Method of actively controlling winch swing via modulated uptake and release
First Claim
1. A method of controlling the oscillations of a payload during descent from an unmanned aerial vehicle (UAV) comprising a winch system positioned on the aerial vehicle, the winch system including a winch line secured to the payload and to the winch system, an inertial measurement unit positioned on the payload or an end of the winch line, and a control system positioned on the UAV, comprising the steps of:
- operating the control system to control the rate of descent of the payload in response to measurements received from the inertial measurement unit; and
operating the control system to unwind the winch line when the payload moves towards a bottom of a swing.
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Accused Products
Abstract
An unmanned aerial vehicle (UAV) including a winch system, wherein the winch system includes a winch line having a first end that is secured to the payload, and wherein the winch system is controllable to vary the rate of descent of the payload, an inertial measurement unit positioned on the payload or on the first end of the winch line, wherein the inertial measurement unit is configured to measure oscillations of the payload, and a control system configured to (a) receive data from the IMU, (b) determine oscillations of the payload based on the data received from the IMU, and (c) operate the winch system to vary the deployment rate of the winch line so to damp oscillations of the payload.
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Citations
19 Claims
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1. A method of controlling the oscillations of a payload during descent from an unmanned aerial vehicle (UAV) comprising a winch system positioned on the aerial vehicle, the winch system including a winch line secured to the payload and to the winch system, an inertial measurement unit positioned on the payload or an end of the winch line, and a control system positioned on the UAV, comprising the steps of:
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operating the control system to control the rate of descent of the payload in response to measurements received from the inertial measurement unit; and operating the control system to unwind the winch line when the payload moves towards a bottom of a swing. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A method of controlling the oscillations of a payload during ascent to an unmanned aerial vehicle (UAV) comprising a winch system positioned on the aerial vehicle, the winch system including a winch line secured to the payload and to the winch system, an inertial measurement unit positioned on the payload or an end of the winch line, and a control system positioned on the UAV, comprising the steps of:
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operating the control system to control the rate of ascent of the payload in response to measurements received from the inertial measurement unit; and operating the control system to wind in the winch line when the payload moves from a bottom of a swing toward a top of the swing; wherein the winch system is controllable to vary the rate of ascent of the payload; and the control system configured to control oscillations of the payload during ascent by operating the winch system to control the rate of ascent of the payload in response to measurements received from the inertial measurement unit. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19)
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Specification