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1. IN2832/CHE/2015 - AMPHIBIOUS UNMANNED VEHICLE

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[ EN ]
DESCRIPTIONFIELD OF INVENTION[0001] Embodiments of the present disclosure relate generally to unmanned vehicle system and in particular to method for amphibious unmanned vehicle system.RELATED ART [0002] Unmanned vehicle system (UAV) is a pilotless vehicle or a remote piloted vehicle and is usually deployed for military operations, civil applications such as policing, firefighting and non-military work such as inspection of power or pipelines. UAV’s are often preferred for missions that are dangerous and dirty for manned activities. [0003] Quadrocopter/Quadcopter is an aerial vehicle operated to fly using four propellers. Quadrocopters unmanned aerial vehicles are used for surveillance and reconnaissance by military and law enforcement agencies as well as search and rescue missions in urban environments. These quadcopters or the multirotors are small UAV’s may quietly hover in place and use a camera to observe people and objects on the ground. [0004] However, these UAV’s are limited to either terrestrial operation or aerial vehicle system for monitoring especially in the border or coastal areas. As it is necessary to keep track of all the whereabouts of the subject such that speedy assistance and security may be provided without the human intervention with the use of all terrain vehicular system. SUMMARY [0005] According to an aspect of the present disclosure, autonomous amphibian unmanned vehicle which consists for multirotor and is capable to monitor and sends the information without the human intervention. The AUV comprises GPS, thermal image camera, sensor rotor turning mechanism. The quadcopter consists of air chambers allow the unmanned vehicle to float on water. Sensors are responsible for the measuring the depth when required trigger the rotor turning mechanism. Solar powered unmanned amphibious vehicle turns out to different angular positions according to the environment. The AUV is also responsible for beacon buoys networking.[0006] Several embodiments are described below, with reference to the diagrams for illustration. It should be understood that numerous specific details are set forth to provide a full understanding of the invention. One skilled in the relevant art, however, will readily recognize that embodiments may be practiced without one or more of the specific details, or with other methods, etc. In other instances, well-known structures or operations are not shown in detail to avoid obscuring the features of the invention.BRIEF DESCRIPTION OF DRAWINGS [0007] Fig 1 is an exemplary block diagram illustrating various aspects of present disclosure in an embodiment.[0008] Fig 2 is block diagram illustrating various components embedded in amphibious unmanned vehicle (AUV) in one embodiment of the present disclosure.[0009] Fig 3A is a perspective view of deployable solar panels in one embodiment of the present disclosure.[0010] Fig 3B is a schematic diagram of deployable solar panels when AUV is on land in one embodiment of the present disclosure.[0011] Fig 3C is a schematic diagram of foldable solar panels when AUV changes mode in one embodiment of the present disclosure.[0012] Fig 3D is a schematic diagram of deployable solar panels when AUV is under water in one embodiment of the present disclosure.[0013] Fig 4 is example representation of servo motor in one embodiment of the present disclosure.[0014] Fig 5A is a schematic representation of the AUV above sea level in one embodiment of the present disclosure.[0015] Fig 5B is a schematic representation of the AUV below sea level in one embodiment of the present disclosure.[0016] Fig 6A depicts a perspective view of the AUV in air in one embodiment of the present disclosure.[0017] Fig 6B depicts a top view of the AUV when on air in one embodiment of the present disclosure.[0018] Fig 7A depicts a perspective view of AUV on land in one embodiment of the present disclosure.[0019] Fig 7B depicts a top view of AUV when on land in one embodiment of the present disclosure. DETAILED DESCRIPTION [0020] Fig 1 is an exemplary block diagram illustrating various aspects of present disclosure in an embodiment. The block diagram comprises amphibious unmanned vehicular system (AUV) 100, rotor 101, rotor connectors 102, solar panel 104, solar panel foldable hinges 103, wheels 106, hinge mechanism 106, distance meter 107, antenna 108, pilot system 109, microcontroller controller coding mechanism 110, ultrasonic sensor 111, GPS 112, electronic speed control system 113, thermal camera 114, air chambers 115, battery 116 and rotor control mechanism 117.[0021] According to the present disclosure, the AUV 100 is a system configured with various components to attain the monitoring system for security reasons for all terrain modes. The rotor 101 is a motor may be used to lift and propel the vehicle system. In one embodiment, the use of four rotors allows each individual rotor to have a smaller diameter. The four rotors may give the propulsion when vehicle system is in water. The rotor connectors 102 is a rotatable rotor holders may be used to movement of the rotor 101 or motors. The solar panel 104 may be used to charge the battery 116. The wheels 105 are responsible for the movement of the vehicle system in land mode. The AUV 100 is shown as an exemplary representation in blocks. Each is further described below.