• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    SYSTEM. An aerial unit, a method and a system are provided, in which the system includes a ground unit; an air unit; and a connecting element arranged to connect the ground unit to the air unit. The ground link can include (a) a connecting element manipulator, to change an effective length of the connecting element. The effective length of the connecting element defines a distance between the ground unit and the aerial unit, (b) a ground unit controller to control the connecting element manipulator; and (c) a positioning unit arranged to acquire images of the air unit and generate metadata about a location of the air unit. The air unit may include (i) a first propeller; (ii) a frame; (iii) a first propeller engine that is configured to rotate the first propeller around a first axis. The first propeller motor is connected to the frame; at least one steering element, (iv) an interfacing module to attach a load to the air unit. At least one between the ground unit and the air unit can include a controller that is willing to control, by (...).
    公开号:BR112013007255B1
    申请号:R112013007255-5
    申请日:2011-11-10
    公开日:2021-01-19
    发明作者:Gabriel Schachor；Shy Cohen；Ronen Keidar
    申请人:Sky Sapience；
    IPC主号:
    专利说明:

    RELATED PATENT APPLICATIONS
    [001] This patent application claims the priority of U.S. Provisional Patent 61/412816, filing date November 12, 2010, which is incorporated into this document by reference. FIELD OF THE INVENTION
    [002] The invention relates to systems, air units and method for lifting loads through the air unit. BACKGROUND OF THE INVENTION
    [003] Previous techniques of observation and signaling equipment at height (such as observation cameras) are connected to a base unit using a mast made of rigid metal construction or other rigid materials that support the equipment.
    [004] The mast implements large amounts of moments at the base due to its significant height. For example, each Kg of wind pressure force at the top of a 30 meter high mast will implement a moment of about 30 Kg in one meter on the platform, and a pressure of around 150 Kg in a base construction of 20 cm in typical diameter. Thus, a heavy vehicle is necessary to support the equipment with its supporting construction.
    [005] In addition, the process of lifting the equipment to the target altitude is time consuming and requires teamwork. Balloons and tactical masts suffer from long spreading times, long folding times, large size (about 1 cubic meter of Helium for 300 grams of load and balloon), poor stability, and require highly trained operators.
    [006] There is a need for a simpler system and method for lifting equipment for observation or signaling at height, such as an observation camera. SUMMARY
    [007] According to an embodiment of the invention, a system is provided, and can include a ground unit; an air unit; and a connecting element arranged to connect the ground unit to the air unit. The ground unit can include a connecting element manipulator, to change an effective length of the connecting element, the effective length of the connecting element defines a distance between the ground unit and the aerial unit; a ground unit controller for controlling the connecting element manipulator; and a positioning unit arranged to capture images of the air unit and generate metadata about an air unit location. The air unit may include a first propeller; a frame; a first propeller motor that is configured to rotate the first propeller around a first axis, the first propeller motor is connected to the frame; and at least one element of direction. At least one of the ground unit and the air unit can include a controller that is arranged to control, at least in response to metadata, at least one of the first propeller engine and at least one steering element to affect at least one between the location of the air unit and the orientation of the air unit.
    [008] The positioning unit can include a single video camera.
    [009] The positioning unit can include multiple video cameras, and at least two optical axes of at least two video cameras are oriented in relation to each other.
    [010] The positioning unit can include a video camera that can be close to the point at which the connecting element can be connected to the ground unit.
    [011] The positioning unit can include a video camera that can be positioned remotely to the connecting element manipulator.
    [012] The positioning unit can include an image processor that can be arranged to determine a location of the air unit in relation to a desired location, and generate location metadata indicative of position corrections that must be made to position the air unit. in the desired location.
    [013] The connecting element can be a flexible cable that can be kept in a tensioned state while the air unit can be in the air.
    [014] The aerial unit can be arranged to be maneuvered in relation to the flexible cable, when the flexible cable can be maintained in the tensioned state.
    [015] The system can include a connector that connects the flexible cable to the air unit while allowing the aerial unit to move in relation to the flexible cable.
    [016] The system can include an electronic interface unit that can be positioned below the connector and can be arranged to send power commands to the first motor.
    [017] The system can include a second propeller that can be arranged to rotate around a second axis; the first and second axes are concentric.
    [018] The frame can at least partially surround the propeller.
