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US 8,251,307 B2Granted
Airborne manipulator system
AssigneeHoneywell International Inc.
InventorEmray R. Goossen
Life of this patent
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Abstract
A manipulator arm system on a ducted air-fan UAV is disclosed herein. The target site may be accurately located by the UAV, and the manipulator system may accurately locate the payload at the target site. The manipulator arm may select tools from a toolbox located on-board the UAV to assist in payload placement or the execution of remote operations. The system may handle the delivery of mission payloads, environmental sampling, and sensor placement and repair.
Claims15
An unmanned aerial vehicle (UAV) comprising:
- at least one ducted fan;
- avionics;
- a manipulator arm comprising a plurality of moveable portions moveably attached to the UAV, wherein the manipulator arm is configured to extend away from the at least one ducted fan;
- manipulator arm controls configured to control movement of the manipulator arm;
- a positioning grasp, wherein the positioning grasp comprises a positioning grasp arm and a positioning clasp attached to the positioning grasp arm, wherein the positioning clasp is movable in relation to the UAV, and wherein the positioning clasp is configured to exert a clamping force on an object within reach of the positioning clasp;
- and
- a stability control system comprising at least one torque sensor located on at least one of the manipulator arm or the positioning grasp, wherein, in response to a torque sensed by the at least one torque sensor, the stability control system is configured to send an instruction to the avionics to compensate for the torque.
4 more elements
A method comprising:
- with a stability control system, receiving, from at least one torque sensor located on at least one of a manipulator arm and a positioning grasp of an unmanned aerial vehicle (UAV), a signal indicating a torque sensed by the at least one torque sensor, wherein the UAV comprises:
- at least one ducted fan,
- avionics,
- the manipulator arm comprising a plurality of portions moveably attached to the UAV, wherein the manipulator arm is configured to extend away from the at least one ducted fan,
- manipulator arm controls configured to control the movement of the manipulator arm,
- the positioning grasp, wherein the positioning grasp comprises an arm and a positioning clasp, wherein the positioning clasp is movable in relation to the UAV, and wherein the positioning clasp is configured to exert a clamping force on an object within reach of the positioning clasp, and
- the stability control system;
- and
- sending, with the stability control system, an instruction to the avionics to compensate for the torque.
6 more elements
Dependencies are inferred from the claim text.