Multiple axis self-contained spherical sensor system

Patent metadata

Field	Value
Publication number	US-10495492-B2
Application number	US-201815874329-A
Country	US
Kind code	B2
Filing date	Jan 18, 2018
Priority date	Jan 18, 2018
Publication date	Dec 3, 2019
Grant date	Dec 3, 2019

Abstract

A multi-axis self-contained sensor system includes an outer spherical housing and an inner spherical housing. The outer spherical housing has a transparent spherical shell that surrounds a first cavity and having a first refractive index (RI). The inner spherical housing is in the first cavity and is completely surrounded by the outer spherical housing. The inner spherical housing has a first average density and includes a spherical wall that surrounds a second cavity. A sensor system is contained in the second cavity, and a suspending fluid layer is interposed between the outer spherical housing and the inner spherical housing. The suspending fluid layer is composed of a fluid having a second RI.

First claim

What is claimed is:

1. A multi-axis self-contained sensor system comprising:
an outer spherical housing having a transparent spherical shell that surrounds a first cavity and having a first refractive index (RI);
an inner spherical housing in the first cavity and completely surrounded by the outer spherical housing, the inner spherical housing having a first average density and including a spherical wall that surrounds a second cavity; and
a sensor system contained in the second cavity; and
a suspending fluid layer interposed between the outer spherical housing and the inner spherical housing, the suspending fluid layer composed of a fluid having a second RI.

2. The multi-axis self-contained sensor system of claim 1 , wherein the suspending fluid has a second average density that is about equal to the first average density of the inner spherical housing such that the inner spherical housing is neutrally buoyant within the suspending fluid.

3. The multi-axis self-contained sensor system of claim 1 , further comprising a motion control system in electrical communication with the inner spherical housing, and configured to rotationally translate the inner spherical housing along three degrees of freedom with respect to the outer spherical housing.

4. The multi-axis self-contained sensor system of claim 3 , wherein the motion control system further comprises:
a control base disposed adjacent the outer spherical housing and configured to output an electrical signal; and
a plurality of steering receptors coupled to the inner spherical housing and configured to move in response to the electrical signal so as to rotationally translate the inner spherical housing with respect to the outer spherical housing.

5. The multi-axis self-contained sensor system of claim 4 , wherein the control base further comprises:
a plurality of signal transmitters configured to generate the electrical signal, each signal transmitter comprising:
a solenoid to generate a magnetic field that induces inner spherical housing rotational motion; and
a base inductor configured to produce magnetic fields for inductive power transfer to the inner spherical housing.

6. The multi-axis self-contained sensor system of claim 5 , wherein the base inductor includes a flat spiral electrical conductor, the flat spiral conductor formed integrally with the control base, wherein the electrical signal is an electromagnetic field that is generated from an energized solenoid in response to flowing the electrical current through the base inductor.

7. The multi-axis self-contained sensor system of claim 6 , wherein each steering receptor is composed of a ferromagnetic material configured to be magnetically attracted to the electromagnetic field generated by an energized solenoid.

8. The multi-axis self-contained sensor system of claim 4 , wherein the steering receptors are formed integrally with the spherical wall of the inner spherical housing.

9. The multi-axis self-contained sensor system of claim 1 , further comprising a wireless energy transmission system configured to wirelessly receive and deliver power and data to the second cavity.

10. The multi-axis self-contained sensor system of claim 9 , wherein the wireless energy transmission system comprises a plurality of receiving inductors formed integrally with the spherical wall of the inner spherical housing, each receiving inductor in signal communication with the sensor system.

11. The multi-axis self-contained sensor system of claim 10 , wherein each receiving inductor is configured to receive and deliver power and data to the components contained in the second cavity.

12. The multi-axis self-contained sensor system of claim 11 , wherein the sensor system comprises:
at least one sensor configured to output a signal indicative of a measured result;
a transceiver configured to receive at least one of a power signal and a data signal;
a sensor controller in signal communication with the transceiver and the sensor system, and configured to exchange data with the sensor system; and
a battery system including a power conditioning circuit in signal communication with a rechargeable battery.

13. The multi-axis self-contained sensor system of claim 12 , wherein each receiving inductor is in signal communication with the transceiver to deliver the data signal, and with the power conditioning circuit to deliver the power signal to charge the rechargeable battery.

14. The multi-axis self-contained sensor system of claim 3 , wherein the motion control system further comprises a triple-axis gyro/momentum wheel unit comprising three orthogonal momentum wheels configured to rotate, wherein rotation of at least one of the momentum wheels induces rotational motion of the inner spherical housing 104 with respect to the outer spherical housing.

15. A method of energizing a multi-axis self-contained sensor system, the method comprising:
disposing an inner spherical housing completely within an outer spherical housing that contains a suspension fluid, the inner spherical housing configured to float in the suspension fluid so as to rotate according to three degrees of freedom with respect to the outer spherical housing;
coupling a plurality of receiving inductors and a plurality of steering receptors to the inner spherical housing; and
wirelessly transmitting a control signal from an external source located remotely from the outer spherical housing to the plurality of receiving inductors and the plurality of steering receptors such that the plurality of receiving inductors and the plurality of steering receptors are energized.

16. The method of claim 15 , wherein wirelessly transmitting the control signal includes transferring at least one of a power and a data signal from the plurality of receiving inductors to an image system contained within the inner spherical housing.

17. The method of claim 15 , wherein wirelessly transmitting the control signal to energize the at least one of the plurality of steering receptors to thereby adjust a position of the inner spherical housing with respect to the outer spherical housing.

18. The method of claim 17 , wherein the plurality of steering receptors are composed of a ferromagnetic material, and transmitting the control signal includes generating an electromagnetic field so as to magnetically attract at least one of the steering receptors toward the electromagnetic field transmitting thereby moving the inner spherical housing with respect to the outer spherical housing.

19. The method of claim 18 , wherein transmitting the control signal includes:
positioning a control base adjacent to the outer spherical housing such that outer spherical housing rotates with respect to the control base;
embedding at least one solenoid and at least one base inductor in the control base; and
energizing the base inductor so as to flow electrical current around the solenoid to generate the control signal.

20. The method of claim 19 , further comprising varying the level of electrical current supplied to the base inductor to adjust a magnetic force applied to a steering receptor and tune a position the inner spherical housing with respect to the outer spherical housing.

Assignees

• Raytheon Co

Inventors

• Sar David R
• Crouch David D
• Holihan Michael J
• Crowe Devon G

Classifications

• H04N23/51

  Housings · CPC title

• H04N23/60

  Control of cameras or camera modules · CPC title

• G01D11/245 Primary

  Housings for sensors · CPC title

• G05D1/00

  Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots (drive control systems specially adapted for autonomous road vehicles B60W60/00) · CPC title

• A61F2/141

  Artificial eyes · CPC title