A monocopter includes a housing and a propeller connected to a shaft. The shaft is connected to a main motor that is fixed to the housing (e.g., mounted within the housing) such that upon operation of the main motor, the shaft rotates and the propeller rotates. A first counterweight is interfaced to a shaft of a first motor that is interfaced to the housing and a second counterweight is interfaced to a shaft of a second motor that is also interfaced to the housing such that the shaft of the first motor is in a plane that is perpendicular to the shaft of the second motor (e.g., the shafts are at right angles to each other). The main motor, the first motor and the second motor are controlled (e.g., using artificial intelligence) to enable stable flight of the monocopter.

BACKGROUND

Various types of aircraft have been developed and used since the first successful flight by Orville and Wilbur Wright in 1903. Most flight by air involves creating airflow at sufficient velocity as to move a payload (e.g., passengers) through the air. Some aircraft use jet engines or propellers driven by an engine to create thrust (air flow) to push an aircraft having wings through the air, creating lift as the flow of air over the top of the wing is faster than the air flow of air over the bottom of the wings.

In contrast, helicopters us a large propeller that is mounted horizontally and rotated by an engine, creating sufficient downward airflow to lift the payload. Helicopters require a second, smaller propeller and motor (or linkage to the first motor) to keep the payload from spinning once the helicopter is in the air. To maintain stability utilizing a reasonably sized and powered second propeller, the second propeller is positioned a large distance from the center of the large propeller. For horizontal movement, the helicopter tilts slightly to direct the thrust slightly off perpendicular, thereby pushing the helicopter in the intended direction.

Recently, battery operated drones have been introduced. These devices have multiple propellers (e.g., 3-6 propellers) oriented horizontally as the main propeller of the helicopter and each propeller is rotated by independent battery powered motors. An internal processor controls each motor to rotated the propellers at independent speeds, providing for control of lift (faster/slower), tilt (some motors rotate faster than others), and horizontal movement while tilted. Many drones include an internal global positioning receiver to determine location as well as gyroscope functionality to determine tilt and altimeter to determine altitude. In general, personal drones are controlled by a user's smartphone, sending signals to the drones over a wireless data channel. These drones are typically battery powered.

Although battery technology has improved since lead-acid and other sealed batteries as used in the 1900s. Newer battery technology provides for much higher energy/weight ratios and reasonable charging time. Still, most existing drones do not carry weight in addition to the electronic components, plastic housing, motors, and batteries, and are typically used for overhead photography.

When considering designing a drone to carry a payload, motor/propeller capability must be sufficient to carry the payload and, therefore, battery capacity must be increased as several motors running to rotate larger propellers at faster rates require more power. Although modern motors are very efficient, each motor has power losses. The wind power output of each motor/propeller is less than the power provided to the motor. These loses in power include heat generated from the resistance of the coils of the motor, friction of bearings at each end of the motor, and air friction on the propellers as the propellers move through air as evident from the noise that is generated. Having four or six motors multiplies this loss by four or six and further increases the weight of the system by four or six times the weight of each motor, wires, and structure. Therefore, it would be more efficient to utilize less motors, for example, one or two, but a flying device having only one or two propellers would not be stable and could not be controlled to move in a desired direction.

A helicopter accomplishes reduction in motor count, somewhat, having a single main engine that could be replaced by an electric motor, but the helicopter design still requires the second vertical propeller mounted a distance from the center of rotation of the main propeller, adding weight for the boom and consuming battery power to operate.

What is needed is a flying device having a single efficient motor/propeller that in which stability is maintained by shifting counterweights and such shifting requires minimal power consumption.

SUMMARY

A monocopter is disclosed having a single propeller oriented horizontally and driven by a motor or engine at sufficient speed as to lift the monocopter, a power source for the motor or engine, and any associated load. To accomplish stability and to control direction of movement, two or more counterweights operating in different vertical planes are relocated to change the vertical orientation of the monocopter, thereby changing the direction of thrust of the single propeller and impacting horizontal movement of the monocopter.

A monocopter is disclosed including a housing and a propeller connected to a shaft. The shaft is connected to a main motor that is fixed to the housing (e.g., mounted within the housing) such that upon operation of the main motor, the shaft rotates and the propeller rotates. A first counterweight is interfaced to a shaft of a first motor that is interfaced to the housing and a second counterweight is interfaced to a shaft of a second motor that is also interfaced to the housing such that the shaft of the first motor is in a plane that is perpendicular to the shaft of the second motor (e.g., the shafts are at right angles to each other). The main motor, the first motor and the second motor are controlled (e.g., using artificial intelligence) to enable stable flight of the monocopter.

