초록 ▼

An unmanned vehicle may include a vehicle body that comprises an enclosed hull. The unmanned vehicle may include a propulsion, a ballast control system, a center of gravity system, a pressurization system, a control surface system, a navigation control system, and an on board master control system.

An unmanned vehicle may include a vehicle body that comprises an enclosed hull. The unmanned vehicle may include a propulsion, a ballast control system, a center of gravity system, a pressurization system, a control surface system, a navigation control system, and an on board master control system. The on board master control system may execute local control over operation of the various systems of the unmanned vehicle. The unmanned vehicle may also include a power supply carried by a portion of the vehicle body to provide power to the various systems. The various systems of the unmanned vehicle may be independently operable to support selective operation of the unmanned vehicle in the air, on the surface of the water, and below the surface of the water.

대표청구항 ▼

1. An unmanned vehicle comprising: an aerohydrodynamic vehicle body configured to selectively operate in air, on a substantially planar water surface, and while submerged in water, and wherein the vehicle body comprises: a wing having a leading edge, a trailing edge, a port edge, a starboard edge, a

1. An unmanned vehicle comprising: an aerohydrodynamic vehicle body configured to selectively operate in air, on a substantially planar water surface, and while submerged in water, and wherein the vehicle body comprises: a wing having a leading edge, a trailing edge, a port edge, a starboard edge, an upper surface, and a lower surface; anda pair of substantially-parallel sponsons integrally coupled to the port and starboard edges of the wing, respectively, wherein each sponson is characterized by a proximal wall positioned adjacent the wing and a distal wall positioned opposite the proximal wall;wherein the proximal walls of the sponsons and the lower surface of the wing define therebetween a tunnel;wherein at least a portion of the vehicle body comprises at least one enclosed hull that defines at least one enclosed interior compartment capable of pressurization;a propulsion system carried by a portion of the vehicle body and configured to propel the unmanned vehicle;a ballast system carried by a portion of the vehicle body and configured to vary buoyancy of the unmanned vehicle;a center of gravity system carried by a portion of the vehicle body and configured to vary a center of gravity of the unmanned vehicle;a pressurization system carried by a portion of the vehicle body and configured to vary a pressure within the at least one enclosed interior compartment;at least one control surface system carried by a portion of the vehicle body and configured to maneuver the unmanned vehicle;a navigation control system carried by the vehicle body and configured to control a speed, an orientation, and a direction of travel of the unmanned vehicle;a sensor system carried by a portion of the vehicle body and comprising a plurality of environmental sensors configured to transmit environmental data and a plurality of operational sensors configured to transmit operational data;an on board mission control system carried by a portion of the vehicle body and comprising a rules engine configured to receive the environmental data and the operational data from the sensor system and to issue autonomous operational instructions retrieved from an on board data store to control operation of the propulsion system, the ballast system, the center of gravity system, the pressurization system, the at least one control surface system, and the navigation control system, wherein the autonomous operational instructions comprise air control instructions, marine control instructions, and submarine control instructions; andat least one power supply carried by a portion of the vehicle body and configured to provide power to the propulsion system, the ballast system, the center of gravity system, the pressurization system, the at least one control surface system, the navigation control system, the sensor system, and the on board mission control system;wherein the propulsion system, the ballast system, the center of gravity system, the pressurization system, the at least one control surface system, the navigation control system, and the on board mission control system are configured to execute the air control instructions to operate the vehicle body in the air, to execute the marine control instructions to operate the vehicle body on the surface of water, and to execute the submarine control instructions to operate the vehicle body below the surface of water. 2. An unmanned vehicle according to claim 1 wherein the sponsons are substantially longitudinally coextensive with the wing, the wing longitude being a distance from the leading edge to the trailing edge. 3. An unmanned vehicle according to claim 1 wherein the tunnel is open from the leading edge of the wing to the trailing edge of the wing, and is configured to receive a flow of fluid therealong. 4. An unmanned vehicle according to claim 1 wherein the sponsons have a stepped hull design. 5. An unmanned vehicle according to claim 1 wherein the wing and the sponsons are scalable proportionately to provide a vehicle body having a range of sizes including a small size defined as the wing and sponsons each having a longitudinal length of less than seven (7) feet and the unmanned vehicle having a weight of less than two hundred (200) pounds. 6. An unmanned vehicle according to claim 1 wherein the vehicle body comprises at least one compartment adapted to carry at least one of the propulsion system, the ballast system, the center of gravity system, the pressurization system, the at least one control surface system, the navigation control system, the sensor system, and the on board mission control system. 