[0022] The AUV 100 consists hinge mechanism 106 is configured in the vehicular system for the foldable movements for the vehicle convenience to adjust with all the modes. The hinge mechanism also may be configured to foldable solar panels for the movement of solar panels to change mode from land to air or water and vice versa. The hinge mechanism not limited to solar panels but also motor rotation etc. The AUV 100 consists distance meter 107 may be send out a finely focussed pulse of light to the target or the object and detects the reflection. The meter measures the time between those two events, and converts this to a distance. However, the laser range finding may be works on the time of flight principle or triangulation principle by sending a laser pulse in a narrow beam towards the object and measuring the time taken by the pulse to be reflected off the target and returned to the sender.[0023] The antenna 108 is an electrical device which converts electric power into radio waves and vice versa. In another embodiment of the present disclosure, the antenna 108 may be embedded into the AUV 100 and remote as well for the communication from the AUV 100 to the command centre which is the centre for all the information received from the AUV 100 is traced. The antenna may be responsible for the commands to receive from command centre to the AUV 100 or to send command from AUV 100 to the command centre as well. The command centre sends the command to the AUV 100 for example, to change the direction of vehicle system or for the photographs of the environment in the coastal areas or for military purpose. The command is received from the antenna 108 from the command centre and further processed by the pilot system 109 of the UAV 100. The working of pilot system 109 is further described below.[0024] The pilot system 109 is a main unit receives the command from the command centre through antenna 108 for the various operations such as monitoring foreign objects, security for coastal areas without human intervention. In another embodiment of the present disclosure the pilot system 109 typically consists of ardupilot atmega 8 microcontroller. The AUV 100 may be a quadcopter vehicle which is operated to fly, float or roll in land independently. The pilot system 109 may be flight control board for AUV. The purpose is to stabilize the AUV during flight or in motion of the vehicle. To perform the actions, the input is the signals from the three gyros (roll, pitch and yaw angles) on the board and feeds the information into the integrated circuit board (Atmega IC). The information may be processed by the microcontroller or the pilot system 109 according to the coding mechanism 110 and sends out a control signal to the electronic speed controller (ESC) 113 which may be plugged on to the board and also connected to the rotor 101. In another embodiment of the present disclosure, depending upon the signal from the pilot system 109, the ESC 113 may vary the speed of rotors 101 in order to establish the stability to control the AUV 100. In another embodiment of the present disclosure, the pilot system 109 also receives the control signal from the remote control or from the command centre and feeds into the pilot system 109 or the microcontroller. [0025] The microcontroller coding mechanism 110 may be programs that are specifically built for the pilot system 109. According to the vehicle requirements the coding mechanism is altered in the microcontroller or the pilot system 109. [0026] The ultrasonic sensor 111 is indeed transreceivers and has both sense and transmit features. The ultra sonic sensors 111 evaluate the target or the object by interpreting the echoes form radio or sound waves. Active ultras sonic sensors generate high frequency sound waves and evaluate the echo which is received back by the sensor measuring the time interval between sending the signal and receiving the echo to determine the distance to an object.[0027] The global positioning system (GPS) 112 is a space based satellite navigation system that provides location and time information in all weather conditions all over the globe. The GPS receivers 112 may be configured to the AUV for the position information of the AUV or the target object which may be later identified by the command centre. The GPS 112 configured to the AUV recognizes the position information in real time wherein AUV system control is based on the positional information.[0028] The electronic speed controller (ESC) 113 is a component that varies the rotational speed or changes to the direction of the shaft of an electric motor. In another embodiment of the present disclosure, ESC 113 is a component in AUV 100 and in connected to the rotor 101 which receives high current and direct current from the power source and also motor drive signal to pilot system 109.