LOPSIDED PAYLOAD CARRIAGE GIMBAL FOR AIR AND WATER-BORNE VEHICLES
The Lopsided Payload Carriage Gimbal in all its embodiments allow Aerial Vehicles and Water-borne vehicles to carry payloads far from the vehicle Geometric Center without significant travel of the vehicle's overall Center of Gravity. Large travel of the CG limits vehicle's performance or renders it inoperable. The embodiments rely on the interaction of the payload and the counter balancing weight through the payload link 18, balancing link 10 main link 14 and battery pylon 8 to substantially reduce the torque generated by the payload in a lopsided position. The embodiments also allow the vehicle carrying the payload to change thrust direction agilely. Finally, the embodiment acts as a mechanical stabilization device for the payload as well. This invention is adaptable to all forms of hover-capable aerial vehicles as well as water-borne vehicles
This application references provisional application No. 62/477,202, filed on Mar. 27, 2017 in the USA by the present inventor.
SUMMARY OF THE INVENTIONIn accordance with the embodiments, the payload carriage gimbal system allows aerial vehicles to carry substantial payloads in a lopsided position without causing substantial changes to the position of vehicle CG.
BACKGROUNDThe following is a tabulation of some prior art that presently appears relevant:
Aerial Vehicles (AV) of the multi-rotor type are finding applications in many hobby, commercial and otherwise professional uses today due to their small size, ability to takeoff vertically, and hover. They are used in the fields of geological survey, search and rescue, as well as media production. There are various types of payloads carried by the AV, mostly optical sensors.
Earlier designs of the multi rotor AVs comprise of payload attachment points near the AV's Center of Gravity (CG). A miniaturized version of US patent 2014/0270743 is a good example of a common payload attachment device. The payload mounting position and device are sufficient for gathering data from a top down view. However, to clear the optical sensor's forward Field of View (FOV), the sensor mounting position had to be moved away from the Geometric Center (GC) of the AV, resulting in the movement of AV CG.
Looking at a conventional quad-copter AV frame 1 in
Regardless of AV design, the maximum compensating torque is limited by vehicle geometry and maximum thrust. If CG shift is severe, the AV may be rendered inoperable.
Creative vehicle designs allowed some vehicles to provide the optical sensors a clean FOV. These aerial vehicles are designed with slender bodies that allowed the positions of hardware components to counter balance the lopsided positioning of the sensors, resulting in no movement of the Center of Gravity. US patent US 2016/0291445 and US patent US 2017/0036771 awarded to Fisher and Woodman are some of the examples for such developments. Typical payload attachment devices such as the one disclosed in US patent 2017/0227162 are used. However, locating mass further away from vehicle GC results in an increase in moment of inertia, which reduces vehicle's agility. As a result, the aerial vehicles cannot change direction rapidly.
If the payload is to become heavier, or the position is to be placed further away from the CG, the aerial vehicles will have to be redesigned: either the fuselage of the aerial vehicles will have to be extended to increase the length of the balancing lever arm, or the balancing weight needs to become heavier.
Compounding the problem further are payloads that could vary in weight or position during flight. For example, US patent 2015/0377405 by Down proposed a system where the payload is a miniature robot used to inspect tight spaces. In this patent, a parent vehicle releases the child vehicle when tight spaces are reached, changing the CG of the parent drone system. Because of the light weight nature of the child vehicle in this patent, the vehicle maintains balance by modulating propeller speed in a traditional fashion.
To deal with heavier lopsided loads, the morphing aerial vehicles design disclosed in US Patent 2016/0159472A1 by Chan attempts to adjust the placement of thrust motor in the most efficient position to achieve max hovering efficiency. However, this patent calls for high mechanical complexity and a minimum of three motors to work. Coaxial aerial vehicles designs will not be able to benefit from Chan's work.
Efficiently carrying lopsided and unbalanced load could realize many new applications of aerial vehicles, beyond simply improving optical sensor FOV. Carrying payload beyond the diameter of the propeller allows aerial vehicles to interact with vertical surfaces, human beings and other mechanical devices directly to the side of an aerial vehicle, without dangerous interference from the fast-spinning propeller blades.
Water-borne vehicles also face this type of CG movement problem that may cause capsizing when a heavy load is added in a lateral position using a crane from starboard or portside. Water-borne vehicles rely on the buoyancy of water around the hull to maintain the vehicle's upright position in water. The only means to change CG is through internal rearrangement of cargo or fuel. On a small vessel without the room to rearrange cargo or fuel, travel in CG when taking on a lateral load is inevitable.
AdvantageAccordingly, several advantages of are as follows: to provide airborne and waterborne vehicles a mean to carry non-trivial payload weight in a lopsided position, that can carry non-trivial payload weight in a position beyond vehicle footprint, that can restrict CG travel to a marginal amount, that can compensate for variation in payload weight, that can be applied to coaxial, multi-copter and waterborne vehicles alike, that is mechanically relatively simple, that maintains agility of the vehicle. These and other benefits will become apparent from a consideration of the ensuing description accompanying drawing.
