Reactive Tether Spool

• US 20170259941A1
• Filed: 03/10/2017
• Published: 09/14/2017
• Est. Priority Date: 03/10/2016
• Status: Active Grant

• Current Assignee: Blue Vigil LLC
• Original Assignee: Blue Vigil LLC
• Inventors: Briggs, IV, Fred Melvelle, Stave, Todd
• Granted Patent: US 10,399,704 B2
• Time in Patent Office: 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: B64F 3/02 with means for supplying electricity to aircraft during flight
• CPC Class Codes: B64U 10/60 Tethered aircraft
• 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: B66D 1/12 incorporating electric motors
• CPC Class Codes: B66D 1/505 electrical
• CPC Class Codes: B66D 2700/0191 Cable guiding during winding or paying out
• CPC Class Codes: G05D 1/0866 specially adapted to captive aircraft

Abstract

A reactive tether spool comprises a drum, a signal cable, a drum actuator, a tension sensor, and a controller. The signal cable transports power and a control signal to a UAV. A controller receives a tension measurement from the tension sensor and controls the drum actuator to maintain a determined tension on the signal cable while performing at least one of the following: dispensing the signal cable; holding the signal cable steady; and collecting the signal cable.

Claims

1. A device comprising:

a carriage;

a drum rotatably mounted on the carriage;

a drum connector disposed on the drum;

a signal cable configured to transport power and a control signal, the signal cable having;

a first end of the signal cable configured to connect with the drum connector; and

a UAV connector on a second end of the signal cable, the UAV connector configured to connect with a UAV;

a drum actuator configured to rotate the drum;

a cable drum feed configured to align the signal cable to the drum;

a UAV feed configured to align the signal cable as it exits the device towards the UAV;

a tension sensor configured to measure the tension of the signal cable; and

a controller comprising;

at least one processor;

a tangible medium that is not a transitory propagating signal, the medium comprising instructions configured to cause the at least one processor to;

receive a tension measurement from the tension sensor; and

control the drum actuator to maintain a determined tension on the signal cable while performing at least one of;

dispensing the signal cable;

holding the signal cable steady; and

collecting the signal cable.

2. The device according to claim 1, further comprising a power transfer circuit configured to deliver power to a UAV from a battery when power on the signal cable falls below a threshold value.

3. The device according to claim 2, wherein the power transfer circuit is connected to the UAV connector.

4. The device according to claim 1, further comprising a remote UAV power supply configured to provide the UAV power via the signal cable.

5. The device according to claim 1, further comprising a command circuit configured to deliver a landing command to a UAV when power on the signal cable falls below a threshold value.

6. The device according to claim 1, further comprising a command circuit configured to deliver a landing command to a UAV when power on the signal cable signal cable falls below a first threshold value and the power available on a UAV battery falls below a second threshold value.

7. The device according to claim 1, further comprising a slip ring structure configured to transport a signal between the drum connector and the controller.

8. The device according to claim 1, further comprising a slip ring structure configured to transport a signal between the drum connector and a communication device.

9. The device according to claim 1, further comprises a motor controller and wherein:

the drum actuator is a motor; and

the instructions are further configured to cause the at least one processor to control the motor via the motor controller.

10. The device according to claim 9, wherein the drum motor comprises at least one of:

a stepper motor;

a servo motor;

a solenoid; and

a switch.

11. The device according to claim 1, wherein the cable drum feed comprises

a. a linear actuator configured to be controlled by the controller;

and

b. a tether spooling pulley connected to a linear actuator.

12. The device according to claim 11, wherein the linear actuator comprises a lead screw rotatable by a lead screw actuator.

13. The device according to claim 12, wherein the lead screw actuator comprises at least one of:

a stepper motor;

a servo motor;

a solenoid; and

a switch.

14. The device according to claim 1, further comprising an alignment pulley configured to align the signal cable between the drum and the UAV feed.

15. The device according to claim 1, wherein the UAV feed comprises a pulley.

16. The device according to claim 15, the UAV feed comprises a damper.

17. The device according to claim 1, wherein the tension sensor comprises at least one of:

a load cell;

a strain gage transducer;

a tension sensing roller;

a piezo electric crystal; and

an angle sensor.

18. The device according to claim 1, wherein the tension sensor is disposed between the cable drum feed and the UAV feed.

19. The device according to claim 1, wherein the signal cable further comprises a cable component with a breaking strength in excess of 10 pounds.

20. The device according to claim 1, wherein the signal cable comprises at least one of:

an electrical cable;

a optical cable; and

a coaxial cable.