7. An unmanned vehicle according to claim 6 wherein the vehicle body comprises a hull; wherein the hull is a sealed hull provided by at least one pressure seal; and wherein an interior portion of the hull is pressurizable. 8. An unmanned vehicle according to claim 1 wherein the vehicle body is made substantially of at least one of a fiberglass material, carbon fiber material, and aramid fiber material. 9. An unmanned vehicle according to claim 3 wherein the fluid flowing along the tunnel from the leading edge of the wing to the trailing edge of the wing is air; wherein the at least one control surface system includes a control surface configuration and a control surface control system; wherein the navigation control system is configured to execute the air control instructions to operate the control surface control system and the control surface configuration to control the speed, the orientation, and the direction of travel of the vehicle in an atmospheric controlled glide. 10. An unmanned vehicle according to claim 3 wherein the fluid flowing along the tunnel from the leading edge of the wing to the trailing edge of the wing is at least one of air and water; wherein the at least one control surface system includes a control surface configuration and a control surface control system; and wherein the navigation control system is configured to execute the marine control instructions operate the control surface control system and the control surface configuration to control the speed, the orientation, and the direction of travel of the vehicle across the substantially planar water surface. 11. An unmanned vehicle according to claim 3 wherein the fluid flowing along the tunnel from the leading edge of the wing to the trailing edge of the wing is water; wherein the at least one control surface system includes a control surface configuration and a control surface control system; and wherein the navigation control system is configured to execute the submarine control instructions to operate the control surface control system and the control surface configuration to control the speed, the orientation, and the direction of travel of the vehicle while submerged in water. 12. An unmanned vehicle according to claim 11 wherein the submarine propulsion configuration comprises a plurality of vectored thrust apparatuses selected from the group consisting of propeller and water jet. 13. An unmanned vehicle according to claim 1 wherein the propulsion system is powered by at least one of an electric motor, a diesel motor, a turbine engine, and a nuclear reactor. 14. An unmanned vehicle according to claim 1 wherein the ballast system includes a ballast configuration that comprises at least one ballast chamber, at least one pressure tank, at least one water pump, at least one water port, and at least one air port; wherein the sensor system comprises at least one ballast sensor;wherein the at least one ballast chamber, the at least one pressure tank, the at least one water pump, and the at least one ballast sensor are carried by the at least one compartment;wherein the at least one pressure tank is vented to the at least one ballast chamber by a plurality of locking electronic valves that regulate air flow from the at least one pressure tank to the at least one ballast chamber;wherein the at least one ballast chamber is connected by at least one pipe to the at least one air port by a plurality of locking electronic valves that regulate the flow of air from the at least one air port into the at least one ballast chamber, and the evacuation of air from the at least one ballast chamber through the at least one air port;wherein the at least one ballast chamber is connected by at least one pipe to the at least one water port by a plurality of locking electronic valves and the at least one water pump that cooperate to regulate the flow of water into the at least one ballast chamber, and the evacuation of water from the at least one ballast chamber through the at least one water port;wherein the at least one ballast sensor measures volume of water and air in the at least one ballast chamber to support selective submerging and re-surfacing of the unmanned vehicle. 15. An unmanned vehicle according to claim 1 wherein the center of gravity system includes a center of gravity configuration that further comprises at least one threaded actuator rod and at least one internally threaded weight; wherein the at least one threaded actuator rod and the at least one internally threaded weight are carried by the at least one compartment;wherein the at least one actuator rod has rotational bearings on one end and motor actuators on the other end;wherein the at least one threaded actuator rod is encased in the at least one internally threaded weight, the position of which is adjustable along the length of the at least one actuator rod to move the center of gravity of the unmanned vehicle along two perpendicular axes. 16. An unmanned vehicle according to claim 7 wherein the pressurization system includes a pressurization configuration that comprises at least one bidirectional seal in the sealed hull, at least one pressure tank, at least one air port, and at least one air pump; wherein the sensor system comprises at least one pressure sensor;wherein the at least one pressure tank and the at least one pressure sensor are carried by the at least one compartment;wherein the bidirectional seals in the sealed hull are applied to one or more openings, vents, ports, and moving services carried by the vehicle body;wherein the at least one pressure tank is affixed to the