Shown in
Another support feature shown in
Operations
When the gimbal 5 is in static state, the payload torque 26 is equal to the balancing torque 27. The payload torque 26 is defined as the payload torque arm 24 multiplied by payload weight 49. The balancing torque 27 is calculated by multiplying the balancing torque arm 25 with the product of sine of balancing force angle 28 and battery balancing force 29. Trigonometric operator sine is used because the balancing force component perpendicular to the payload link 30 generates the balancing torque 27. The balancing force component parallel to the payload link 50 is calculated by multiplying the balancing torque arm 25 with the product of cosine of balancing force angle 28 and battery balancing force 29. This parallel force component is transferred to the main link 14 as the payload link to main link shear reaction force 51.
The battery balancing force 29 is a reactive force that retains the battery in a static position. In a static position, battery balancing torque 52 is equal to battery weight torque 53. The battery balancing force component perpendicular to the battery link 32 and the battery balancing force torque arm 34 generate battery balancing torque 52. The battery weight component perpendicular to the battery link 54 and the battery weight torque arm 35 generate battery weight torque 53. The perpendicular force components 32 and 54 are calculated using sine of battery force angle 31 and sine of battery pitch angle 37 respectively.
The gimbal system as shown in this embodiment can balance a heavier payload using a lighter counter weight and shorter balancing torque arm 25 because the relationship between battery balancing force torque arm 34 and battery weight torque arm 35. By placing the counter weight pivot 23 as close to the power pivot 13 as possible, the battery balancing force torque arm 34 becomes shorter. The battery weight torque arm 35 is measured from the power pivot and the Center of Gravity of the battery. In order to maintain static positions, the battery balancing force 29 has to be increased to compensate for the shorter battery balancing force torque arm 34. The battery position adjustment system 6 is used to extend or shorten the battery weight torque arm 35. Extending the battery weight torque arm 35 further increases battery balancing force 29.
Battery balancing force component parallel to the battery link 33 is calculated by multiplying cosine of battery force angle 31 and battery balancing force 29. Battery weight component parallel to the battery link 38 is calculated by multiplying cosine of battery angle from vertical 37 and battery balancing weight 36. Both force components 33 and 38 are transferred to the main link 14 as the battery link to main link shear reaction force 39.
Payload link to main link shear reaction force 51 and battery link to main link shear reaction force 39 generate a lopsided torque 40 that is transferred to the aerial vehicle 1 through the vehicle attachment point 15. The lopsided torque is felt by the aerial vehicle 1 as the sum of the two shear forces 39 and 51 applied at a distance equivalent to the effective main link distance 42 in front of the attachment point. The effective main link distance 42 is the maximum distance in the movement of the aerial vehicle's CG 2. By shortening the effective main link distance 42 to a minimum possible through mechanical design, the shift in CG can be reduced further. The effect of the gimbal 5 on a multi-copter aerial vehicle is shown in
When maneuvering in flight, a generic multi-rotor type aerial vehicle changes the vehicle pitch or roll in order to vector the thrust in a different direction. A maneuver in changing the vehicle pitch is shown in
The ability to automatically return to nominal position could also provide mechanical stabilization to the payload.
As shown in
With the aerial vehicle remaining in hover, the payload link 18 could be forced into a pitch up or pitch down angle. Pitch drive servo 17 is used to drive payload link 18 pitch angle to a certain position, working against the battery balancing force 29 that seeks to return the payload link 18 to the preset neutral position.
During the tuning and system setup of the gimbal, adjustment can be made to the position of the balancing pivot 9 along the payload link 18. This adjustment changes the length ratio of the payload torque arm 24 to the balancing torque arm 25. A longer balancing torque arm 25 could help the gimbal carry heavier payload mounted to the payload mount 20. At the same time, adjusting balancing pivot 9 position also changes the payload link 18 range of motion. Placing balancing pivot 9 as far away as possible from the main pivot 16 reduces range of pitching motion. Extending the length of the balancing link 10 increases the range of pitching motion. However, the pitch range is ultimately restricted by the range of motion of the counter balancing weight, which is the battery 11 in this embodiment.
Using battery as the counter weight requires the transfer of electrical power from the battery to the vehicle's electric motor control electronics. The electrical current of this electrical flow is high and thus requires the use of low gauge wires. Low gauge wires are rigid due to it's larger cross section diameters. Rigid wire severely degrades the flexibility of the gimbal system, transferring additional torque to the vehicle frame 1. As a result, the lopsided torque 40 is increased, exacerbating the travel of Center of Gravity. Therefore, the power pivot 13 is designed to transfer high current flow while functioning as a bearing.
ALTERNATIVE EMBODIMENTSAlternative embodiments can be created by changing the effective lengths of the linkages and changing the location of the pivots. Changing the effective length modifies the torque arm created by counter weights.
ALTERNATIVE EMBODIMENTSThe counter weights could be any heavy flight equipment besides the battery 11.
ALTERNATIVE EMBODIMENTSThe aerial vehicle attachment point could be above the gimbal system, resulting in the inverted configuration shown in
The payload mount 20 could be modified to carry variable weight payloads or change payload during flight. The battery position adjustment system 6 could be used to change the battery balancing force 29, automatically restoring the payload link 18 to the nominal or neutral angle during flight without changing setup and configuration.