    [019] The system can include additional propellers and additional propeller engines that are arranged to rotate the additional propellers; each additional propeller can be positioned outside the frame; the controller can be additionally arranged to control additional propeller motors.
    [020] Additional propellers can be arranged in a symmetrical manner around the first propeller.
    [021] The additional propellers are smaller than the first propeller.
    [022] The additional propeller engines and the first propeller engine form a group of propeller engines; and the controller can be arranged to independently control at least two propeller engines from the propeller engine group.
    [023] The controller can be arranged to independently control each propeller motor in the propeller motor group.
    [024] The controller can be arranged to control an additional propeller motor to rotate clockwise and to control another additional propeller motor to rotate counterclockwise.
    [025] The at least one steering element may include additional propellers.
    [026] The controller may be arranged to change at least one of an air unit's location and orientation by controlling a thrust of at least two propellers from a group of propellers that may include the additional propeller and the first propeller.
    [027] The controller can be arranged to execute the yaw direction by controlling the first propeller and at least one steering element that differs from the additional propellers; the controller can be arranged to perform the tilt and rotation direction by controlling at least two additional propellers.
    [028] The controller can be arranged to execute the yaw direction by controlling a thrust of the first propeller and a thrust of at least one steering element that differs from the additional propellers; the controller can be arranged to perform the tilt and rotation direction by controlling the thrusts of at least two additional propellers.
    [029] The system can include a group of propellers that can include the first propeller, four additional propellers and a second propeller that rotates about a second axis that can be concentric to the first axis; three propellers in the propeller group rotate clockwise and three other propellers in the group rotate counterclockwise.
    [030] The controller can be arranged to control a change of at least one of a location and orientation of the air unit by changing at least one thrust of at least one propeller in the group while keeping the direction of rotation of the propellers in the group unchanged.
    [031] The positioning unit can be arranged to generate location metadata about a location of the air unit, and the air unit can include an orientation sensor arranged to generate orientation metadata about the orientation of the air unit.
    [032] Metadata can include location metadata and guidance metadata, and the controller can be arranged to control, at least in response to metadata, at least one of the first propeller engine and at least one steering element for affect at least one of the location of the air unit and the orientation of the air unit.
    [033] The frame at least partially surrounds the propeller; the system can include additional propellers and additional propeller engines that are arranged to rotate the additional propellers; each additional propeller can be positioned outside the frame; the controller can be additionally arranged to control additional propeller engines; and the additional propeller engines are connected to additional frames; the additional frames are coupled to the frame by coupling elements that allow movement between the frame and the additional frames.
    [034] The coupling elements can facilitate movement of the additional frames, from a closed to an open condition; when the additional frames are in an open condition, the additional frames and the frame do not overlap, and when the additional frames are in a closed condition, the additional frames and the frame overlap.
    [035] An air unit may be provided and may include a first propeller; a frame; a first propeller motor that can be configured to rotate the first propeller around a first axis. The first propeller motor can be connected to the frame; an interfacing module for attaching a load to the air unit; additional propellers and additional propeller engines that are arranged to rotate the additional propellers; each additional propeller can be positioned outside the frame.
    [036] Additional propellers can be arranged in a symmetrical manner around the first propeller.
    [037] Additional propellers may be smaller than the first propeller.
    [038] Additional propeller engines and the first propeller engine can form a group of propeller engines; and the air unit may include a controller that can be arranged to independently control at least two propeller engines from the propeller engine group.
    [039] The controller can be arranged to independently control each propeller motor in the propeller motor group.
    [040] The controller can be arranged to control an additional propeller motor to rotate clockwise and to control another additional propeller motor to rotate counterclockwise.
    [041] The controller may be arranged to change at least one of an air unit's location and orientation by controlling a thrust of at least two propellers from a group of propellers that may include the additional propeller and the first propeller.
    [042] The controller can be arranged to execute the yaw direction by controlling the first propeller and at least one steering element that differs from the additional propellers; the controller can be arranged to perform the tilt and rotation direction by controlling at least two additional propellers.
    [043] The controller can be arranged to execute the yaw direction by controlling a thrust of the first propeller and a thrust of at least one steering element that differs from the additional propellers; the controller can be arranged to perform the tilt and rotation direction by controlling the thrusts of at least two additional propellers.
