SYSTEM, FLOATING UNIT AND METHOD FOR ELEVATING PAYLOADS

• US 20120091258A1
• Filed: 04/06/2010
• Published: 04/19/2012
• Est. Priority Date: 04/06/2009
• Status: Active Grant

• Current Assignee: Sky Sapience Ltd. (COMSovereign Holding Corp.)
• Original Assignee: Sky Sapience Ltd. (COMSovereign Holding Corp.)
• Inventors: Keidar, Ronen, Cohen, Shay
• Granted Patent: US 8,590,829 B2
• Time in Patent Office: Days
• US Class Current: 244/17.11
• CPC Class Codes: B64U 10/13 Flying platforms
• CPC Class Codes: B64U 10/60 Tethered aircraft
• CPC Class Codes: B64U 2101/30 for imaging, photography or videography
• CPC Class Codes: B64U 2101/31 for surveillance
• CPC Class Codes: B64U 2201/202 using tethers for connecting to ground station
• CPC Class Codes: B64U 30/20 Rotors; Rotor supports
• CPC Class Codes: B64U 30/24 Coaxial rotors
• CPC Class Codes: B64U 30/26 Ducted or shrouded rotors
• CPC Class Codes: B64U 50/19 using electrically powered motors
• CPC Class Codes: B64U 70/93 for use on a land or nautical vehicle
• CPC Class Codes: G05D 1/0866 specially adapted to captive aircraft
• CPC Class Codes: Y10T 74/12 Gyroscopes
• CPC Class Codes: Y10T 74/1293 Flexure hinges for gyros

Abstract

A method, system and a floating unit. The floating unit includes a propeller, a frame, a propeller motor that is configured to rotate the propeller about a first axis; wherein the propeller motor is coupled to the frame, a movable steering element; a controller, for controlling at least one of the propeller motor and the movable steering unit to affect at least one of a location and an orientation of the floating unit; and an interfacing module for coupling a payload to the floating unit and for receiving power from a connecting element that couples the floating unit to a ground unit; wherein the power received by the power interface is utilized to power the propeller motor and the controller.

Claims

1. A floating unit, comprising:

a propeller;

a frame;

a propeller motor that is configured to rotate the propeller about a first axis;

wherein the propeller motor is coupled to the frame;

a movable steering element;

a controller, for controlling at least one of the propeller motor and the movable steering unit to affect at least one of a location and an orientation of the floating unit; and

an interfacing module for coupling a payload to the floating unit and for receiving power from a connecting element that couples the floating unit to a ground unit;

wherein the power received by the power interface is utilized to power the propeller motor and the controller.

2. The floating unit according to claim 1 wherein the connecting element is a flexible cable that is maintained in a tensed status while the floating unit is in the air.

3. The floating unit according to claim 1, wherein the propeller motor is configured to rotate the propeller at a fixed speed;

wherein the floating unit comprises at least one fixed steering element for preventing a rotation of the floating unit about the first axis as a result of a rotation of the propeller at the fixed speed.

4. The floating unit according to claim 1, wherein the floating unit comprises at least one fixed steering element for reducing a rotation of the floating unit about the first axis as a result of a rotation of the propeller.

5. The floating unit according to claim 1, wherein the frame comprises a propeller motor support element and multiple fixed steering elements that couple the propeller motor support element to an annular housing of the floating unit.

6. The floating unit according to claim 1 wherein the interfacing module is configured to introduce an angular deviation between an upper portion of the connecting element and the first axis.

7. The floating unit according to claim 6, wherein the interfacing module comprises:

a circular joint coupled between the upper portion of the connecting element and the frame; and

at least one interfacing module motor;

and interfacing elements, for converting at least one movement of the at least one interfacing module motor to a relative movement between the upper portion of the connecting element and the frame.

8. The floating unit according to claim 7, wherein the interfacing module comprises a lower end that interfaces the connecting element, a housing that is shaped to be connected to the payload and an upper end that comprises the at least one interfacing module motor.

9. The floating unit according to claim 1, wherein the frame comprises an annular housing that surrounds the propeller.

10. The floating unit according to claim 9, wherein the annular housing is surrounded by a thermal signature reduction material.

11. The floating unit according to claim 9, wherein the floating unit comprises multiple movable steering elements that extend from a central region of the floating unit towards the annular structural element.