ALTERNATIVE EMBODIMENTSThe gimbal system can be installed on the aerial vehicle in an inverted or conventional configuration on multi-copter or Single Rotor (SR)/Coaxial Counterrotating Dual Rotor (CCDR) type vehicle frames as shown in
The gimbal must be placed in a position where the range of motion of both the battery and the payload link 18 are not restricted by any part of the vehicle frame 1. The gimbal could be place above or below the motors and propellers. The selection of configuration is purely based on the space that is available for the gimbal system and the inherent stability that's required by the vehicle system. If mounted in conventional configuration below a SR or CCDR copter as shown in
Using material and payload link 18 geometry that provides sufficient bending and torsional rigidity, the payload link 18 of a single rail design can be used instead of double rail design.
ALTERNATIVE EMBODIMENTSAn embodiment of the gimbal could be used on a water borne vehicle such as that shown in
Advantages
From the description above, a number of high level functional advantages of some embodiments of my gimbal system become evident:
-
- 1. The gimbal provides aerial vehicles a way to carry substantial payload weight in a position, including positions beyond the tip of the propellers.
- 2. The use of the battery position adjustment system 6 allows the aerial vehicle to adjust for variation in payload weight automatically during flight.
- 3. The various embodiments can be applied to coaxial aerial vehicle, multi-copter aerial vehicle and water-borne vehicle alike.
- 4. Decoupling of the payloads from the drone frame preserves the agility and maneuverability of the aerial vehicle.
- 5. Decoupling of the payloads and the ability to automatically return to nominal position provides mechanical stabilization to the payload.
Accordingly, the reader will see that the gimbal system of various embodiments can be used to help aerial and water borne vehicles carry payloads away from the vehicle Geometric Center and avoid large travel of the location of the Center of Gravity. In addition, the system can adjust for variation of payload weight during flight to maintain control of the location of the vehicle's Center of Gravity.
The various embodiments allow the vehicles to carry many types of payloads in a lopsided position:
-
- Graphical, touch and aural user interface for visual, face to face, and touch input communication
- Graphical visual display for advertising
- Dispensing of liquid horizontally
- Installing equipment onto walls, including sensors and markers
- Sensors requiring clear FOV
- Sensors requiring mechanical stabilization
- Robotic hand, grabber or crane
Aerial vehicles armed with some of these payloads could see use in the following applications requiring interfacing with humans, dispensing payloads horizontally, as well as applying force or making contact against vertical surfaces. A few of the possible applications include:
Police and security use:
-
- Virtual investigation of situation through conversation with persons on site
- Situation de-escalation through body language and communications
- Establishing visual communication channel between security forces and dispatch center/tactical command
- Help law enforcement enter rooms by opening doors or placing tactical charges
Remote Real-Estate Viewing:
-
- A real estate agent conducting face-to-face virtual property tour with his client, who is connected remotely.
Social Media and Self-Broadcasting:
-
- Record footages using on board screen as tele-prompter/view finder direct controls.
- Used to conduct interviews
Search and Rescue:
-
- Use contact sensors to attempt to discover persons trapped in spaces
- Place markers, beacons or tactical charges on walls
Inspection:
-
- Use contact sensors to find fatigue cracks, especially on vertical surfaces such as wind turbines.
Warehouse Inventory Management:
-
- Scanning packages or detecting RFID tags
- Pull stock from shelves
Water-borne vehicles armed with some of these payloads could see use in the following applications:
Cargo loading:
-
- Load or unload cargo without land based crane system
- Load or unload smaller boats unto the deck
Although the description above contains many specificities, these should not be construed as limiting the scope of the embodiments but as merely providing illustrations of some of several embodiments. Thus, the scope for the embodiments should be determined by the appended claims and their legal equivalents, rather than by the examples given.
Claims
1. A device for carrying lopsided loads such that the travel of Center of Gravity of the device and the vehicle the said device is attached to is restricted to the vicinity of the carrying vehicle's Geometric Center, such that the load is stabilized, such that the load can pivotally change orientation independent of vehicle movement, comprising:
- a. A series of four linkages in a polygonal arrangement, pivotally linked and contiguous to each other at four pivots.
- b. A payload mounting device attached anywhere along one of the linkages
- c. A counter balance weight attached to any one of the linkages
- d. Any number of sets of parallel linkages sharing identical pivots
2. A device for maintaining orientation of the payload attached to a linkage capable of changing orientation pivotally, comprising:
- a. A linkage parallel to the said link, such that it maintains parallelism with the said link, such that it has the identical length as the said link.
- b. A payload mount that is pivotally attached to the said link, and that is pivotally attached to the said parallel linkage.
3. A device for shifting the position of a load comprising:
- a. A rotary or linear actuation force generation device
- b. At least one guide track
- c. A mounting device attaching the counter weight to the said guide track
Type: Application
Filed: Jul 30, 2018
Publication Date: Feb 7, 2019
Inventors: Anshuo Liu (Montclair, CA), Minh Chau (Santa Ana, CA)
Application Number: 16/048,584