    [044] The air unit can include a group of propellers that can include the first propeller, four additional propellers and a second propeller that rotates about a second axis that can be concentric to the first axis; three propellers in the propeller group rotate clockwise and three other propellers in the group rotate counterclockwise.
    [045] The air unit can include a controller that can be arranged to control a change of at least one of an air unit's location and orientation by changing at least one thrust of at least one propeller in the group while maintaining rotation directions of the propellers of the group unchanged.
    [046] The positioning unit can be arranged to generate location metadata about a location of the air unit, and the air unit can include an orientation sensor arranged to generate orientation metadata about the orientation of the air unit.
    [047] Metadata can include location metadata and guidance metadata, and the controller can be arranged to control, at least in response to the metadata, at least one of the first propeller engine and at least one steering element for affect at least one of the location of the air unit and the orientation of the air unit.
    [048] The frame at least partially surrounds the propeller; the system can include additional propellers and additional propeller engines that are arranged to rotate the additional propellers; each additional propeller can be positioned outside the frame; the controller can be additionally arranged to control additional propeller engines; and additional propeller engines can be connected to additional frames; the additional frames can be attached to the frame by coupling elements that allow movement between the frame and the additional frames.
    [049] The coupling elements facilitate the movement of the additional frames, from a closed to an open condition; when the additional frames can be in an open condition, the additional frames and the frame do not overlap, and when the additional frames can be in a closed condition, the additional frames and the frame overlap.
    [050] In accordance with an embodiment of the invention, a method for controlling an air unit may be provided, and may include tracking an air unit's location by a positioning unit that does not belong to the air unit; determining the relationship between an actual location of the air unit and a desired location; and sending, to the air unit, positioning commands that affect the location of the air unit.
    [051] The method can be applied to an air unit that includes a first propeller; a frame; a first propeller motor that can be configured to rotate the first propeller about a first axis, where the first propeller motor can be connected to the frame; an interfacing module for attaching a load to the air unit; and additional propellers and additional propeller engines that are arranged to rotate the additional propellers; where each additional propeller can be positioned outside the frame. BRIEF DESCRIPTION OF THE DRAWINGS
    [052] The additional features and advantages of the invention will become evident from the detailed description below. The invention is described in this document, by way of example only, with reference to the accompanying drawings, in which: Figure 1 is an overview of a system according to an embodiment of the invention; Figure 2 is an overview of a system according to an embodiment of the invention; Figure 3 is an overview of a system according to an embodiment of the invention; Figure 4 is an overview of a system according to an embodiment of the invention; Figure 5 is an overview of a video camera system and field of view according to an embodiment of the invention; Figure 6 is an overview of a system according to an embodiment of the invention; Figure 7 is an overview of a system according to an embodiment of the invention; Figure 8 is an overview of an aerial unit of a system according to an embodiment of the invention; Figure 9 is an overview of an aerial unit of a system according to an embodiment of the invention; Figures 10A to 10D are general views of aerial units of systems according to embodiments of the invention; Figure 11 is an overview of an aerial unit of a system according to an embodiment of the invention; and Figure 12 is a flow chart of a method according to an embodiment of the invention. DETAILED DESCRIPTION OF THE DRAWINGS
    [053] A system is provided. The system can be used for the height spreading of observation and signaling equipment, antennas, transmission station, anti-terrorist surveillance, and the like. The system can be light, compact and portable and can include a ground unit and an aerial unit. The orientation and location (displacement) of the air unit can be controlled within four degrees of freedom, maintaining a built-in stability. The system can be automatically and easily implemented and folded.
    [054] Several applications can use the system, for example: observation, height photography, a transmitter / receiver, location marking (by a projector or laser), antennas, etc.
    [055] Various embodiments of systems 100 to 106 are illustrated in figures 1 to 7. Systems 100, 102, 103, 104 and 105 of figures 1, 3, 4, 5 and 6 are illustrated including a single video camera 232.
    [056] Systems 101 and 106 of figures 2 and 7 have two video cameras 232 and 234. It should be noted that each system can have more than two video cameras.
    [057] Systems 100, 101, 102 and 104 of figures 1, 2, 3 and 5 are illustrated having a single propeller air unit 310 (and also include a steering element which may be a second propeller and is not shown ).
    [058] The system 103 in figure 4 has a pair of propellers 310 and 330 that rotate around concentric axes.
