Airborne payload control system

• US 10,384,782 B2
• Filed: 02/28/2017
• Issued: 08/20/2019
• Est. Priority Date: 02/28/2017
• Status: Active Grant

• Current Assignee: Lockheed Martin Corporation (Martin Marietta Corporation)
• Original Assignee: Lockheed Martin Corporation (Martin Marietta Corporation)
• Inventors: Curran, Matthew, Gamble, Dustin E.
• Primary Examiner(s): Black, Thomas G
• Assistant Examiner(s): Huynh, Luat T
• Application Number:
  US15/444,649
• Publication Number:
  US 20180244391A1
• Time in Patent Office: 903 Days
• Field of Search: 701 3
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64D 1/12 Releasing
• CPC Class Codes: B64D 1/22 Taking-up articles from earth's surface
• CPC Class Codes: B64U 10/25 Fixed-wing aircraft VTOL aircraft B64U10/20
• CPC Class Codes: B64U 20/80 Arrangement of on-board electronics, e.g. avionics systems or wiring
• CPC Class Codes: B64U 2101/60 for transporting passengers; for transporting goods other than weapons
• CPC Class Codes: B64U 2101/67 the UAVs comprising tethers for lowering the goods
• CPC Class Codes: B64U 2201/10 autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
• CPC Class Codes: B64U 50/13 using external fans or propellers
• CPC Class Codes: B66D 1/60 adapted for special purposes
• CPC Class Codes: G05D 1/0094 involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target

Abstract

A method for an airborne payload system includes receiving, from a sensor on a payload line, information about the payload line, wherein the payload line comprises a first end wound about a main reel of a winch system and a second end configured to couple to a payload. The method further includes providing instructions, based on the received information, to the unmanned aircraft and the winch system in order to control a position of the second end of the payload line.

Claims

1. An airborne payload control system comprising:

an unmanned aircraft;

a payload line comprising a first end and a second end, the second end of the payload line configured to couple to a payload;

a sensor configured to sense information about the payload line;

a winch system operable to spool the payload line, the winch system comprising a main reel, a first and a second pinch roller, and a first and a second motor, wherein;

the first end of the payload line is wound around the main reel;

the payload line is threaded between the first pinch roller and the second pinch roller;

the first motor is configured to turn the main reel; and

the second motor is configured to turn the first and the second pinch rollers; and

one or more controllers operable to;

receive, from the sensor, the information about the payload line; and

based on the received information, provide instructions to the unmanned aircraft and the winch system in order to control a position of the second end of the payload line.

2. The airborne payload control system of claim 1, wherein the information about the payload line comprises one or more of:

a position of the payload line;

a velocity of the payload line; and

an altitude of the second end of the payload line.

3. The airborne payload control system of claim 1, wherein the one or more controllers are operable to provide instructions to the unmanned aircraft about one or more of:

a flight path of the unmanned aircraft;

a speed of the unmanned aircraft;

an orbit of the unmanned aircraft; and

an altitude of the unmanned aircraft.

4. The airborne payload control system of claim 1, wherein the one or more controllers are operable to provide instructions to the winch system about one or more of:

a length of the payload line;

a tension on the payload line; and

a speed of the payload line.

5. The airborne payload control system of claim 1, wherein the winch system is further operable to maintain tension between the main reel and the first and the second pinch rollers.

6. The airborne payload control system of claim 5, wherein the tension is maintained on the payload line by controlling the operation of the first and the second motors.

7. The airborne payload control system of claim 1, wherein the payload is one or more of a static object and a moving object.

8. The airborne payload control system of claim 1, wherein the one or more controllers comprises a first controller operable to provide instructions to the unmanned aircraft and a second controller operable to provide instructions to the winch system.

9. The airborne payload control system of claim 1, wherein the aircraft is a fixed wing aerial vehicle.

10. One or more controllers of an airborne payload system, the one or more controllers operable to:

receive, from a sensor on a payload line, information about the payload line, wherein the payload line comprises a first end wound about a main reel of a winch system and a second end configured to couple to a payload, the winch system operable to spool the payload line; and

based on the received information, provide instructions to an unmanned aircraft and the winch system in order to control a position of the second end of the payload line; and

wherein;

the winch system further comprises a first and a second pinch roller and a first and a second motor;

the payload line is threaded between the first pinch roller and the second pinch roller;

the first motor is configured to turn the main reel; and

the second motor is configured to turn the first and the second pinch rollers.

11. The one or more controllers of claim 10, wherein the information about the payload line comprises one or more of:

a position of the payload line;

a velocity of the payload line; and

an altitude of the second end of the payload line.

12. The one or more controllers of claim 10, wherein the one or more controllers are operable to provide instructions to the unmanned aircraft about one or more of:

a flight path of the unmanned aircraft;

a speed of the unmanned aircraft;

an orbit of the unmanned aircraft; and

an altitude of the unmanned aircraft.

13. The one or more controllers of claim 10, wherein the one or more controllers are operable to provide instructions to the winch system about one or more of:

a length of the payload line;

a tension on the payload line; and

a speed of the payload line.

14. The one or more controllers of claim 10, wherein the payload is one or more of a static object and a moving object.

15. A method for an airborne payload system, the method comprising:

receiving, from a sensor on a payload line, information about the payload line, wherein the payload line comprises a first end wound about a main reel of a winch system and a second end configured to couple to a payload, the winch system operable to spool the payload line; and

based on the received information, providing instructions to an unmanned aircraft and the winch system in order to control a position of the second end of the payload line; and

wherein;

the winch system further comprises a first and a second pinch roller and a first and a second motor;

the payload line is threaded between the first pinch roller and the second pinch roller;

the first motor is configured to turn the main reel; and

the second motor is configured to turn the first and the second pinch rollers.

16. The method of claim 15, wherein the information about the payload line comprises one or more of:

a position of the payload line;

a velocity of the payload line; and

an altitude of the second end of the payload line.

17. The method of claim 15, wherein the instructions provided to the unmanned aircraft comprise one or more of:

a flight path of the unmanned aircraft;

a speed of the unmanned aircraft;

an orbit of the unmanned aircraft; and

an altitude of the unmanned aircraft.

18. The method of claim 15, wherein the instructions provided to the winch system comprise one or more of:

a length of the payload line;

a tension on the payload line; and

a speed of the payload line.

19. The method of claim 15, wherein the payload is one or more of a static object and a moving object.

20. The method of claim 15, wherein the unmanned aircraft is a fixed wing aerial vehicle.