In another embodiment, a method of controlling a monocopter is disclosed including receiving command inputs and reading sensor data to determine at least a pitch of the monocopter, then calculating changes to the pitch of the monocopter required to follow the command inputs by inputting the sensor data and command inputs into an artificial intelligence engine, then adjusting two counterweights based upon an output of the artificial intelligence engine.

In another embodiment, a monocopter is disclosed including a housing and a propeller that is connected to a shaft. The shaft is connected to a main motor that is fixed to the housing such that upon operation of the main motor, the shaft rotates and the propeller rotates. There are at least two counterweights movably interfaced to the housing and a mechanism that independently moves each of the at least two counterweights for adjusting balance of the monocopter. The main motor and the at least two counterweights are controlled by a software system (e.g., an artificial intelligence engine) to enable stable flight of the monocopter.

Although the monocopter is well suited for carrying a payload, that being physical cargo, a person, or a camera, the monocopter is also capable of having sharp edges. As there are few moving parts and low power requirements, the monocopter is capable of being made in very small sizes (e.g., a few centimeters high) and is anticipated to have the ability to carry small cutting payloads such as razor blades, for example for cutting fruit from trees or vines. A swarm of such monocopters are anticipated due to ability to produce in a small size and low cost. Such miniature monocopters will have the ability to penetrate small openings, for instance and opening for air-intake on vehicle or a slightly ajar window.

DETAILED DESCRIPTION

The monocopter200provides lift by way of a rotating propeller210that is driven by a rotational source of power. To maintain in-flight stability and enable horizontal directional changes, two or more counterweights222/232or movable ballasts are controlled to shift a center of balance of the monocopter200. In the examples shown the rotational source of power is a main motor212(e.g., an electric motor) as shown inFIG.1, though any type of lift generating source of power is anticipated including, but not limited to, fossil-fuel engines and jet engines. Also, in the examples shown, the two or more counterweights220/230are moved using electric motors222/232, though any mechanism that moves the counterweights220/230is anticipates such as electro magnets and pneumatic pressure.

Initially, the monocopter200attains stable flight after trying several configurations of counterweights220/230and speed of the propeller210in actual flight, using random combinations of propeller speed and counterweight220/230positions in an attempt to move from point A to B, seek a solution to this movement as a method of learning. Learning will occur be setting an initial configuration of propeller speed and counterweight220/230position, then in a loop, reading the sensors260, comparing with the goal (e.g., reach point B), adjusting the propeller speed and counterweight220/230positions, and repeating until stable flight is achieved and the monocopter200is able to move from point A to point B. Once learning is complete, the monocopter200will have the ability to reconfigure to a new solution should a component fail, for example, if one of the motors222/232fail.

Throughout this description, a smartphone100is used as an example of a device that provides control and processing power to the monocopter200, though any electronic device, typically a processor-based device, is anticipated such as a mobile device having a transceiver, a storage medium and a human user interface. It is anticipated that, in some embodiments, the smartphone100would also incorporate one or more sensor circuits all of which provide inputs that are used by the disclosed software system and methods to provide location of the monocopter200, altitude of the monocopter200, pitch of the monocopter200, speed of the monocopter200, etc.

InFIG.1, monocopter200is shown. The monocopter200includes a housing201for containing various components therein. Housed within the housing is a battery290for providing power to the monocopter200. Although any battery290is anticipated, in some embodiments, the battery290is rechargeable.

For vertical lift and horizontal travel, a propeller210is connected to a shaft and rotationally coupled to a main motor212(or engine). As the propeller210is rotated at variable speeds by the main motor212by the main motor212that is coupled to the propeller210by a main shaft214, the monocopter200lifts off of a surface on which it is located. The main motor212is controlled through a control circuit250by a microcontroller240or any processing element or equivalent logic. As such, the microcontroller240controls the amount of electric current flowing from the battery290to the main motor212, thereby controlling a speed of rotation of the propeller210and, therefore, the amount of vertical thrust.

As it is assumed that the monocopter200is not perfectly balanced and even if it were, outside forces such as wind would cause instability in the flight of the monocopter200, a balancing system is provided comprising two or more counterweights220/230. As the monocopter200lifts from the surface, imbalances are detected by sensors260and the counterweights220/230are shifted to balance the monocopter200and provide vertical lift. The horizontal movement of the monocopter200is controlled by the same counterweights220/230, shifting the balance of the monocopter200slightly off center such that the propeller210is askew of being level and, therefore, some of the thrust from the propellers210provide horizontal movement.

