System, floating unit and method for elevating payloads

• US 8,590,829 B2
• Filed: 04/06/2010
• Issued: 11/26/2013
• 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
• Primary Examiner(s): Dinh, Tien
• Assistant Examiner(s): WANG, MICHAEL H
• Application Number:
  US13/263,080
• Publication Number:
  US 20120091258A1
• Time in Patent Office: 1,330 Days
• Field of Search: 244/63, 244/17.11, 244/23.R, 244/23.A, 244/23.C, 244/60, 74/52, 74/5.R, 74/5.F, 74/58
• US Class Current: 244/23.R
• 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: 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, where 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;

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, the interfacing module being configured to introduce an angular deviation between an upper portion of the connecting element and the first axis, wherein the power received by the interfacing module is utilized to power the propeller motor and the controller, the interfacing module comprising;

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

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.

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 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.

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

8. The floating unit according to claim 7, wherein the annular housing is surrounded by a thermal signature reduction material.

9. The floating unit according to claim 7, wherein the floating unit comprises multiple movable steering elements that extend from a central region of the floating unit towards the annular structural element.

10. The floating unit according to claim 7, wherein the multiple movable steering elements extend towards the annular structural element in a radial manner.

11. The floating unit according to claim 7, wherein at least one movable steering elements is connected to an inner portion of the annular housing.

12. 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.

13. The floating unit according to claim 12, wherein the payload interfacing module is positioned below the propeller motor.

14. The floating unit according to claim 12, wherein the payload interfacing module is positioned above the propeller.

15. The floating unit according to claim 12, wherein the movable steering element is movable by a steering element motor that is located outside the annular housing.

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

17. 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.

18. 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.

19. A system, comprising:

a connecting element;

a ground unit comprising;

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;

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 element 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 interfacing module is utilized to power the propeller motor and the controller, the interfacing module comprising;

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

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.

20. The system according to claim 19 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.

21. The system according to claim 20, 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.

22. The system according to claim 20, wherein the flexible cable is coupled to the flexible cable interface by a shock constraining element.

23. The system according to claim 20, wherein the flexible cable has a wing cross section.

24. The system according to claim 20, wherein the propeller motor is configured to rotate the propeller while the floating unit is being winded up.

25. The system according to claim 20, 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.

26. The system according to claim 20, wherein the propeller motor is configured to reduce a rotational speed of the propeller during a winding up the flexible cable.

27. The system according to claim 20, wherein the propeller motor is configured to alter a rotational speed of the propeller based on the effective length of the flexible cable.

28. The system according to claim 19, wherein the ground unit is mounted to a vehicle.

29. 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 an orientation of the floating unit;

a cable interfacing module for receiving power from a tensed flexible cable that couples the floating unit to a ground unit, wherein the power received by the interfacing module is utilized to power the propeller motor and the controller, the interfacing module comprising;

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

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 flexible cable and the frame.

30. 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;

a cable interfacing module for introducing an angular deviation between an upper portion of a tensed flexible cable and the first axis, wherein the tensed cable couples the floating unit to a ground unit, the interfacing module comprising;

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

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 tensed flexible cable and the frame of the floating unit.

31. A method for operating a floating unit, the method comprising:

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

distributing the power received by a 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;

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

introducing an angular deviation between an upper portion of the connecting element and the first axis, by an interfacing module comprising a circular joint coupled between the upper portion of the connecting element and the frame of the floating unit, 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 of the floating unit.

32. The method according to claim 31, 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.

33. The method according to claim 31, 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.

34. The method according to claim 31, 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.

35. The method according to claim 31, comprising controlling the movable steering element for compensating for fast changes in a location or of an orientation of the floating unit.

36. The method according to claim 31, 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.

37. The method according to claim 31, wherein the connecting element is a flexible cable that is maintained in a tensed position while the floating unit is in the air.

38. The method according to claim 37, comprising rotating the propeller while the flexible cable is being winded up.

39. The method according to claim 37, 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.

40. The method according to claim 37, comprising reducing a rotational speed of the propeller during a winding up the flexible cable.

41. The system according to claim 37, comprising altering a rotational speed of the propeller based on an proximity of the floating unit to the ground unit.

42. 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 about a first axis, 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;

introducing an angular deviation between an upper portion of the connecting element and the first axis, by an interfacing module comprising a circular joint coupled between the upper portion of the connecting element and the frame of the floating unit, 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 of the floating unit.

43. The method according to claim 42, 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.

44. The method according to claim 43, 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.