公开(公告)号：WO2015103013A1

公开(公告)日：2015-07-09

申请号：PCT/US2014/072008

申请日：2014-12-22

Applicant: GOOGLE INC.

Inventor： JENSEN, Kenneth ,  CHUBB, Erik, Christopher ,  VANDER, Lind, Damon

IPC: B64F3/00

CPC classification number: B64C39/022 ,  B64C2201/021 ,  B64C2201/148 ,  F03D5/00 ,  F03D5/06 ,  F05B2240/921 ,  G05D1/0866 ,  G05D1/101 ,  Y02E10/70 ,  Y02E10/725

Abstract: A method may involve operating an aerial vehicle to travel along a first closed path on a tether sphere while oriented in a crosswind-flight orientation. A tether may be connected to the aerial vehicle on a first end and may be connected to a ground station on a second end. Further, the tether sphere may have a radius corresponding to a length of the tether. The method may further involve while the aerial vehicle is in the crosswind-flight orientation, operating the aerial vehicle to travel along a second closed path on the tether sphere, such that a speed of the aerial vehicle is reduced. And the method may involve after or while the speed of the aerial vehicle is reduced, transitioning the aerial vehicle from traveling along the second closed path while in the crosswind-flight orientation to a hover-flight orientation.

Abstract translation: 一种方法可以包括操作空中飞行器，以沿着侧风飞行方向定向，沿着系绳球体上的第一封闭路径行进。 系绳可以在第一端连接到飞行器，并且可以在第二端连接到地面站。 此外，系绳球可以具有对应于系链的长度的半径。 该方法还可以包括在空中飞行器处于侧风飞行方向的同时，操作飞行器沿着系绳球上的第二闭合路径行进，使得飞行器的速度降低。 并且该方法可能涉及在降低航空器的速度之后或同时降低航空器的速度，从而使空中飞行器沿着侧风飞行方向沿着第二闭合路径行驶到悬停飞行方位。

公开(公告)号：WO2015094471A1

公开(公告)日：2015-06-25

申请号：PCT/US2014/061386

申请日：2014-10-20

Applicant: GOOGLE INC.

Inventor： JENSEN, Kenneth ,  VANDER LIND, Damon

IPC: B64C39/02 ,  B64B1/50 ,  F03D9/00

CPC classification number: G05D1/101 ,  B64C31/06 ,  B64C39/022 ,  F03D7/00 ,  F03D9/007 ,  F03D9/25 ,  F03D9/30 ,  F05B2240/921 ,  G05D1/0866 ,  H02S10/12 ,  Y02E10/723 ,  Y02E10/725

Abstract: Methods and systems described herein relate to power generation control for an aerial vehicle. An example method may include operating an aerial vehicle in a crosswind-flight orientation substantially along a first flight path to generate power. The first flight path may- include a substantially circular path that allows the aerial vehicle to generate the power. While the aerial vehicle is in the crosswind-flight orientation the method may include determining to reduce the power being generated by the aerial vehicle, and responsive to the determination, determining a second flight path that will reduce the power generated by the aerial vehicle when operating on the second flight path. Once determined, the aerial vehicle may operate substantially along the second flight path.

Abstract translation: 本文所述的方法和系统涉及用于飞行器的发电控制。 示例性方法可以包括以基本上沿着第一飞行路径的侧风飞行方向操作飞行器以产生功率。 第一飞行路径可以包括允许航空器产生电力的基本圆形路径。 当飞行器处于侧风飞行方向时，该方法可以包括确定以减少由飞行器产生的功率，并且响应于该确定，确定第二飞行路径，其将在运行时减小飞行器产生的功率 在第二个飞行路径。 一旦确定，飞行器可以基本上沿着第二飞行路径操作。

公开(公告)号：EP3083400A1

公开(公告)日：2016-10-26

申请号：EP14872510.4

申请日：2014-10-20

Applicant: Google Inc.

Inventor： JENSEN, Kenneth ,  VANDER LIND, Damon

IPC: B64C39/02 ,  B64B1/50 ,  F03D9/00

CPC classification number: G05D1/101 ,  B64C31/06 ,  B64C39/022 ,  F03D7/00 ,  F03D9/007 ,  F03D9/25 ,  F03D9/30 ,  F05B2240/921 ,  G05D1/0866 ,  H02S10/12 ,  Y02E10/723 ,  Y02E10/725

Abstract: Methods and systems described herein relate to power generation control for an aerial vehicle. An example method may include operating an aerial vehicle in a crosswind-flight orientation substantially along a first flight path to generate power. The first flight path may include a substantially circular path that allows the aerial vehicle to generate the power. While the aerial vehicle is in the crosswind-flight orientation the method may include determining to reduce the power being generated by the aerial vehicle, and responsive to the determination, determining a second flight path that will reduce the power generated by the aerial vehicle when operating on the second flight path. Once determined, the aerial vehicle may operate substantially along the second flight path.

Abstract translation: 本文所述的方法和系统涉及用于飞行器的发电控制。 示例性方法可以包括以大致沿第一飞行路径的侧风飞行方向操作飞行器以产生功率。 第一飞行路径可以包括允许航空器产生电力的基本圆形路径。 当飞行器处于侧风飞行方向时，该方法可以包括确定以减少飞行器产生的功率，并且响应于该确定，确定第二飞行路径，其将在运行时减少由飞行器产生的功率 在第二个飞行路线。 一旦确定，飞行器可以基本沿着第二飞行路径操作。

公开(公告)号：WO2015100005A1

公开(公告)日：2015-07-02

申请号：PCT/US2014/069288

申请日：2014-12-09

Applicant: GOOGLE INC.