Although it is anticipated that the counterweights220/230be shifted by various mechanisms including electromagnetic force and pneumatic pressure, in the example shown inFIG.1, each counterweight220/230is repositioned by being coupled to respective motors222/232though shafts224/234that are interfaced to the respective counterweight220/230in an offset location of the counterweight220/230(e.g., away from a center of gravity of each counterweight220/230). Therefore, the motors222/232adjust the balance of the monocopter200through rotations of the counterweight(s)220/230. To provide proper balance capability, the counterweights220/230rotate in planes that are preferably at right angles to each other along an imaginary axis of the main shaft214. Therefore, rotation of the motors222/232rotate the counterweights220/230to change the balance of the monocopter200. Note that the motors222/232need only be energized when a change is needed to the balance of the monocopter200, either to stabilize the monocopter200or to slightly tile the monocopter200to force horizontal movement. In such, it is anticipated that the motors222/232are powered only intermittently when repositioning of the counterweigh220/230is needed and, therefore, require minimum power from the battery290.

The counterweights222/232are controlled by the control circuit250under control of the microcontroller240.

Although any motors222/232are anticipated, in some embodiments, the motors222/232are servo motors that maintain their rotational angles until controlled by the microcontroller240to change one or both rotational angles.

Also shown inFIG.1is a smartphone100that is communicatively coupled to the microcontroller by a wireless transmission arrangement such as Wi-Fi, Bluetooth, or any known or future wireless protocol over any licensed or unlicensed radio band (or visible light). As will be discussed, so that minimal power is consumed by the microcontroller240, sensor data is transmitted to the smartphone100and much of the advanced calculations are performed by the smartphone100, transmitting control information (e.g., power to the main motor212and intermittent power to either of the motors222/232), thereby controlling thrust and an angle of the imaginary axis of the main shaft214with respect to level (a line or plane is level if it cuts all plumb lines that it meets at a right angle).

Referring toFIG.2, an electrical schematic of a monocopter200is shown. The heart of the monocopter200is a microcontroller240that has wireless connectivity to the smartphone100by way of a transceiver242such as a Wi-Fi transceiver, Bluetooth transceiver or any type and power of transceiver that will exchange data between the monocopter200and the smartphone100.

Connected to the microcontroller240is an array of sensors260that provide data to the microcontroller240as to location, angle, speed, altitude, etc. In this example, there are six sensors shown, an altimeter261, a barometric sensor262(e.g., for sensing altitude), a global positioning sensor263, one or more accelerometers264, a gyroscope sensor265, a magnetic sensor266, a proximity sensor267, a battery sensor268(e.g. senses remaining power), a temperature sensor269, and a camera sensor271; though any sensor that provides data important to the stability and movement of the monocopter200is equally anticipated as per the example shown inFIG.4. As will be discussed, the microcontroller240analyzes data from the sensors260for making real-time adjustments to power delivered to each of the main motor212and the motors222/232. As power consumption by the microcontroller240is important, some of the analysis, especially the analysis that utilizes artificial intelligence, is offloaded to the smartphone100. In this some or all of the data from the sensors260is periodically transmitted by way to the transceiver242to the smartphone100where the data is further analyzed, resulting in the smartphone100transmitting updated settings to the microcontroller240by way of the transceiver242.

Responsive to the local analysis or instructions received from the smartphone100, the microcontroller240instructs the control circuit250to vary power provided to the main motor212(e.g., increase or decrease altitude/speed) or to either of the motors222/232to change the balance of the monocopter200and, hence, stabilizing the monocopter200or adjusting an angle of the monocopter200for horizontal motion. For example, if the sensors260report that the monocopter200is at an angle that is not totally vertical, then the microcontroller240signals the control circuit250to energize one or both of the motors222/232to change the weight distribution and correct the skew.

Details of the control circuit250are not provided for clarity and brevity reasons as controlling motors from outputs of a microcontroller or processor is well known in the art using, for example, power transistors or power FETs.

Referring toFIG.3, a schematic view of a typical smartphone100, is shown. Although any device(s) is/are anticipated, for clarity purposes, a smartphone100will be used in the remainder of the description.