interior portion of the sealed hull and vented to the at least one compartment by a plurality of locking electronic valves and the at least one air pump that cooperate to regulate air flow from the at least one pressure tank to the at least one compartment; wherein the at least one pressure tank is connected by at least one pipe to the at least one air port by a plurality of locking electronic valves and the at least one air pump that cooperate to regulate the flow of air from the at least one air port into the at least one pressure tank;wherein the at least one compartment is connected by at least one pipe to the at least one air port by a plurality of locking electronic valves that regulate the evacuation of air from the at least one compartment through the at least one air port;wherein the at least one pressure sensor monitors air pressure inside the sealed hull and ambient pressure outside said sealed hull to enable said sealed hull strength-to-weight characteristics by applying pressurization during selective operation of the unmanned vehicle in the air, on the surface of water, and below the surface of water. 17. An unmanned vehicle according to claim 1 wherein the at least one control surface system includes a control surface configuration that comprises at least one rudder, a plurality of rear trim plates, and a plurality of forward canards; wherein the sensor system comprises at least one control position sensor;wherein the at least one rudder is mounted on a strut affixed externally to the vehicle body and substantially near the trailing edge of the wing of the vehicle body;wherein the plurality of rear trim plates are affixed externally to the vehicle body and articulate independently and bidirectionally;wherein the plurality of forward canards are affixed externally to the vehicle body and articulate independently in two directions to achieve maximum roll of the unmanned vehicle; andwherein the at least one control position sensor monitors the position of the at least one rudder, the plurality of rear trim plates, and the plurality of forward canards to support physical maneuvering of the unmanned vehicle in the air, on the surface of water, and below the surface of water. 18. An unmanned vehicle according to claim 1 wherein the at least one power supply includes at least one battery in electrical communication with at least one of solar energy collectors, wave motion energy collectors, and generated energy collectors. 19. An unmanned vehicle according to claim 1 further comprising at least one device rack system carried by the vehicle body to provide mechanical, power, and signal mount points for auxiliary devices to articulate from the vehicle body of the unmanned vehicle. 20. An unmanned vehicle according to claim 19 wherein the at least one device rack system includes a retractable platform configuration for positioning at least one device to extrude from the vehicle body. 21. An unmanned vehicle according to claim 1 further comprising at least one payload deck system carried by the vehicle body to provide mechanical, power, and signal mount points for payload modules to interchangeably affix to the vehicle body of the unmanned vehicle. 22. An unmanned vehicle according to claim 1 further comprising at least one off board control system configured to interface with the on board mission control system to execute remote control over the operation of the unmanned vehicle based on mission objectives defined external to the on board mission control system. 23. An unmanned vehicle system comprising: an unmanned vehicle comprising: an aerohydrodynamic vehicle body configured to selectively operate in air, on a substantially planar water surface, and while submerged in water, and wherein at least a portion of the vehicle body comprises at least one enclosed hull that defines at least one enclosed interior compartment capable of pressurization, wherein the vehicle body includes a center wing characterized by a leading edge, a trailing edge, a port edge, a starboard edge, an upper surface, and a lower surface; and a pair of opposing sponsons characterized by a stepped hull design, wherein each sponson comprises a proximal wall positioned adjacent the wing and a distal wall positioned opposite the proximal wall; and wherein the sponsons are integrally coupled to the port and starboard edges of the wing, respectively, such that the proximal walls of the sponsons and the lower surface of the wing define therebetween a tunnel,a propulsion system carried by a portion of the vehicle body and configured to propel the unmanned vehicle,a ballast system carried by a portion of the vehicle body and configured to vary buoyancy of the unmanned vehicle,a center of gravity system carried by a portion of the vehicle body and configured to vary a center of gravity of the unmanned vehicle,a pressurization system carried by a portion of the vehicle body and configured to vary a pressure within the at least one enclosed interior compartment,at least one control surface system carried by a portion of the vehicle body and configured to maneuver the unmanned vehicle,a navigation control system carried by the vehicle body and configured to control a speed, an orientation, and a direction of travel of the unmanned vehicle,a sensor system carried by a portion of the vehicle body and comprising a plurality of environmental sensors configured to transmit environmental data and a plurality of operational sensors configured to transmit operational data,an on board mission control system carried by a portion of the vehicle body and comprising a rules engine configured to receive the environmental data and the operational data and from the sensor system and to issue autonomous operational instructions retrieved from an on board