Inventor： VANDER LIND, Damon ,  JENSEN, Kenneth

IPC: F03D7/02 ,  H02P9/02 ,  F03D9/00 ,  B64C39/02 ,  B64F3/00

CPC classification number: F03D7/0204 ,  B64C39/022 ,  F03D1/02 ,  F03D7/028 ,  F03D7/042 ,  F03D9/25 ,  F03D9/32 ,  F05B2240/921 ,  Y02E10/723 ,  Y02E10/725

Abstract: Methods and systems described herein relate to power generation control for an aerial vehicle of an air wind turbine (AWT). More specifically, the methods described herein relate to balancing power generation or preventing a component of the aerial vehicle using rotor speed control. An example method may include operating an aerial vehicle in a crosswind- flight mode to generate power. The aerial vehicle may include a rotor configured to help generate the power. While the aerial vehicle is in the crosswind-flight mode the method may include comparing a power output level of the aerial vehicle to a power threshold and, based on the comparison, adjusting operation of the rotor in a manner that generates an optimal amount of power or minimizes overheating of the aerial vehicle.

Abstract translation: 本文所述的方法和系统涉及空气风力涡轮机（AWT）的空中飞行器的发电控制。 更具体地说，本文描述的方法涉及使用转子速度控制平衡发电或防止飞行器的部件。 示例性方法可以包括以侧风飞行模式操作航空器以产生动力。 飞行器可以包括被配置成帮助产生电力的转子。 当飞行器处于侧风飞行模式时，该方法可以包括将飞行器的功率输出水平与功率阈值进行比较，并且基于比较，以产生最佳功率量的方式调整转子的操作 或最小化飞行器的过热。

公开(公告)号：WO2015094641A1

公开(公告)日：2015-06-25

申请号：PCT/US2014/068139

申请日：2014-12-02

Applicant: GOOGLE INC.

Inventor： JENSEN, Kenneth ,  VANDER LIND, Damon

IPC: B64C39/02

CPC classification number: B64C31/06 ,  B64C39/022 ,  B64C2201/148 ,  F03D7/02 ,  F03D9/25 ,  F03D13/20 ,  F05B2240/921 ,  Y02E10/723 ,  Y02E10/728

Abstract: A system (100,400) may include a tether (120,420) connected to a ground station (110). The tether (120,420) may include at least two bridle segments (122,123,124,422,423,424). The system may further include an aerial vehicle (130) connected to the at least two bridle segments (122,123,124,422,423,424). The system (100,400) may also include at least one sensor (160A-D) and a control system. The control system may be configured to: a) receive sensor data from the at least one sensor (160A-D); and b) determine a tether roll angle (450) based on the sensor data. The tether roll angle (450) may represent an angle between the tether (420) and an axis of the aerial vehicle (440). Optionally, the control system may also be configured to determine a curvature of a path (150) of the aerial vehicle (130) based on the tether roll angle (450). The control system may additionally be configured to control at least one control surface of the aerial vehicle (130) based on the curvature of the path (150).

Abstract translation: 系统（100,400）可以包括连接到地面站（110）的系绳（120,420）。 系绳（120,420）可以包括至少两个线段（122,123,124,422,423,424）。 所述系统还可以包括连接到所述至少两个线段（122,123,124,422,423,424）的航空器（130）。 系统（100,400）还可以包括至少一个传感器（160A-D）和控制系统。 所述控制系统可以被配置为：a）从所述至少一个传感器（160A-D）接收传感器数据; 以及b）基于所述传感器数据确定系绳侧倾角（450）。 系绳侧倾角（450）可以表示系绳（420）与飞行器（440）的轴线之间的角度。 可选地，控制系统还可以被配置为基于系绳滚动角度（450）来确定空中飞行器（130）的路径（150）的曲率。 控制系统还可以被配置为基于路径（150）的曲率来控制空中飞行器（130）的至少一个控制表面。

公开(公告)号：EP3089911A1

公开(公告)日：2016-11-09

申请号：EP14875909.5

申请日：2014-12-22

Applicant: Google Inc.

Inventor： JENSEN, Kenneth ,  CHUBB, Erik, Christopher ,  VANDER,Lind, Damon

IPC: B64F3/00

CPC classification number: B64C39/022 ,  B64C2201/021 ,  B64C2201/148 ,  F03D5/00 ,  F03D5/06 ,  F05B2240/921 ,  G05D1/0866 ,  G05D1/101 ,  Y02E10/70 ,  Y02E10/725 ,  Y02P70/523

Abstract: A method involves operating an aerial vehicle to travel along a first closed path on a tether sphere while oriented in a crosswind-flight orientation. A tether is connected to the aerial vehicle on a first end and is connected to a ground station on a second end. Further, the tether sphere has a radius corresponding to a length of the tether. The method further involves while the aerial vehicle is in the crosswind-flight orientation, operating the aerial vehicle to travel along a second closed path on the tether sphere, such that a speed of the aerial vehicle is reduced. And the method involves after or while the speed of the aerial vehicle is reduced, transitioning the aerial vehicle from traveling along the second closed path while in the crosswind-flight orientation to a hover-flight orientation.