[0029] The thermal camera 114 is a component in AUV 100 that forms an image using infrared radiation. Using camera 114 may be used for the identification of the unwanted objects or threats near the sea shores and also the live image as well as video may be send to command centre for the further investigation. In another embodiment of the present disclosure, thermal camera 114 may be process the images and sends to the command centre without human intervention and later the unwanted objects that are received from the camera are monitored by the command centre.[0030] In one embodiment of the present disclosure, rotor 101 may be surrounded by the drums for the safety purpose and also configured with the air chambers 115. The air chambers are necessary to fill the drums with water when AUV changes the mode from different modes for example, above sea level to under water and vice versa. The air chambers 115 are primarily required for the UAV to make system adjustment for the various modes. The air chambers 115 are filled with water so that the weight of the drums surrounded increases to make the AUV 100 to merge inside water.[0031] The battery 116 is a component in AUV 100 and is required for the pilot system 109, thermal camera 114, rotor 101 and ultrasonic sensor 111 etc for the sufficient power supply to the AUV 100. The solar panel 104 receives the solar energy and is saved in battery for the future usage.[0032] The rotor control mechanism 117 is maintained by ESC 113. According to one embodiment, each rotor 101 produces a thrust and a torque about its centre of rotation and these forces are used to movement of AUV 100. Two rotors mounted on opposite arms of AUV 100 or the quadcopter are set into clock wise and the another anticlockwise. The orientation of motors and their direction of rotation cancels all the torque generated given the speed of the rotors are same. In another embodiment of the present disclosure, a change of the speed of the other two rotors is same and also creates yaw motion according to the direction. Similarly, pitch and roll movements are gained by changing the speed of different rotors. Various components embedded in AUV 100 are further briefly described below.[0033] Fig 2 is block diagram illustrating various components embedded in amphibious unmanned vehicle (AUV) in one embodiment of the present disclosure. As shown there, the diagram comprises the amphibious unmanned vehicle (AUV) 200. The AUV consist four rotors 201, antenna 202, electronic speed controller 203, a battery 204, a microcontroller ardupilot mega 205, solar panels 206, an ultrasonic sensor 207 and a thermal camera 208. [0034] As shown rotors 201 controlled through the ESC 203. The AUV 200 is lifted and propelled by four rotors. Control of vehicle motion is achieved by altering the pitch or rotation rate of one or more discs and thereby changing the torque load and thrust/lift characteristics. The AUV 200 has four rotors and speed of rotation and direction of rotation changes according to the commands from the command centre. In another embodiment of the present disclosure, the rotation of rotors changes as per the transmitted signal controlled from ESC 203. The coding mechanism may be written in the microcontroller ardupilot mega 205. Then signal from microcontroller ardupilot mega 205 goes to ESC 203 which in turn controls the speed of rotor 201. In one embodiment of the present disclosure, the AUV 200 may not require mechanical linkages to vary the rotor blade pitch angle as they pin which also simplifies the design and maintenance of the vehicle. The use of four rotors allows each individual rotor to have a smaller diameter which leads to possess less kinetic energy during movement.[0035] ESC 203 is a component of AUV 200 and receives the high current, direct current electric power from the battery 204. The ESC 203 is responsible for the high current electric power to an electric motor. In another embodiment of the present disclosure, ESC 203 receives a control signal from microcontroller ardupilot mega 205 on an AUV 200. [0036] The battery 204 is an electro chemical device capable of storing electrical energy and delivering electrical to all the components of AUV 200 for the smooth work. The solar panels 206 may receive the solar energy and converts the solar energy to electrical energy. The power may be stored in battery 204 for the supply of power source to the components in AUV 200 such as rotor 201, thermal camera 209, ultrasonic sensor 207 etc.