data store to control operation of the propulsion system, the ballast system, the center of gravity system, the pressurization system, the at least one control surface system, and the navigation control system, wherein the autonomous operational instructions comprise air control instructions, marine control instructions, and submarine control instructions, andat least one power supply carried by a portion of the vehicle body and configured to provide power to the propulsion system, the ballast system, the center of gravity system, the pressurization system, the at least one control surface system, the navigation control system, the sensor system, and the on board mission control system; andan off board control system in data communication with the on board mission control system and configured to issue at least one of manual operational instructions and semi-autonomous operational instructions to control operation of the on board mission control system of the unmanned vehicle;wherein the propulsion system, the ballast system, the center of gravity system, the pressurization system, the at least one control surface system, the navigation control system, and the on board mission control system are configured to execute the air control instructions to operate the vehicle body in the air, to execute the marine control instructions to operate the vehicle body on the surface of water, and to execute the submarine control instructions to operate the vehicle body below the surface of water. 24. An unmanned vehicle system according to claim 23 wherein the on board mission control system and the off board control system are in data communication with a network such that the semi-autonomous operational instructions from the off board control system are receivable by the on board mission control system, and the environmental data and operational data from the on board mission control system are receivable by the off board control system master; wherein the on board mission control system is configured to determine precedence among the autonomous operational instructions and the semi-autonomous operation instructions to control the operation of the unmanned vehicle;wherein the off board control system is configured to use the environmental data and operational data to determine a status of the unmanned vehicle. 25. An unmanned vehicle system according to claim 23 wherein the vehicle body comprises at least one compartment adapted to carry at least one of the propulsion system, the ballast system, the center of gravity system, the pressurization system, the at least one control surface system, the navigation control system, the sensor system, and the on board mission control system. 26. An unmanned vehicle system according to claim 23 wherein the vehicle body comprises a hull; wherein the hull is a sealed hull provided by at least one pressure seal; and wherein an interior portion of the hull is pressurizable. 27. An unmanned vehicle system according to claim 23 wherein the propulsion system includes an aircraft propulsion configuration for propelling the unmanned vehicle in an atmospheric controlled glide, a marine propulsion configuration for propelling the unmanned vehicle across the substantially planar water surface, and a submarine propulsion configuration for propelling the unmanned vehicle while submerged in water. 28. An unmanned vehicle system according to claim 23 wherein the propulsion system is powered by at least one of an electric motor, a diesel motor, a turbine engine, and a nuclear reactor. 29. An unmanned vehicle system according to claim 23 wherein the ballast system includes a ballast configuration that comprises at least one ballast chamber, at least one pressure tank, at least one water pump, at least one water port, and at least one air port, and wherein the sensor system comprises at least one ballast sensor. 30. An unmanned vehicle system according to claim 23 wherein the center of gravity system includes a center of gravity configuration that further comprises at least one threaded actuator rod and at least one internally threaded weight. 31. An unmanned vehicle system according to claim 23 wherein the pressurization system includes a pressurization configuration that comprises at least one bidirectional seal in the sealed hull, at least one pressure tank, at least one air pump, and at least one air port, and wherein the sensor system comprises at least one pressure sensor. 32. An unmanned vehicle system according to claim 23 wherein the at least one control surface system includes a control surface configuration that comprises at least one rudder, a plurality of trim plates, and a plurality of forward canards, and wherein the sensor system comprises at least one control position sensor. 33. An unmanned vehicle system according to claim 23 wherein the at least one power supply includes at least one battery in electrical communication with at least one of solar energy collectors, wave motion energy collectors, and generated energy collectors. 34. An unmanned vehicle system according to claim 23 wherein the unmanned vehicle further comprises at least one device rack system carried by the vehicle body to provide mechanical, power, and signal mount points for auxiliary devices to articulate from the vehicle body of the unmanned vehicle; and wherein the at least one device rack system includes a retractable platform configuration for positioning at least one device to extrude from the vehicle body. 35. An unmanned vehicle system according to claim 23 wherein the unmanned vehicle comprises at least one payload deck system carried by the vehicle body to provide mechanical, power, and signal mount points for payload modules to interchangeably affix to the vehicle body of the unmanned vehicle. 