12. The floating unit according to claim 9, wherein the multiple movable steering elements extend towards the annular structural element in a radial manner.

13. The floating unit according to claim 9, wherein at least one movable steering elements is connected to an inner portion of the annular housing.

14. The floating unit according to claim 1, wherein the interfacing module comprises a payload interfacing module for coupling the payload to the floating unit and a connecting element interfacing module for receiving power from the connecting element.

15. The floating unit according to claim 14, wherein the payload interfacing module is positioned below the propeller motor.

16. The floating unit according to claim 14, wherein the payload interfacing module is positioned above the propeller.

17. The floating unit according to claim 14, wherein the movable steering element is movable by a steering element motor that is located outside the annular housing.

18. The floating unit according to claim 1, wherein the frame is a first frame and wherein the floating unit further comprises a second frame;

wherein the first frame is connected to the propeller and to the propeller motor;

wherein the second frame is connected to the interfacing module; and

wherein the first frame and the second frame are connected to each other via a frame connecting module that facilitates a relative movement between the first and second frames.

19. The floating unit according to claim 1, comprising an orientation sensor for sensing an orientation of the floating unit.

20. The floating unit according to claim 1, wherein the movable steering element is configured to be controlled by the controller, for compensating for fast changes in a location or of an orientation of the floating unit.

21. The floating unit according to claim 1 wherein the controller is configured to position the movable steering element at an initial position for preventing the floating element from rotating about a floating unit axis as a result of a rotation of the propeller at a fixed speed;

wherein the controller is further configured to move the movable steering element about the initial position for compensating for fast changes in a location or of an orientation of the floating unit.

22. A system, comprising:

a connecting element;

a ground unit, that comprises;

a power source for providing power to the flexible cable;

a connecting element manipulator, for altering an effective length of the connecting element;

wherein the effective length of the connecting element defines a distance between the ground unit and a floating unit of the device;

a ground unit controller for controlling the connecting element manipulator; and

a floating unit;

that comprises;

a propeller;

a frame;

a propeller motor that is configured to rotate the propeller about a first axis;

wherein the propeller motor is coupled to the frame;

a movable steering element;

a controller, for controlling at least one of the propeller motor and the movable steering unit to affect at least one of a location and an orientation of the floating unit; and

an interfacing module for coupling a payload to the floating unit and for receiving power from the connecting element;

wherein the power received by the power interface is utilized to power the propeller motor and the controller.

23. The system according to claim 22 wherein the connecting element is a flexible cable and wherein the connecting element manipulator is configured to wind up and wind out the flexible cable;

wherein while the floating unit is in the air the flexible cable is maintained in a tensed status.

24. The system according to claim 23, wherein connecting element manipulator is configured to perform a sequence of winding up and winding out operations that result in changes in an effective length of the flexible cable;

wherein the changes in length are a fraction of the effective length of the flexible cable.

25. The system according to claim 23, wherein the flexible cable is coupled to the flexible cable interface by a shock constraining element.

26. The system according to claim 23, wherein the flexible cable has a wing cross section.

27. The system according to claim 23, wherein the propeller motor is configured to rotate the propeller while the floating unit is being winded up.

28. The system according to claim 23, wherein the propeller motor is configured to rotate the propeller at a fixed speed during the winding up and the winding out of the flexible cable.

29. The system according to claim 23, wherein the propeller motor is configured to reduce a rotational speed of the propeller during a winding up the flexible cable.

30. The system according to claim 23, wherein the propeller motor is configured to alter a rotational speed of the propeller based on the effective length of the flexible cable.

31. The system according to claim 22, wherein the ground unit is mounted to a vehicle.

32. A floating unit, comprising:

a frame;

a propeller;

a propeller motor that is coupled to the frame and is configured to rotate the propeller at a fixed speed about a first axis;

a payload interfacing module, for coupling a payload to the floating unit;

a controller;

at least one fixed steering element for preventing the floating element from rotating about the first axis as a result of a rotation of the propeller at the fixed speed;

at least one movable steering element, controlled by the controller, for compensating for fast changes in a location or in a orientation of the floating unit; and

a cable interface for receiving power from a tensed flexible cable that couples the floating unit to a ground unit;

wherein the power received by the power interface is utilized to power the propeller motor and the controller.

43. The method according to claim 32, comprising reducing a rotational speed of the propeller during a winding up the flexible cable.