[0037] Ardupilot mega 205 is a component in AUV 200 and also a professional quality autopilot that is based on ardino mega platform and may control the multi rotor vehicles. The ardupilot mega is a pilot system in AUV 200. In another embodiment of the present disclosure, a program or software running on the command centre that receives telemetry information from an AUV 200 and displays progress and status, often including video or images or other sensor data. The controller ardupilot mega 205 is configured to process the information from the command centre to the AUV 200 through antenna 202. The signals sent from the command centre are received from the ardupilot mega 205 through antenna 202 and also to send back the information to the command centre. [0038] According to another aspect of the present disclosure, the AUV 200 consist ultrasonic sensors for the altitude identification and may be connected to the ardupilot mega 205 wherein the pilot system or the ardupilot mega 205 sends the received information from the ultrasonic sensor 207 to the command centre through antenna 202. The thermal imaging camera 208 connected to the ardupilot mega 205 may identifies the beyond unwanted objects for example threats from coastal areas etc. The thermal camera 208 captures the images or video footages of the objects and monitors without the human intervention and then later sends the information to the command centre for the further investigation which is handled by ardupilot mega 205 through antenna 202. The working of the AUV is further described below.[0039] Fig 3A is a perspective view of deployable solar panels in one embodiment of the present disclosure. The deployable solar panels 300 is configured with the amphibious unmanned vehicle (AUV) in such a way that foldable solar panels adjusts with all environments such as land, water and air media. The solar panels are configured with folding mechanism. In one embodiment, six solar panels as in three on each side are configured to fold back when vehicle is in motion. Rope and pulley mechanism may be employed to the solar panels powered by motor. High tension created through solar panels which allow the solar panels to lay flat and also increase in surface area supports buoyancy. In another embodiment of the present disclosure, solar panels are water resistant and may generate power not limited to 5W wherein the power later stored in battery for the future use. The positions of solar panels on various modes are further described below.[0040] Fig 3B is a schematic diagram of deployable solar panels when AUV is on land in one embodiment of the present disclosure. The solar panel is flexible and is configured with the hinge, rope and pulley mechanism. The solar panels may be fold back when not in use. As shown, the solar panels are folded. In another embodiment, when the AUV is on land or the rotors are above sea level.[0041] Fig 3C is a schematic diagram of foldable solar panels when AUV changes mode in one embodiment of the present disclosure. In one embodiment of the present disclosure, according to the command from the command centre, the AUV changes the mode such as from air to water mode vice versa or air to land mode vice versa etc. As shown, solar panels are deployable and changing the mode to different mode.[0042] Fig 3D is a schematic diagram of deployable solar panels when AUV is under water in one embodiment of the present disclosure. As shown, the solar panels are floating on sea level when AUV is under water. In another embodiment, the air chambers present in AUV may filled with water to make the AUV heavy weight to sink in water wherein the solar panels are light weight and float on water. The change of modes is further described below.[0043] Fig 4 is example representation of servo in one embodiment of the present disclosure. The diagram comprises servo motor 400 and shaft 405. The shaft 405 is moved with the connectors to change the direction and mode. The changes of modes is mainly happens because of twisting of servo 400. The servos 400 are electrical motors where rotation of the motor is required for a certain angle. The servos 400 also provides angular precision and is configured to control the speed of the AUV which is command based from the remote control through antenna. The working procedure of AUV in water is further described below. [0044] Fig 5A is a schematic representation of the AUV above sea level in one embodiment of the present disclosure. As shown there, the diagram comprises deployable solar panels 501, rotor 502, AUV 503 and wheels 504. The AUV 503 consists of mechanisms that are required for the vehicle to move. The wheels 504 are essential for the movement in land. The solar panels 501 are folded back when not in use and may be deployable for the required conditions. The AUV 503 consists of antenna to receive signals from the command centre. According to one embodiment of the present disclosure, the command received from the command centre which is received through antenna sends the signals to controller pilot system and by which the AUV 503 starts to move. Initially, the motor starts working and when the AUV on above sea level air chambers are empty thus the rotors are above sea level. Thus makes the vehicle system convenient to monitor the specific area and sends the information back to the command centre. The vehicle system when sink on water is further described below.[0045] Fig 5B is a schematic representation of the AUV below sea level in one embodiment of the present disclosure. As shown there, diagram consist solar panels 501 above sea level and floating on water. The air chambers in AUV 503 may be filled with water which makes the vehicle system heavy so that it sinks on water. The wheels 504 are necessary for movement and AUV receives the signals from the command centre which works according to the command. The rotor 502 is required to alter the speed. The direction of the vehicle system may be altered by varying the speed of fan of diagonal elements of rotor 502. The change of rotor direction according to change in modes is further described below.