Spooler for unmanned aerial vehicle system

• US 10,507,914 B2
• Filed: 02/11/2016
• Issued: 12/17/2019
• Est. Priority Date: 03/15/2013
• Status: Active Grant

• Current Assignee: Flir Detection, Inc. (Teledyne Technologies Incorporated)
• Original Assignee: Flir Detection, Inc. (Teledyne Technologies Incorporated)
• Inventors: Walker, Jason S., Ware, John W., Johnson, Samuel A., Shein, Andrew M.
• Primary Examiner(s): Benedik, Justin M
• Application Number:
  US15/041,211
• Publication Number:
  US 20170008626A1
• Time in Patent Office: 1,405 Days
• CPC Class Codes: B64C 39/022 Tethered aircraft
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64D 47/08 Arrangements of cameras
• CPC Class Codes: B64F 3/00 Ground installations specially adapted for captive aircraft
• CPC Class Codes: B64U 10/13 Flying platforms
• CPC Class Codes: B64U 10/60 Tethered aircraft
• CPC Class Codes: B64U 20/50 Foldable or collapsible UAVs with frangible components B64U20/30
• CPC Class Codes: B64U 2101/30 for imaging, photography or videography
• CPC Class Codes: B64U 2201/202 using tethers for connecting to ground station
• CPC Class Codes: B64U 50/34 In-flight charging photovoltaics B64U50/31
• CPC Class Codes: B64U 80/60 by wearable objects, e.g. garments or helmets
• CPC Class Codes: B64U 80/70 in containers B64U80/60 takes precedence
• CPC Class Codes: B64U 80/86 Land vehicles
• CPC Class Codes: H02G 11/02 using take-up reel or drum

Abstract

In an aspect, in general, a spooling apparatus includes a filament feeding mechanism for deploying and retracting filament from the spooling apparatus to an aerial vehicle, an exit geometry sensor for sensing an exit geometry of the filament from the spooling apparatus, and a controller for controlling the feeding mechanism to feed and retract the filament based on the exit geometry.

Claims

1. An unmanned aerial vehicle system comprising:

a spooling apparatus;

a filament that is dispensed from the spooling apparatus;

a cooling apparatus that provides a cooling air flow to the spooling apparatus such that a portion of the filament wound on the spooling apparatus is cooled by the air flow;

an unmanned aerial vehicle that is connected to the spooling apparatus with the filament, the filament delivering power and flight control data to the unmanned aerial vehicle;

a control station that is electrically connected to the filament with a filament interface such that the operational data is transmitted to the unmanned aerial vehicle with the filament;

a power source that is electrically connected to the filament interface such that electrical power is delivered to unmanned aerial vehicle with the filament interface;

a tension sensor that measures tension of the filament between the spooling apparatus and the unmanned aerial vehicle;

a control system that controls dispensing and retracting of the filament with the spooling apparatus in response to measured filament tension data from the tension sensor;

a sensor mounted on the unmanned aerial vehicle that transmits data with the filament; and

wherein the spooling apparatus is mounted to a mobile vehicle such that the unmanned aerial vehicle can be operated with the filament deployed from the mobile vehicle.

2. The unmanned aerial vehicle system of claim 1 wherein the filament is configured to act as a tether for limiting a range of the aerial vehicle.

3. The unmanned aerial vehicle system of claim 1 wherein the spooling apparatus is configured to draw power from the mobile vehicle.

4. The unmanned aerial vehicle system of claim 3 further comprising a power converter between a power source of the mobile vehicle and the spooling apparatus, the power converter configured to convert power produced by the power source of the mobile vehicle for transmission to the aerial vehicle via the filament.

5. The unmanned aerial vehicle system of claim 1 wherein the control system further comprises;

a filament feeding mechanism that dispenses and retracts filament with the spooling apparatus;

one or more additional sensors that determine one or more characteristics of the filament; and

wherein the control system controls the filament feeding mechanism to feed and retract the filament based on the one or more additional characteristics of the filament.

6. The unmanned aerial vehicle system of claim 5 wherein the spooling apparatus further includes a spool such that the filament can be dispensed from the spool for retracted onto the spool, the spool comprises perforations for the air flow.

7. The unmanned aerial vehicle system of claim 6 wherein the control system is configured to maintain a record of an amount of filament dispensed from the spool and wherein the control system controls the filament feeding mechanism based at least in part on the record of the amount of filament dispensed from the spool.

8. The unmanned aerial vehicle system of claim 1 wherein data communicated between the aerial vehicle and the control station includes one or more of network data, point to point serial data, sensor data, video data, still camera data, payload control data, vehicle control data, and vehicle status data.

9. The unmanned aerial vehicle system of claim 1 wherein the aerial vehicle is collapsible.

10. The unmanned aerial vehicle system of claim 9 wherein the aerial vehicle is configured to be collapsed and stowed in a container for storage on the mobile vehicle.

11. The unmanned aerial vehicle system of claim 1 wherein the aerial vehicle is configured to adjust a flight control operation such that the aerial vehicle follows movement of the mobile vehicle.

12. The unmanned aerial vehicle system of claim 1 wherein the aerial vehicle includes a second spooling apparatus to dispense filament from the aerial vehicle.

13. The unmanned aerial vehicle system of claim 1 wherein the aerial vehicle includes a visible light camera and a night vision camera.

