10)