[0046] Fig 6A depicts a perspective view of the AUV in air in one embodiment of the present disclosure. As shown there, the vehicle system consist of four rotors 600, 601, 602 and 603 respectively. The diagonal elements 600 and 602 or 603 and 601 may be rotating in clock wise direction to changes the direction. Either of the diagonal elements rotates in clock wise directions. When the vehicle system is on air, the rotor may be turned upwards perpendicular to the AUV and the wheel. According to one embodiment of the present disclosure, initially the vehicle system during fly towards air, the rotor 600 and 602 will rotate in clock wise direction and the rotors 601 and 603 will rotate in anti clock wise direction which gives upward thrust to the vehicle system to fly. In another embodiment due to gravity the vehicle system moves downwards while landing to the ground.[0047] Fig 6B depicts a top view of the AUV when on air in one embodiment of the present disclosure. As shown there, the four rotors 600, 601,602 and 603 respectively are perpendicular to the ground or to the AUV. The four rotors face upwards and diagonal rotors 600 and 602 or 601 or 603 rotates simultaneously in clockwise direction. The servo 604 causes the changes in modes. As shown, the servo 604 represents the position when vehicle system present on air or in flying mode.[0048] Fig 7A depicts a perspective view of AUV on land in one embodiment of the present disclosure. As shown there, the perspective view of vehicle system or AUV comprises four rotors 700, 701, 702 and 703 respectively. The changes in direction may be made by the motors rotation by supplying the power supply. In another embodiment of the present disclosure, movement to right side and left side or forward and backward may be employed using the rotors. The diagonal rotors rotation causes the change in direction towards the required direction. The command centre may have access to change the commands by sending the signals to change the direction of the AUV or vehicle system. [0049] Fig 7B depicts a top view of AUV when on land in one embodiment of the present disclosure. As shown there, the four rotors 700, 701, 702 and 703 respectively represents the top view of the vehicle system when on land. The vehicle system will roll for the movement when on land. The rotor position in horizontal to the when the vehicle system is monitoring on land.[0050] The AUV is responsible for the monitoring of the environment without the human intervention or the vehicle system may be controlled by the automatic pilot system to achieve the necessary targets received from the command centre.[0051] While various embodiments of the present disclosure have been described above, it should be understood that they have been presented by way of example only, and not limitation. Thus, the breadth and scope of the present disclosure should not be limited by any of the above-discussed embodiments, but should be defined only in accordance with the following claims and their equivalents. CLAIMS I/We Claim,1. A vehicle comprising:a frame structure supporting and integrating parts of the vehicle;a set of rotors attached to the frame structure through hinges such that the rotors are aliened parallel to the frame or perpendicular to the frame; a set of wheels attached to the frame structure;a set of air chambers to enable the vehicle to float on water; anda central control unit operative to control parts of the vehicle, wherein the frame structure move laterally over land when rotor axis is parallel to the axis of the wheel and move vertically when the rotor axis perpendicular to the axis of the wheel. 2. The vehicle of claim 1, further comprising:a thermal camera configured to monitor the environment;a Global positioning system (GPS) configured to determine position of the device;an ultra sonic sensor configured to detect the movement of target object;a distance meter is configured to find the distance between target objects; a solar cell is configured for the power generation;a pilot system configured to control the movement mechanism;an air chambers configured to make the vehicle light weight and float on water; anda multi rotor is configured for the movement of amphibious unmanned vehicle (AUV).3. The vehicle of claim 2, wherein the pilot system is further configured to receive the signals through antenna to control the AUV.4. The vehicle of claim 3, wherein the solar cell further comprising adjustable hinges according to the environment and movement of the AUV to generate the solar power for the AUV. 5. The vehicle of claim 2, wherein multi rotor further comprising air duct fans configured to propel and lift by four rotors.6. The vehicle of claim 2, wherein the rotor comprising servo motors provides rotor turning mechanism and propulsion wherein rotor further comprising wheels configured to attain traction.7. Method, system, and apparatus providing one or more features as described in the paragraphs of this specification.Date: 04-06-2015 Signature………………………