The smartphone100shown represents a typical device one which some or all of the programming of the monocopter200operates. This exemplary smartphone100is shown in its simplest form. Different architectures are known that accomplish similar results in a similar fashion and the present invention is not limited in any way to any particular smartphone100system architecture or implementation. In this exemplary smartphone100, a processor370executes or runs programs loaded in a random-access memory375. The programs are generally stored in persistent memory374and loaded into the random-access memory375when needed. Also, accessible by the processor370is a SIM card388(subscriber information module) having subscriber identification encoded there within and often a small amount of persistent storage. The processor370is any processor, typically a processor designed for smartphones100. The persistent memory374, random-access memory375, and SIM card388are connected to the processor by, for example, a memory bus372. The random-access memory375is any memory suitable for connection and operation with the processor370, such as SRAM, DRAM, SDRAM, RDRAM, DDR, DDR-2, etc. The persistent memory374is any type, configuration, capacity of memory suitable for persistently storing data, for example, flash memory, read only memory, battery-backed memory, etc. In some smartphones100, the persistent memory374is removable, in the form of a memory card of appropriate format such as SD (secure digital) cards, micro-SD cards, compact flash, etc.

Also connected to the processor370is a system bus382for connecting to peripheral subsystems such as a cellular network interface380, a graphics adapter384and a touch screen interface392. The graphics adapter384receives commands from the processor370and controls what is depicted on the display386. The touch screen interface392provides navigation and selection features.

In general, some portion of the persistent memory374and/or the SIM card388is used to store programs, executable code, and data, etc. In some embodiments, other data is stored in the persistent memory374such as audio files, video files, text messages, etc.

The peripherals are examples and other devices are known in the industry such as Global Positioning Subsystem391, speakers, USB interfaces, cameras393(front and back facing), microphone395, Bluetooth transceiver394, Wi-Fi transceiver396, etc., and including any sensor that aids in the navigation of the monocopter200.

The cellular network interface380connects the smartphone100to the cellular network368through any cellular band and cellular protocol such as GSM, TDMA, LTE, etc., through a wireless medium378. There is no limitation on the type of cellular connection used. The cellular network interface380provides voice call, data, messaging services as well as Internet access to the smartphone100through the cellular network68.

For local communications, many smartphones100include a Bluetooth transceiver94, a Wi-Fi transceiver96, or both and some cell phones support other network schemes as well. Such features of smartphones100provide data communications between the smartphone100and data access points and/or other computers such as a personal computer (not shown) as well as a data connection to the monocopter200.

In some embodiments, the remote device is other than a smartphone100or further computing power is accessible by the smartphone100, for example, a neural network305for implementing the artificial intelligence engine402(seeFIGS.4and5).

Referring toFIG.4, a learning mode of the artificial intelligence engine402for the monocopter200is shown. As discussed, the control software operates in either the microcontroller240, the smartphone100(or other remote device(s)), a combination of the two, or any of the above in conjunction with other processing devices.

The artificial intelligence engine402monitors one or more sensory input devices and input devices (e.g., touch screen interface92), etc., gathering data during the training and learning mode and storing the data in a knowledgebase400(e.g., the knowledgebase is stored in the persistent memory374of the smartphone100). The training and learning mode are anticipated to be executed as an iterative process for a period of time to gather data into the knowledgebase400until artificial intelligence engine402has sufficient data in the knowledgebase400as to reliably operate the main motor212and the motors222/232for moving the counterweights220/230such that the monocopter200reliably operates under commands of the user (e.g., touch screen interface92inputs on the smartphone100.

The training and learning mode are carried given a specific hardware configuration of the monocopter200as slight variances between each main motor212, motors222/232, counterweights220/230, and other components will change balance parameters of the monocopter200. For example, a few grams difference due to tolerances between a counterweight220of one monocopter200and a second monocopter200will require learning by the artificial intelligence engine402to recognize the slight difference and adjust the knowledgebase400for the second monocopter200, though by starting with the knowledgebase400for the first monocopter200, learning will be quicker.

