Versatile flexible and reconfigurable vehicle systems

Patent metadata

Field	Value
Publication number	US-11021223-B2
Application number	US-201916664635-A
Country	US
Kind code	B2
Filing date	Oct 25, 2019
Priority date	Oct 26, 2018
Publication date	Jun 1, 2021
Grant date	Jun 1, 2021

Abstract

Various embodiments are directed to interconnectable tiles configured for operation in an aquatic environment or a near-zero/zero gravity environment. The interconnectable tiles are configured to interconnect relative to one another to form interconnected surfaces, and individual interconnectable tiles provide thrust, ballast, and/or buoyancy to the overall interconnected surface so as to move the interconnected surface in a desired configuration.

First claim

That which is claimed:

1. A submerging interconnectable tile operable within a liquid, the interconnectable tile comprising:
a frame defining opposing open ends and having one or more connectors configured to engage external connectors of at least one adjacent interconnectable tile to form a joint between the frame and the at least one adjacent interconnectable tile;
a thrust unit secured within the frame and configured to provide thrust for the submerging tile at least in part by pulling liquid through the opposing open ends of the frame;
a controller secured within the frame and configured to transmit control signals to the thrust unit; and
one or more shutters operably connected with the frame, wherein the one or more shutters are configurable between one or more open positions and a closed position to at least partially seal an open end of the opposing open ends of the frame to dynamically control fluid dynamic interactions with a liquid.

2. The submerging interconnectable tile of claim 1 , further comprising a buoyancy adjustment system configured to change the buoyancy of the submerging interconnectable tile.

3. The submerging interconnectable tile of claim 1 , wherein the one or more shutters are embodied as one or more first shutters operably connected with the frame at a first open end of the opposing open ends of the frame, wherein the interconnectable tile further comprises one or more second shutters operably connected with the frame at a second open end of the opposing open ends of the frame, and wherein the one or more first shutters and the one or more second shutters are collectively configured to at least partially seal an interior of the frame defined between the opposing open ends.

4. The submerging interconnectable tile of claim 1 , further comprising an acoustic-based communication system in communication with the controller.

5. The submerging interconnectable tile of claim 1 , further comprising SONAR sensing components in communication with the controller.

6. The submerging interconnectable tile of claim 1 , wherein the thrust unit is secured within the frame via one or more attitude adjustment mechanisms configured to provide vectored thrust control within the interconnectable tile.

7. The submerging interconnectable tile of claim 1 , wherein the one or more connectors are configured to form a rigid joint when engaged with external connectors of at least one adjacent interconnectable tile.

8. The submerging interconnectable tile of claim 1 , wherein the one or more connectors are configured to form a flexible joint when engaged with external connectors of at least one adjacent interconnectable tile.

9. The submerging interconnectable tile of claim 1 , wherein the one or more connectors are configured to form a dynamically adjustable joint when engaged with external connectors of at least one adjacent interconnectable tile, wherein the dynamically adjustable joint has a dynamically controllable rigidity.

10. The submerging interconnectable tile of claim 1 , wherein the controller is configured to provide control signals to the thrust unit based at least in part on master control signals received by the controller.

11. The submerging interconnectable tile of claim 1 , wherein the one or more connectors comprise physical data connectors, and the controller is configured to communicate with controllers of connected adjacent interconnectable tiles via the physical data connectors.

12. A submerging interconnected surface comprising:
a plurality of submerging interconnectable tiles each comprising:
a frame having one or more connectors configured to engage external connectors of at least one adjacent interconnectable tile to form a joint between the frame and the at least one adjacent interconnectable tile;
an independently controllable thrust module;
a controller secured within the frame and configured to transmit control signals to the thrust module and to communicate with other interconnectable tiles within the interconnected surface via one or more communication protocols.

13. The submerging interconnected surface of claim 12 , wherein the frame of each of the plurality of submerging interconnectable tiles define opposing open ends, and each of the plurality of interconnectable tiles further comprise one or more first shutters operably connected with the frame at a first open end of the opposing open ends of the frame, wherein the one or more first shutters are configurable between:
one or more open positions to provide attitude adjustment for the interconnectable tile while liquid is moving through the opposing open ends of the frame; and
a closed position to at least partially seal the first open end of the frame to dynamically control fluid dynamic interactions with liquid.

14. The submerging interconnected surface of claim 13 , wherein the controller of at least one of the plurality of interconnectable tiles is configured to configure the first shutters to a closed configuration to provide decreased drag across a face of the submerging interconnected surface.

15. The submerging interconnected surface of claim 12 , wherein the independently controllable thrust modules of each of the plurality of interconnectable tiles comprise at least one marine propeller.

16. The submerging interconnected surface of claim 12 , wherein the controllers of the plurality of interconnectable tiles are collectively configured to depower at least one of the independently controllable thrust units.

17. The submerging interconnected surface of claim 12 , wherein each of the interconnectable tiles additionally comprise a buoyancy control system, and wherein the controllers of the plurality of interconnectable tiles are collectively configured to modify the buoyancy of the submerging interconnected surface by independently operating the buoyancy control systems of the plurality of interconnectable tiles.

18. The submerging interconnected surface of claim 12 , wherein each of the interconnectable tiles further comprises an onboard power supply.

19. The submerging interconnected surface of claim 12 , wherein adjacent interconnectable tiles of the plurality of interconnectable tiles are connected via a flexible joint.

20. The submerging interconnected surface of claim 12 , wherein adjacent interconnectable tiles of the plurality of interconnectable tiles are connected via a rigid joint.

21. The submerging interconnected surface of claim 12 , wherein adjacent interconnectable tiles of the plurality of interconnectable tiles are connected via a dynamically adjustable joint.

22. An interconnected surface configured for operation in a zero-gravity environment, the interconnected surface comprising:
a plurality of interconnectable tiles configured for operation in a zero-gravity environment, wherein each interconnectable tile of the plurality of interconnectable tiles comprises:
a frame having one or more connectors configured to engage external connectors of at least one adjacent interconnectable tile to form a joint between the frame and the at least one adjacent interconnectable tile;
an independently controllable thrust module operable within a zero-gravity environment;
a controller secured within the frame and configured to transmit control signals to the thrust module and to communicate with other interconnectable tiles within the interconnected surface via one or more communication protocols.

23. The interconnected surface configured for operation in a z

Assignees

• California Inst Of Techn

Inventors

• Fikes Austin C
• Hajimiri Seyed Ali

Classifications

• B64U2201/102

  adapted for flying in formations · CPC title

• B64G1/411

  Electric propulsion · CPC title

• B64U2101/31

  for surveillance · CPC title

• B64U20/40

  Modular UAVs · CPC title

• B64U20/60

  UAVs characterised by the material · CPC title