    [059] Systems 105 and 106 of figures 6 and 7 include a pair of main propellers 310 and 330, as well as additional propellers 340, 342, 344 and 346.
    [060] System 102 of figure 3 is illustrated having an aerial unit that includes a 370 orientation sensor.
    [061] Air units 301, 302 and 304 of figures 8 to 11 are illustrated including a pair of propellers, as well as four additional propellers. These figures illustrate different folding arrangements for the four additional propellers. Figures 10A to 10D illustrate a rotation within an imaginary horizontal plane, while figure 11 illustrates a rotation within a vertical plane. Figure 10A is a top view of air unit 302 in an open configuration. Figure 10B is a top view of the air unit 302 in a closed configuration. Figure 10C is a side view of air unit 302 in a closed configuration where additional propellers (for example, 322 and 326) are located below the first and second propellers 310 and 330. Figure 10D is a side view of air unit 302 in a closed configuration where additional propellers (for example, 322 and 326) are located between the first and second propellers 310 and 330.
    [062] Any combinations of components from each of the systems can be provided. The same applies to the air unit. For example, any of the systems 101 to 107 can be equipped with any of the aerial units 300, 302 and 304. However, for another example, each system can include one or more video cameras, one or more orientation sensors and the like .
    [063] A system may be provided and may include a ground unit 200, an aerial unit 300, 302 and 304 and a connecting element 400 arranged to connect the ground unit 200 to the aerial unit 300, 302 and 304.
    [064] The ground unit 200 may include a connecting element manipulator 201, a base 022 and a ground unit controller 203 (collectively referred to as 210).
    [065] The connecting element manipulator 201 is for changing the effective length of the connecting element 400. The effective length of the connecting element 400 defines a distance between the ground unit 200 and the aerial unit 300, 302 and 304.
    [066] The connecting element 400 can be a fixable cable that is kept in a tensioned state, while the aerial unit 300, 302 and 304 is kept in the air.
    [067] The aerial unit 300, 302 and 304 can be arranged to be maneuvered in relation to the flexible cable, when the flexible cable is kept in the tensioned state.
    [068] The flexible cable can include an electrical cable and a communication cable. These cables can be coiled or otherwise surrounded by a flexible cable that provides mechanical connectivity between the ground unit and the air unit.
    [069] The flexible cable is expected to physically bind and secure the overhead unit and electrically connect the ground unit and overhead unit for power and communication. The aerial unit and the flex cable do not require a special vehicle for support, as any van or relatively light vehicle may be suitable. Lighter versions of the system can even be carried out by one person and even installed inside a backpack.
    [070] The flexible cable (once completely released) can be 30 m long to obtain a good observation, however other lengths can also be used. The lifting and landing time of the air unit is about 10 seconds. The air unit can be configured to hold a load of 1 to 5 kilos (although heavier or lighter loads can be lifted by the air unit), it can have a low heat emission and can generate little noise. It is noted that flexible cables of other lengths can be used.
    [071] Base 202 is for receiving the air unit and even for storing the air unit when the air unit is in its lowest position (ground position).
    [072] Ground unit controller 203 is for controlling connection element manipulator 201.
    [073] The ground unit 200 also includes a positioning unit 230 which is arranged to take images of the air unit and generate metadata about a location of the air unit. The position unit is illustrated in Figure 1 including a video camera 232 and an image processor 238. It can include multiple video cameras (as shown in figures 2 and 7). Metadata can refer to the location of the air unit, the orientation of the air unit, or both. It has been found that image processing can be simplified by making the single video camera detect the location of the air unit, while an orientation sensor (370 in Figure 3) can detect the orientation of the air unit.
    [074] In accordance with various embodiments of the invention, several air units 300, 302 and 304 are provided. These air units can differ from each other by the number of propellers (second propeller 330, additional propellers 340, 342, 344 and 346 as their propeller engines), by the existence of a 370 orientation sensor, by the way in which the load is connected (to the air unit or to the connecting element 400), by the way in which the additional propellers (if any) converge when the air unit is in a closed position, by the number, the shape and the size of the additional propellers and similar, by the type of electronic circuits that are included in the aerial unit - of a controller having only control wires and power lines that transmit power and instructions to various propeller engines.