36. An unmanned vehicle according to claim 18 wherein the on board mission control system is configured: to interpret the operational data to indicate the unmanned vehicle is positioned on the surface of water or submerged in water;to interpret the environmental data to indicate the unmanned vehicle is positioned in proximity to wave motion;to issue the autonomous operational instructions including a power management directive to the at least one power supply to charge the at least one battery using the wave motion energy collectors. 37. An unmanned vehicle according to claim 18 wherein the on board mission control system is configured: to interpret the operational data to indicate the unmanned vehicle is positioned on the surface of water or in air;to interpret the environmental data to indicate the unmanned vehicle is positioned in proximity to solar energy;to issue the autonomous operational instructions including a power management directive to the at least one power supply to charge the at least one battery using the solar energy collectors. 38. An unmanned vehicle according to claim 18 wherein the propulsion system is powered by at least one of an electric motor, a diesel motor, a turbine engine, and a nuclear reactor, and wherein the on board mission control system is configured: to interpret the operational data to indicate the propulsion system is in a running state;to interpret the environmental data to indicate the unmanned vehicle is positioned in proximity neither to solar energy nor to wave motion;to issue the autonomous operational instructions including a power management directive to the at least one power supply to charge the at least one battery using the generated energy collectors. 39. An unmanned vehicle according to claim 9 wherein the on board mission control system is configured: to interpret the operational data to indicate the unmanned vehicle is positioned in the air and is in motion at a first speed, a first orientation, and a first altitude;to interpret the environmental data to indicate a vector having a first coordinate defined as a position of the unmanned vehicle and a second coordinate defined as an entry point of the surface of water;to issue the autonomous operational instructions including an atmospheric controlled glide directive to the navigation control system and to at least one of the center of gravity system, the at least one control surface system, and the propulsion system in the aircraft propulsion configuration to achieve at least one of a second speed, a second orientation, and a second altitude. 40. An unmanned vehicle according to claim 10 wherein the on board mission control system is configured: to interpret the operational data to indicate the unmanned vehicle is positioned on the surface of water and is in motion at a first speed and a first heading;to interpret the environmental data to indicate a vector having a first coordinate defined as a position of the unmanned vehicle and a second coordinate defined as a destination;to issue the autonomous operational instructions including a water surface deployment directive to the navigation control system and to at least one of the center of gravity system, the at least one control surface system, and the propulsion system in the marine propulsion configuration to put the unmanned vehicle in motion at at least one of a second heading having the destination as a coordinate and a second speed in the range of 100 to 200 knots. 41. An unmanned vehicle according to claim 1 wherein the on board mission control system is configured: to interpret the operational data to indicate the unmanned vehicle is positioned under the surface of water and is in motion at a first speed, a first orientation, a first depth, and a first heading;to interpret the environmental data to indicate a vector having a first coordinate defined as a position of the unmanned vehicle and a second coordinate defined as a destination;to issue the autonomous operational instructions including an underwater glide directive to the navigation control system and to at least one of the center of gravity system, the at least one control surface system, and the ballast system to put the unmanned vehicle in motion at at least one of a second speed, a second orientation, a second depth, and a second heading having the destination as a coordinate. 42. An unmanned vehicle according to claim 1 wherein the on board mission control system is configured: to interpret the operational data to indicate the unmanned vehicle is positioned on the surface of water or submerged in water and in a top-down orientation;to issue the autonomous operational instructions including a self-righting directive to at least one of the center of gravity system, the at least one control surface system, the propulsion system, and the ballast system to put the unmanned vehicle in a top-up orientation. 43. An unmanned vehicle according to claim 1 wherein the on board mission control system is configured: to interpret the operational data to indicate the unmanned vehicle is positioned on the surface of water or below the surface of water and is in motion at a first speed, a first orientation, a first depth, and a first heading;to interpret the environmental data to indicate the unmanned vehicle is positioned in proximity to a water current;to issue the autonomous operational instructions including a current navigation directive to the navigation control system and to at least one of the center of gravity system, the at least one control surface system, and the ballast system to put the unmanned vehicle in motion at at least one of a second speed, a second orientation, a second depth, and a second heading such that the water current transfers momentum to the unmanned vehicle.