- Number
- 11447261
- Published
- 2022-09-20
- Filed
- 2020-01-24
- Assignee
- Disney Enterprises, Inc.
- Inventors
- Peloquin; Richard-Alexandre, Christensen; David Loyal, Pope; Morgan Thomas, Imahara; Grant, Dohi; Tony
- CPC
- B64D31/06; B64U10/13; B64U30/20; B64U50/13; B64U60/50; B64U70/80
- Verdict
- Medium Hardware
- Source
- Google Patents · FreePatentsOnline
The keeper's note
Untethered hovering/flying robot hardware.
Abstract
A robot including a hybrid fan-based and fluid-based propulsion system to provide thrust, such as deceleration during fall to create a smooth landing or to provide a quick reduction in velocity, and to provide actuation/controlled motion, such as to hover after quick deceleration and to control orientation or pose. The hybrid propulsion system uses discharging of pressurized fluid and exhausted gas (or fluid in some cases) from ducted fans (or propellers, impellers, and the like) to provide controlled thrust and/or lift forces. The hybrid propulsion system uses of pressurized fluid for generating larger or primary thrust and quick changes in velocity. The hybrid propulsion system includes a fan-based propulsion assembly with ducted fans that use environmental air (or fluids) to provide lower or secondary thrust. Both types of propulsion can be integrated into a robot or robotic figure to move the robot during flight (e.g., during falling or hovering).
Background
BACKGROUND 1. Field of the Description (1) The present description relates, in general, to robots (or animatronic devices, as these terms may be used interchangeably herein) and control over movements or actuation of such robots while airborne and/or upon landing. More particularly, the present description relates to robots and robot control methods using thrust-based propulsion and/or actuation of a robot while airborne and/or during (and even after) landing in which the propulsion or power is provided by a hybrid system or combination of air and water (or liquid) power. 2. Relevant Background (2) Ground-based robots often are fixed in a single position or are mobile with wheels or tracks to roll on a surface or legs to walk about a space. However, robots that can fly through a space are more challenging as executing artistic movements such as quick deceleration and hovering to simulate theatrical rocket-like landing are difficult to control and actuate under the constant influence of gravity while at the same time emphasizing safety, cost effectiveness, and environmental friendliness. In-flight movements and stable or controlled landings for a flying robot have recently come into demand to provide unique and surprising entertainment to audiences in settings where it may be difficult to utilize live performers. (3) Jumping robots are one class of robots that implement aerobatic maneuvers after launching from the ground. Efforts at controlling a jumping robot's movements whil
Claims
1. A robot using hybrid fan-based and fluid-based propulsion during flight and landing, comprising: a body; a controller supported on the body; a fluid-based propulsion assembly with a tank, mounted on the body and coupled to the controller, for storing a volume of pressurized fluid; and a fan-based propulsion assembly mounted on the body with one or more fans arranged to apply thrust on the body, wherein the controller, generates a first control signal to cause the fluid-based propulsion assembly to discharge at least a portion of the volume of the pressurized fluid and generates a second control signal to operate at least one of the one or more fans of the fan-based propulsion assembly to apply the thrust on the body, and wherein the fluid-based propulsion assembly further comprises a fluid discharge system comprising a burst disc sealing an outlet aperture of the tank and a spring-loaded puncher released in response to the first control signal to cut or puncture the burst disc to allow the discharge of the volume of the pressurized liquid from the tank or comprising a hinged cap that is released by a mechanical or magnetic latch. ||
11. A robot using hybrid fan-based and fluid-based propulsion during flight and landing, comprising: a body; a fluid-based propulsion assembly with a tank, mounted on the body, storing a volume of fluid pressurized by gas to a pressure, wherein the fluid-based propulsion assembly includes a fluid release system to trigger release of at least a portion the volume of fluid pressurized by the gas from the tank via an outlet orifice, whereby a vertical thrust is applied to the body; and a fan-based propulsion assembly mounted on the body with a first set of ducted fans arranged to provide thrust directed along a vertical axis of the body and a second set of ducted fans arranged to provide thrust in two or more directions transverse to the vertical axis of the body. ||
16. A robot using hybrid fan-based and fluid-based propulsion during flight and landing, comprising: a body; a controller; a fluid-based propulsion assembly with a tank, mounted on the body, for storing a volume of pressurized fluid; a fan-based propulsion assembly mounted on the body with one or more fans arranged to apply thrust on the body, wherein the controller generates a first control signal to cause the fluid-based propulsion assembly to discharge at least a portion of the volume of the pressurized fluid and generates a second control signal to operate at least one of the one or more fans of the fan-based propulsion assembly to apply the thrust on the body; and a distance sensor, wherein the controller processes data collected by the distance sensor to determine a height of the body above a landing surface and, in response, to generate the first and second control signals, wherein the fan-based propulsion assembly further comprises two or more ducted fans spaced apart on the body an offset distance apart from the one or more fans providing the thrust independently operable by the controller to apply motion control forces on the body, and wherein the two or more ducted fans providing the motion control forces are each arranged on the body with a central axis transverse to the central vertical axis of the body of the robot. ||
22. A robot using hybrid fan-based and fluid-based propulsion during flight and landing, comprising: a body; a controller supported on the body; a fluid-based propulsion assembly with a tank, mounted on the body and coupled to the controller, for storing a volume of pressurized fluid; and a fan-based propulsion assembly mounted on the body with one or more fans arranged to apply thrust on the body, wherein the controller, generates a first control signal to cause the fluid-based propulsion assembly to discharge at least a portion of the volume of the pressurized fluid and generates a second control signal to operate at least one of the one or more fans of the fan-based propulsion assembly to apply the thrust on the body, and wherein the tank includes an outlet orifice at an end of the tank that is aligned with a central vertical axis of the body of the robot and wherein the pressurized fluid comprises water pressurized by air. ||
31. A robot using hybrid fan-based and fluid-based propulsion during flight and landing, comprising: a body; a controller supported on the body; a fluid-based propulsion assembly with a tank, mounted on the body and coupled to the controller, for storing a volume of pressurized fluid; and a fan-based propulsion assembly mounted on the body with one or more fans arranged to apply thrust on the body, wherein the controller, generates a first control signal to cause the fluid-based propulsion assembly to discharge at least a portion of the volume of the pressurized fluid and generates a second control signal to operate at least one of the one or more fans of the fan-based propulsion assembly to apply the thrust on the body, and wherein the one or more fans of the fan-based propulsion assembly each comprises a ducted fan supported on the body and arranged with an inlet facing in a direction opposite an outlet orifice of the tank and with a central axis parallel to a vertical axis of the body of the robot.