    [075] Any of the aerial units 300, 302 and 304 can include (a) a first propeller 310, (b) a frame 320, (c) a first propeller engine 312 that is configured to rotate the first propeller 310 around of a first axis, in which the first propeller motor 312 is connected to the frame 320, and (d) at least one steering element. The at least one steering element may be a second propeller 330, one or more additional propellers 340, 342, 344 and 346, or any other steering element, such as movable shelves.
    [076] At least one of the ground unit and the aerial unit 300, 302 and 304 may include a controller (such as a controller 500) that is arranged to control, at least in response to metadata, at least one among the first propeller engine 312 and at least one steering element to affect at least one of the location of air unit 300, 302 and 304 and the orientation of air unit 300, 302 and 304.
    [077] For simplicity of explanation, controller 500 is illustrated as part of ground unit 200, however this is not necessary.
    [078] As indicated above, the positioning unit can include a single video camera (232), several video cameras (232, 234), and at least two optical axes of at least two video cameras are oriented in relation to each other to the other.
    [079] The video camera 232 can be close to the point at which the connecting element 400 is connected to the ground unit - as shown, for example, in Figure 1.
    [080] The camcorder can be positioned remotely to the connection element manipulator 201.
    [081] The 238 image processor can be arranged to determine a location of the air unit in relation to a desired location, and generate location metadata indicative of position corrections that must be made to position the air unit at the desired location. Location metadata can include positioning commands, the desired correction to be applied to return the air unit to a desired rotation, and the like.
    [082] Figure 7 illustrates a connector 410 (such as a gasket) that couples flexible cable 400 to aerial unit 300, 302 and 304 allowing aerial unit 300, 302 and 304 to move relative to flexible cable 400.
    [083] Figure 7 additionally illustrates an electronic interface unit 420 that is positioned below connector 410 and is arranged to send power commands to the first motor. The electronic interface unit 420 can send commands to the various propeller engines in a format that is compatible with the format acceptable to these different propeller engines. The positioning of the electronic interface unit 420 outside the air unit and without being supported by the air unit has reduced the weight of the air unit and makes it easier to guide and manipulate.
    [084] Figures 4 and 7 to 11 illustrate a second propeller 330 that is arranged to rotate about a second axis; where the first and second axes are concentric. The aerial unit's yaw direction can be facilitated by controlling the thrust of each of the first and second propellers 310 and 330, as illustrated by arrow 930 in Figure 9.
    [085] The frame 320 at least partially surrounds the first propeller 310.
    [086] In accordance with an embodiment of the invention, the system includes additional propellers 340, 342, 344 and 346, as well as additional propeller engines 350, 352, 354 and 356 which are arranged to rotate the additional propellers.
    [087] Each additional propeller is positioned outside frame 320. Controller 500 can be additionally arranged to control additional propeller motors.
    [088] Additional propellers can be arranged in a symmetrical manner around the first propeller 310.
    [089] Additional propellers 340, 342, 344 and 348 may be smaller than the first propeller 310
    [090] The different propeller motors can be independently controlled by controller 500. Controller 500 can independently control at least two of the propeller motors. Thus, the thrust and direction of such engines may differ from each other.
    [091] Controller 500 may be arranged to control an additional propeller motor to rotate clockwise and to control another additional propeller motor to rotate counterclockwise. Figure 9 illustrates three propellers that rotate clockwise (920) and three other propellers that rotate counterclockwise (901).
    [092] Controller 500 can change at least one of the location and orientation of an air unit 302, 304 by controlling a thrust of at least two propellers from a group of propellers that includes the additional propeller and the first propeller.
    [093] Controller 500 can execute the yaw steering by controlling the first propeller 310 and at least one steering element (such as a second propeller 330) that differs from the additional propellers.
    [094] Controller 500 can perform the tilt (910) and rotation (920) direction by controlling at least two additional propellers.
    [095] Controller 500 can be arranged to control (when sending control signals) a change in at least one of a location and orientation of the air unit by changing at least one thrust of at least one propeller in the group while maintaining directions of rotation of the propellers of the group unchanged. An example is provided in Figure 9- the direction of rotation remains unchanged. The following table illustrates a relationship between differences in buoyancy and their meanings.