44. The system according to claim 32, comprising altering a rotational speed of the propeller based on an proximity of the floating unit to the ground unit.

33. A floating unit, comprising:

a propeller;

a propeller motor that is configured to rotate the propeller;

wherein the propeller motor receives power generated by a ground unit;

a payload interface, for coupling a payload to the floating unit;

a movable steering element;

a controller, for controlling the movable steering unit and for controlling the propeller motor; and

a cable interfacing module for introducing a angular deviation between an upper portion of a tensed flexible cable and the first axis;

wherein the tensed flexible cable couples the floating unit to a ground unit.

34. A method for operating a floating unit, the method comprises:

receiving power from a connecting element that couples the floating unit to a ground unit;

distributing the power received by the power interface to a propeller motor of the floating unit and to a controller of the floating unit;

rotating a propeller of the floating unit about a first axis, by the propeller motor; and

controlling, by the controller, at least one movable steering element out of the propeller motor and the movable steering unit to affect at least one of a location and an orientation of the floating unit.

35. The method according to claim 34, comprising sensing an orientation of the floating unit and controlling the at least one movable steering element in response to the orientation of the floating unit.

36. The method according to claim 34, comprising controlling the at least one movable steering element in response to a floating unit anti rotation affect introduced by a fixed steering element of the floating unit.

37. The method according to claim 34, further comprising introducing, by an interfacing module of the floating unit, an angular deviation between an upper portion of a tensed flexible cable and the first axis.

38. The method according to claim 34, comprising controlling the movable steering element for compensating for fast changes in a location or of an orientation of the floating unit.

39. The method according to claim 34, comprising positioning the movable steering element at an initial position for preventing the floating element from rotating about the first axis as a result of a rotation of the propeller at a fixed speed and controlling the movable steering element about the initial position for compensating for fast changes in a location or of an orientation of the floating unit.

40. The method according to claim 34, wherein the connecting element is a flexible cable that is maintained in a tensed position while the floating unit is in the air.

41. The method according to claim 40, comprising rotating the propeller while the flexible cable is being winded up.

42. The method according to claim 40, comprising rotating the propeller at a fixed rotational speed, while the flexible cable is being winded up and while the tensed flexible cable is being winded out.

45. A method, comprising:

increasing an effective length of a connecting element that connects a floating unit to a ground unit while a propeller motor of the floating unit rotates a propeller of the floating unit;

wherein the effective length of the connecting element determines a distance between the floating unit and the ground unit;

supplying power to the floating unit via the connecting element, while the floating element is in the air;

reducing the effective length of the connecting element while the propeller motor of the floating unit rotates the propeller of the floating unit.

46. The method according to claim 45, wherein the connecting element is a flexible cable;

wherein the increasing comprises winding out the flexible cable while a propeller motor of the floating unit rotates a propeller of the floating unit; and

wherein the decreasing comprises winding up the flexible cable while the propeller motor of the floating unit rotates the propeller of the floating unit.

47. The method according to claim 46, comprising performing a sequence of winding up and winding out operations that result in changes in a length of a released portion of the flexible cable;

wherein the changes in length are a fraction of the length of the released portion of the flexible cable.

48. A floating unit, comprising:

a first propeller;

a first frame;

a second frame;

a counter rotating element;

a rotation inducing module that is configured to rotate the propeller about a first axis at a first direction and to rotate the counter rotating element at a second direction that is opposite to the first direction;

wherein the rotation inducing module is coupled to the first frame;

a movable steering element coupled to the second frame;

a controller, for controlling at least one of the rotation inducing module and the movable steering unit to affect at least one of a location and an orientation of the floating unit;

an interfacing module, coupled to the second frame, for coupling a payload to the floating unit and for receiving power from a connecting element that couples the floating unit to a ground unit;

wherein the power received by the power interface is utilized to power the propeller motor and the controller; and

a frame connecting module that facilitates a relative movement between the first and second frames.

49. The floating unit according to claim 48, further comprising a fixed steering elements, coupled to the rotation inducing module, for reducing a rotation of the first frame about the first axis.

50. The floating unit according to claim 48, wherein the counter rotating element is a propeller.

51. The floating unit according to claim 48, wherein the frame connecting module facilitates a relative movement between the first and second frames along two axes that are oriented in relation to the first axes.