14. The unmanned aerial vehicle system of claim 1 wherein the mobile vehicle moves on a ground surface.

15. A tether system for controlling an unmanned aerial vehicle comprising:

an unmanned aerial vehicle;

a control station that communicates with the unmanned aerial vehicle;

a power source;

a filament coupled to the unmanned aerial vehicle, the filament providing electric power and communication between the control station and the unmanned aerial vehicle;

a filament mechanism that provides feed and retraction of the filament between the filament mechanism and the unmanned aerial vehicle;

a cooling apparatus that directs an air flow onto a portion of the filament that is wound on the filament mechanism;

a tension sensor that measures filament tension, the tension sensor generating a tension signal;

a filament controller connected to the filament mechanism, the filament controller receiving the tension signal to adjust filament tension between the filament mechanism and the unmanned aerial vehicle;

a camera mounted on the unmanned aerial vehicle, the camera transmitting image data to the control station with the filament; and

a mobile vehicle wherein the control station and the filament mechanism are mounted on the mobile vehicle such that the unmanned aerial vehicle can be operated from the mobile vehicle.

16. The system of claim 15 wherein the filament comprises a fiber optic cable.

17. The system of claim 15 wherein the unmanned aerial vehicle further comprises a battery.

18. The system of claim 15 further comprising a container on the mobile vehicle in which the unmanned aerial vehicle can be positioned.

19. The system of claim 15 further comprising a filament interface between the control station and the filament.

20. The system of claim 15 wherein the filament mechanism comprises a spooling apparatus.

21. The system of claim 15 wherein the control station transmits flight control data to the unmanned aerial vehicle with the filament.

22. The system of claim 15 wherein the unmanned aerial vehicle processes flight control data such that the unmanned aerial vehicle follows the moving mobile vehicle.

23. The system of claim 15 wherein the control station comprises a laptop computer.

24. The system of claim 15 wherein the unmanned aerial vehicle transmits global positioning system (GPS) coordinates of the unmanned aerial vehicle to the control station on the mobile vehicle.

25. The system of claim 15 wherein the filament comprises a light weight conductive element that is detachably connected to the unmanned aerial vehicle.

26. The system of claim 15 further comprising a position sensor that measures a position of the filament.

27. The system of claim 15 wherein the filament controller maintains the filament tension below a predetermined level.

28. The system of claim 15 further comprising a motor operative to feed or retract the filament in response to the filament controller.

29. The system of claim 15 wherein the tension sensor measures tension induced by wind on the filament.

30. The system of claim 15 wherein the filament mechanism comprises firmware operative to control a cross ratio of the wound filament.

31. The system of claim 15 wherein the filament and the filament tension defines an operating boundary of the aerial vehicle comprising a dome shape.

32. The system of claim 15 wherein the tension sensor detects slack in the filament and actuates the filament controller to retract a portion of the tether.

33. The system of claim 15 wherein the cooling apparatus directs air flow onto the filament through perforations in a spool.

34. An unmanned aerial vehicle system comprising:

a spooling apparatus;

an unmanned aerial vehicle that is connected to the spooling apparatus by a filament, the filament delivering power and operational data to the unmanned aerial vehicle;

a control station that delivers control data to the unmanned aerial vehicle;

a tension sensor that measures tension of the filament between the spooling apparatus and the unmanned aerial vehicle;

a filament control system that controls feed and retraction of the filament with the spooling apparatus;

a cooling apparatus that directs an air flow onto a wound portion of the filament on the spooling apparatus;

a sensor mounted on the unmanned aerial vehicle that transmits data with the filament to the control station; and

wherein the spooling apparatus is mounted to a moving mobile vehicle such that the unmanned aerial vehicle can be operated with the filament deployed from the spooling apparatus on the moving mobile vehicle.

35. The unmanned aerial vehicle system of claim 34, wherein the filament control system comprises a feedback control system.

36. The unmanned aerial vehicle system of claim 34, wherein the feedback control system is a PID controller.

37. The unmanned aerial vehicle system of claim 34, wherein the cooling apparatus cools the wound portion of the filament by forcing cooled air to flow through perforations in a spooler of the spooling apparatus and over the wound portion of the filament.

38. The unmanned aerial vehicle system of claim 34, wherein the spooling apparatus comprises a cylindrical hollow spool body including:

a first end including an air intake opening through which the cooled air is forced into the hollow spool body,

a second end,

a cylindrical wall extending between the first end and the second end, and

a plurality of through holes in the cylindrical wall, through which the cooled air exits the cylindrical hollow spool body.

39. The unmanned aerial vehicle system of claim 34, wherein the filament transmits payload data.

40. The unmanned aerial vehicle system of claim 34, the unmanned aerial vehicle further comprising an on-board camera that transmits data to the control station and a GPS receiver that communicates with the control station, wherein the unmanned aerial vehicle operates relative to the moving mobile vehicle.

41. The unmanned aerial vehicle system of claim 34, wherein the spooling apparatus is configured to draw power from the moving mobile vehicle.

42. The unmanned aerial vehicle system of claim 34, further comprising a container mounted on the moving mobile vehicle, the container including the spooling apparatus and a filament interface that connects a power source and the control station to the filament.

43. The unmanned aerial vehicle system of claim 34, the unmanned aerial vehicle further comprising a GPS receiver that provides updated GPS coordinates to follow the moving mobile vehicle and the control system is further configured to maintain a record of an amount of filament deployed from the spooling apparatus, wherein the control system controls the filament control system based at least in part of the record of the amount of filament deployed from the spooling apparatus.