    [096] For example, in reference to the example defined in Figure 9, allowing the first propeller 310 to develop more thrust than the second propeller 330 will cause the air unit to rotate clockwise. Allowing the first additional propeller 340 to develop more thrust than the additional third propeller 330 will cause the air unit to rotate within an imaginary YZ plane, where rotation starts by lowering the additional third propeller 330 while raising the additional first propeller .
    [097] Several types of direction can be applied to define the air unit in a desired location, a desired orientation, or both. If, for example, the wind causes the air unit to float to a certain location, the direction can be applied to combat this fluctuation. Figure 5 illustrates a field of view 600 of video camera 232, a current location 620 of the air unit, a desired location 610 of the air unit and a vector 630 representing the desired location correction action.
    [098] However, for another example, direction can be applied to allow the air unit to complete a predefined flight pattern, such as a scan pattern, in which the air unit is directed along a scan pattern thus allowing your load to change its field of view according to a desired pattern.
    [099] Additional propeller motors 350, 352, 354 and 356 and additional propellers 340, 342, 344 and 346 can be positioned outside the frame 320. Additional propeller motors 350, 352, 354 and 356 can be connected to the additional frames 360, 362, 364 and 366. Additional frames 321, 322, 324 and 326 can be coupled to frame 320 by coupling elements 360, 362, 364 and 366 that allow movement between frame 320 and additional frames. [100] This movement is necessary to make it easier for the air unit to move between an open configuration (Figure 9, left side of Figure 10 and upper portion of Figure 11) to a closed configuration (right side of Figure 10 and lower portion of Figure 11). The coupling elements can be rods, arms, or any structural element that facilitates such movement. [101] When the additional frames are in an open condition, the additional frames 321, 322, 324 and 326 and the frame 320 do not overlap, and when the additional frames 321, 322, 324 and 326 are in a closed condition, the additional frames 321, 322, 324 and 326 and the frame 320 overlap. [102] Additional frames can change their positions from a horizontal position to a vertical position - when moving from an open position to a closed position - as shown in Figure 11, and especially by the dashed arrows 940. [103] Additional or alternatively , movement from a closed position to an open position can occur in a horizontal plane - as illustrated by the dashed arrows 930 in Figure 10. [104] The air unit can be in a closed position when close to the ground unit (at the beginning of the elevation process and at the end of the landing process). This can be done by activating engines that alter the spatial relationship between the frame and the additional frames or by disabling the additional propellers at the appropriate time. [105] Several figures, such as Figures 1 to 5, illustrate the ground unit 200 including a power source 240 and a user interface 260 that can allow a user to affect the control scheme, for example, by determining the location desired. User interface 260 may include a joystick (or other human-machine interface) for receiving positioning commands and, additionally or alternatively, for displaying the location of the air unit in relation to the desired location. [106] The power supplied to the aerial unit can also be used to energize the load 700. [107] The ground unit 200 can be positioned in a vehicle, such as a van and the aerial unit that carries a load (such as a or more types of equipment) and can rise to heights of about thirty meters within approximately ten seconds. It is observed that the air unit can lift the equipment to heights other than thirty meters and for a period other than ten seconds. [108] The system does not require physical support for the air unit that performs observation of heights, since the air unit supports itself. So - the flexible cable can be light, since it does not have to support the air unit. [109] Figure 12 illustrates a method 1200 according to an embodiment of the invention. [110] Method 1200 can start with a 1210 stage of tracking the location of an air unit by a positioning control unit that does not belong to the air unit. [111] Stage 1210 can be followed by stage 1220 to determine the relationship between the actual location of the air unit and a desired location. [112] Stage 1220 can be followed by stage 1230 of sending position commands to the air unit that affect the location of the air unit. The air unit can belong to a system as illustrated above. It can include, for example, a first propeller; a frame; a first propeller motor that is configured to rotate the first propeller about a first axis, wherein the first propeller motor is connected to the frame; an interfacing module for attaching a load to the air unit; and additional propellers and additional propeller engines that are arranged to rotate the additional propellers; where each additional propeller is positioned outside the frame. [113] Although the invention has been described in conjunction with specific realizations of it, it is evident that many alternatives, modifications and variations will become apparent to those skilled in the art, therefore, it is intended to adopt all such alternatives, modifications and variations that fit within the spirit and broad scope of the attached claims.