Referring toFIG.5, a usage mode of the artificial intelligence engine402for the monocopter200is shown. The artificial intelligence engine402monitors one or more sensory input devices and input devices (e.g., touch screen interface92), etc., gathering data regarding a current operating mode, orientation, location, and direction of the monocopter200. Commands and settings408such as, initiate takeoff, move east at 5 miles per hour, land, maximum horizontal speed; are fed into the artificial intelligence engine402along with data from the sensors260. Using the knowledgebase400, the artificial intelligence engine402determines settings for the counterweights220/230and main motor212that will most likely orientate the monocopter200at the correct angle and move in the desired direction and speed. The settings are then used to operate the main motor212for speed adjustments and the motors222/232for moving the counterweights220/230such that the monocopter200correctly responds to the commands (e.g., takeoff, land). As the artificial intelligence engine402constantly monitors data from the sensors260, data from the sensors260constantly updates the knowledgebase400to learn from the settings made. For example, if a new, heavier payload is experienced, after the artificial intelligence engine402sets the counterweights220/230based upon prior knowledge from the knowledgebase400and the desired effect is not measured by the sensors260, the artificial intelligence engine402sets the counterweights to correct the skew of the monocopter200and also learns that the counterweights220/230must be set differently in the future with this specific payload. This learning is then extrapolated to ranges of payloads, then as different payloads are experienced, the artificial intelligence engine402makes assumptions based upon this extrapolation and utilizes feedback from the sensors260to tune the knowledgebase400for accurate operation of the monocopter200.

Referring toFIG.6, an exemplary learning system for the monocopter200within which a mathematical process500represented by a simplified multilayer feed forward neural network is depicted. During a learning process, iterative sampling of sensory input devices261/262/263/264/265/266/267/268/269/271and input devices (e.g., touch screen interface92), etc., are processed by the neural network in training mode over a period of sufficient duration to, in effect, learn how changes to the power provided to the main motor212and positioning of each counterweight220/230affect the operation of the monocopter200. For each iteration, input values are fed into neurons502/504/506with adjustments being made to weights and biases of hidden neurons510and512based on deviations between output value of neuron520and a desired output. For example, if a vertical orientation is desired but the sensors260indicate the orientation is not vertical, learning takes place as the position of the counterweights220/230are changed while monitoring the sensors260to “learn” what changes to the counterweights220/230will affect the vertical mode of the monocopter200. The iterative process is repeated using newly captured sensory inputs with continued refinements by use of error function feedbacks being applied to hidden neuron weights and biases. After the multi-iteration cycle the accumulated hidden neuron weights and biases are saved to a knowledgebase400as a dataset such that the collection of saved datasets represents learning regarding control of the counterweights220/230to affect the desired operation of the monocopter200. Once sufficient knowledge is obtained and stored in the knowledgebase400(sufficient to safely operate the monocopter200), newly acquired sensory inputs are fed into input neurons502,504and506of a neural network that was provisioned with a dataset of weights and biases taken from the knowledgebase400and the resulting output from neuron520representing a value between 0 and 1 that represents a certain control of the counterweights220/230.

Referring toFIG.7, a simplified software flowchart is shown. This program flow is an example of how the disclosed system operates based upon a single operation of liftoff. Liftoff starts with the monocopter200resting on a surface which is either level or not level. Once the monocopter200disconnects from the surface, the monocopter200needs to level itself (level is when the axis of the main shaft214is perpendicular to a level plane).

Therefore, after initialization600, sufficient power is provided602to the main motor212such that sufficient thrust is exerted by the propeller210for the monocopter200and any associated payload to overcome the force of gravity.

Now a loop begins reading604the gyroscope sensors265(and any other sensor260that is needed) to determine vertical skew. If the monocopter is vertical606(e.g., no vertical skew and the main shaft214is perpendicular to a level plane), then no adjustment is needed and the loop repeats.

If the monocopter is not vertical606(e.g., there is skew as defined by the main shaft214not being perpendicular to the level plane), then adjustment is needed. Adjustment is calculated608by providing data from the sensors260and current command/control status to the artificial intelligence engine that is loaded with the knowledgebase400. In this example, the current command/control status indicates vertical lift only (no horizontal movement). The data from the sensors provides the artificial intelligence engine with information regarding orientation, movement and direction of the monocopter200such that a calculation is performed by the artificial intelligence engine to calculate movements of the counterbalances220/230that will move the monocopter200towards the desired orientation, movement and direction, then the outputs of the artificial intelligence engine is used to set610the motors222/232and adjust balance. For example, if the data from the sensors260indicate that the monocopter is skewed one degree to the left, then the output of the artificial intelligence engine will be such that the counterbalances220/230will be moved by the motors222/232to put more mass on an opposite side of the monocopter200to impact a vertical orientation.

Note that although it is fully anticipated that the artificial intelligence engine be integrated into the monocopter200, for example, implemented within the microcontroller240, for cost, power consumption, and efficiency, the artificial intelligence engine is anticipated to run mostly or completely on a device external to the monocopter200, for example, the artificial intelligence engine is anticipated to run mostly or completely on the smartphone100and/or other external devices.