US 11,718,402 B2
Systems and methods for a thrust-vector controlled hybrid unmanned aerial and ground vehicle with improved grasping
Wenlong Zhang, Tempe, AZ (US); Yizhuang Garrard, Tempe, AZ (US); Shatadal Mishra, Tempe, AZ (US); Karishma Patnaik, Tempe, AZ (US); Zachary Chase, Tempe, AZ (US); and Michael Ploughe, Tempe, AZ (US)
Assigned to Arizona Board of Regents on Behalf of Arizona State University, Tempe, AZ (US)
Filed by Wenlong Zhang, Tempe, AZ (US); Yizhuang Garrard, Tempe, AZ (US); Shatadal Mishra, Tempe, AZ (US); Karishma Patnaik, Tempe, AZ (US); Zachary Chase, Tempe, AZ (US); and Michael Ploughe, Tempe, AZ (US)
Filed on Jun. 1, 2021, as Appl. No. 17/335,968.
Claims priority of provisional application 63/033,461, filed on Jun. 2, 2020.
Prior Publication US 2021/0371101 A1, Dec. 2, 2021
Int. Cl. B64C 9/08 (2006.01); B64C 37/00 (2006.01); B64C 39/02 (2023.01); B64C 13/16 (2006.01); B64U 10/13 (2023.01)
CPC B64C 39/024 (2013.01) [B64C 9/08 (2013.01); B64C 13/16 (2013.01); B64C 37/00 (2013.01); B64U 10/13 (2023.01)] 20 Claims
OG exemplary drawing
 
1. A vehicle, comprising:
a body defining a plurality of arms extending radially from the body, wherein each arm of the plurality of arms respectively includes:
a propeller rotatable about a vertical axis, wherein the propeller is associated with a respective propeller motor and wherein the propeller is operable for producing a propeller speed;
a deflector pivotable about a horizontal axis and located underneath the propeller, wherein the deflector is associated with a respective actuator assembly and wherein the deflector defines a deflector angle; and
a rotatable wheel associated with the actuator assembly, wherein the rotatable wheel is passively rotatable when in contact with a ground surface;
wherein the propeller is further operable to generate vertical thrust and wherein the deflector is operable to deflect the vertical thrust from the propeller to produce an amount of horizontal thrust for enabling translational motion of the vehicle on the ground surface; and
a controller in operative communication with the propeller motor and the deflector actuator assembly, wherein the controller is operable for determining an optimal propeller speed and an optimal deflector angle necessary to generate the amount of horizontal thrust needed for the vehicle to approach and capture an object based on estimated parameters of the vehicle and an estimated position of the object.