    权利要求:
    Claims (21)
    [0001]
    1. SYSTEM, characterized by comprising: a soil unit; an air unit; and a connecting element arranged to connect the ground unit to the air unit; wherein the ground unit comprises: a connecting element manipulator, for changing an effective length of the connecting element; wherein the effective length of the connecting element defines a distance between the ground unit and the air unit; a ground unit controller for controlling the connecting element manipulator; and a ground unit location sensor arranged to obtain ground unit position information indicative of a ground unit location; in which the air unit comprises: a first propeller; a frame; a first propeller motor that is configured to rotate the first propeller about a first axis, wherein the first propeller motor is connected to the frame; a connection element orientation sensor which is arranged to generate connection element orientation metadata indicative of a connection element orientation; at least one steering element; and an air unit location sensor that is arranged to generate connection air location information indicative of an air unit location; wherein at least one of the ground unit and the air unit comprises a controller that is arranged to control, in response to at least one of the connection element's orientation metadata, and a relationship between an air unit's location information and information on the location of the ground unit, at least one of the first propeller engine and at least one steering element to affect at least one of the location of the air unit and an orientation of the air unit.
    [0002]
    2. SYSTEM, according to claim 1, characterized in that the controller is arranged to control at least one of the first propeller engine and at least one steering element to reduce the horizontal displacement between the ground unit and the air unit below a predetermined limit horizontal displacement.
    [0003]
    3. SYSTEM, according to claim 1, characterized by the controller being willing to change the at least one of the location and orientation of the air unit only if the horizontal displacement between the ground unit and the air unit exceeds a tolerable limit horizontal displacement .
    [0004]
    4. SYSTEM, according to claim 1, characterized in that the aerial unit location sensor and the ground unit location sensor are sensors compatible with the global positioning system (GPS).
    [0005]
    5. SYSTEM, according to claim 1, characterized in that the air unit location sensor and the ground unit location sensor are arranged to calculate locations based on satellite signals.
    [0006]
    6. SYSTEM, according to claim 1, characterized by the controller being arranged to calculate, based on changes in values of the information of the location of the ground unit, a speed of the ground unit.
    [0007]
    7. SYSTEM, according to claim 6, characterized in that the controller is arranged to change at least one of the location and orientation of an air unit in response to the speed of the ground unit.
    [0008]
    8. SYSTEM, according to claim 6, characterized in that the controller is arranged to calculate, based on changes in the information values of the orientation of the air unit, a speed of the air unit.
    [0009]
    9. SYSTEM, according to claim 8, characterized in that the controller is arranged to calculate the necessary speed and orientation of the aerial unit necessary to reduce the horizontal displacement between the ground unit and the aerial unit below a predetermined limit horizontal displacement.
    [0010]
    10. SYSTEM, according to claim 6, characterized by the controller that is arranged to constantly control at least one of the first propeller motor and at least one steering element while the speed of the ground unit exceeds a speed limit .
    [0011]
    11. SYSTEM, according to claim 10, characterized in that the controller is arranged to be prevented from controlling at least one of the first propeller motor and at least one steering element if a horizontal displacement between the ground unit and the air unit is below the tolerable horizontal travel limit and the speed of the ground unit is below the speed limit.
    [0012]
    12. SYSTEM, according to claim 1, characterized in that the ground unit additionally comprises a positioning unit arranged to obtain images of the air unit and generate metadata about a location of the air unit; where the controller is arranged to control at least one of the first propeller engine and at least one steering element at least in response to at least the metadata and the relationship between the location information of the ground unit and the location information of the ground ground unit.
    [0013]
    13. SYSTEM, according to claim 1, characterized in that it also comprises a positioning unit arranged to obtain images of the soil unit and generate metadata of the location of the soil unit; where the controller is arranged to control at least one of the first propeller engine and at least one steering element in response to at least the ground unit's metadata and the relationship between the location information of the air unit and information of the ground unit. location of the ground unit.
    [0014]
    14. SYSTEM, according to claim 1, characterized in that the controller is arranged to ignore the location information of the air unit and the location information of the ground unit when the distance between the ground unit and the air unit is below one predetermined proximity limit.
    [0015]
    15. SYSTEM, according to claim 1, characterized in that the controller is arranged to ignore metadata of the orientation of the connection element when the distance between the ground unit and the air unit is above a predetermined proximity limit.
