Method of actively controlling winch swing via modulated uptake and release
First Claim
1. An unmanned aerial vehicle (UAV) comprising:
- a winch system, wherein the winch system includes a single winch line having a first end that is secured to the payload at a single point of attachment on 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 (IMU) is configured to measure oscillations of the payload a descent of the payload for delivery or ascent of the payload for retrieval; and
a control system including a processor and program instructions stored in a non-transitory computer-readable medium and executable by the processor to control the winch to perform the functions of the controller, the 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 during descent or ascent of the payload.
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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.
323 Citations
16 Claims
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1. An unmanned aerial vehicle (UAV) comprising:
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a winch system, wherein the winch system includes a single winch line having a first end that is secured to the payload at a single point of attachment on 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 (IMU) is configured to measure oscillations of the payload a descent of the payload for delivery or ascent of the payload for retrieval; and a control system including a processor and program instructions stored in a non-transitory computer-readable medium and executable by the processor to control the winch to perform the functions of the controller, the 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 during descent or ascent of the payload. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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Specification