UNTETHERED ROBOT WITH HYBRID AIR AND WATER POWER FOR HOVERING AND QUICK AIRBORNE MOVEMENTS

Number: 20220402624
Published: 2022-12-22
Filed: 2022-08-16
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 (pre-grant).

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

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

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.

Jumping robots are one class of robots that implement aerobatic maneuvers after launching from the ground. Efforts at controlling a jumping robot's movem

Claims

1. A method of operating a robot with hybrid fan and fluid-based propulsion, comprising: storing a volume of pressurized fluid in a tank mounted on a body of the robot; releasing or launching the robot from or to a height above a landing surface; after the releasing or launching, triggering release of at least a portion of the volume of the pressurized fluid from an outlet of the tank and toward the landing surface to apply primary thrust to the body; and operating one or more ducted fans on the body of the robot to apply secondary thrust to the body to lift the body away from the landing surface. || 8. A method of operating a robot with hybrid fan and fluid-based propulsion, comprising: storing a volume of pressurized fluid in a tank mounted on a body of the robot; releasing or launching the robot from or to a height above a landing surface; after the releasing or launching, triggering release of at least a portion of the volume of the pressurized fluid from an outlet of the tank and toward the landing surface to apply primary thrust to the body; operating one or more fans on the body of the robot to apply secondary thrust to the body to lift the body away from the landing surface; and operating an additional one or more fans on the body of the robot to apply additional fan-based thrust to the body in two or more directions transverse to a vertical axis of the body to control pose, orientation, or motion of the body after the releasing or launching. || 14. A method of operating a robot with hybrid fan and fluid-based propulsion, comprising: storing a volume of pressurized fluid in a tank mounted on a body of the robot; releasing or launching the robot from or to a height above a landing surface; triggering release of at least a portion of the volume of the pressurized fluid from an outlet of the tank and toward the landing surface to apply a first thrust to the body; operating one or more ducted fans on the body of the robot to apply a second thrust to the body to lift the body away from the landing surface; and actuating one or more drag elements on an exterior surface of the body to modify drag of the body during flight or actuating one or more actuatable limbs on the body to provide dynamic control of motion of the robot during flight.