    [0016]
    16. SYSTEM, according to claim 15, characterized in that the ground unit comprises a proximity sensor which is arranged to determine a relationship between (a) the predetermined limit of proximity and (b) the distance between the ground unit and the air unit.
    [0017]
    17. SYSTEM, according to claim 16, characterized in that the connection element comprises a marker that is positioned in a location that corresponds to the predetermined proximity limit and in which the proximity sensor is arranged to detect the marker.
    [0018]
    18. SYSTEM, according to claim 1, characterized by the controller being arranged to control at least one of the first propeller motor and at least one steering element in response to the orientation metadata of the connecting element and the relationship between information on the location of the air unit and information on the location of the ground unit.
    [0019]
    19. SYSTEM, characterized by comprising: a ground unit; an air unit; and a connecting element arranged to connect the ground unit to the air unit; wherein the ground unit comprises: a connecting element manipulator, for changing an effective length of the connecting element; wherein the effective length of the connecting element defines a distance between the ground unit and the air unit; and a ground unit controller for controlling the connecting element manipulator; in which the air unit comprises: a first propeller; a frame; a first propeller motor that is configured to rotate the first propeller about a first axis, wherein the first propeller motor is connected to the frame; and at least one steering element; a connection element orientation sensor which is arranged to generate connection element orientation metadata indicative of a connection element orientation; wherein at least one of the ground unit and the aerial unit comprises a controller that is arranged to control, at least in response to the orientation metadata of the connecting element, at least one of the first propeller engine and the at least one steering element to affect at least one of the location of the air unit and the orientation of the air unit.
    [0020]
    20. SYSTEM, characterized by comprising: a ground unit, an air unit, and a connecting element arranged to connect the ground unit to the air unit; wherein the ground unit comprises a connecting element manipulator, for changing an effective length of the connecting element; wherein the effective length of the connecting element defines a distance between the ground unit and the air unit; a ground unit controller for controlling the connecting element manipulator; in which the air unit comprises: a first propeller; a frame; a first propeller motor that is configured to rotate the first propeller about a first axis, wherein the first propeller motor is connected to the frame; and at least one steering element; a connection element orientation sensor which is arranged to generate connection element orientation metadata indicative of a connection element orientation; wherein at least one of the ground unit and the air unit comprises a controller that is arranged to determine to bypass connection element orientation metadata and to control at least one of the first propeller engine and at least one steering element based on information provided by at least one location sensor that differs from the orientation sensor of the connection element; wherein when the controller determines not to ignore the connection element orientation metadata the controller is arranged to control, at least in response to the connection element orientation metadata, the at least one first propeller motor and at least one element direction to affect at least one of the location of the air unit and the orientation of the air unit.
    [0021]
    21. SYSTEM, according to claim 20, characterized in that the controller is arranged to determine to ignore the orientation metadata of the connecting element if a distance between the ground unit and the air unit exceeds a predetermined proximity limit.
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    同族专利:
    公开号 | 公开日
    US20130313364A1|2013-11-28|
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    WO2012063220A2|2012-05-18|
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    法律状态:
    2018-07-24| B15I| Others concerning applications: loss of priority|Free format text: PERDA DA PRIORIDADE REQUERIDA US 61/412,816 DE 12.11.2010, POIS POSSUI DEPOSITANTE DIFERENTE DO INFORMADO NA ENTRADA NA FASE NACIONAL E SUA RESPECTIVA CESSAO NAO FOI APRESENTADA, MOTIVO PELO QUAL SERA DADA PERDA DESTA PRIORIDADE, CONFORME AS DISPOSICOES PREVISTAS NA LEI 9.279 DE 14/05/1996 (LPI) ART. 167O. |
    2018-08-21| B12F| Appeal: other appeals|
    2019-11-26| B06U| Preliminary requirement: requests with searches performed by other patent offices: suspension of the patent application procedure|
    2020-11-24| B09A| Decision: intention to grant|
    2021-01-19| B16A| Patent or certificate of addition of invention granted|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 10/11/2011, OBSERVADAS AS CONDICOES LEGAIS. |
    优先权:
    申请号 | 申请日 | 专利标题
    US41281610P| true| 2010-11-12|2010-11-12|
    US61/412,816|2010-11-12|
    PCT/IB2011/055021|WO2012063220A2|2010-11-12|2011-11-10|Aerial unit and method for elevating payloads|
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