Smart cargo bay door(s) for a UAV

    公开(公告)号:US12179902B2

    公开(公告)日:2024-12-31

    申请号:US17864975

    申请日:2022-07-14

    Abstract: An unmanned aerial vehicle (UAV) including a fuselage body having a cavity that forms a cargo bay for transporting a payload, and a lower access opening for lowering the payload from the cargo bay, the lower access opening including a cargo bay door; a winch system positioned in the cargo bay configured to suspend a payload within the cargo bay; and a cargo bay door monitor which is configured to detect when the payload is applying a weight to the cargo bay door.

    Methods and systems for user interaction and feedback via control of tether

    公开(公告)号:US11905018B2

    公开(公告)日:2024-02-20

    申请号:US17222957

    申请日:2021-04-05

    CPC classification number: B64D1/22 B64C39/024 B64U2101/60 B64U2201/202

    Abstract: Described herein are methods and systems for motorized control of a tether, such as for purposes of user interaction and feedback. In particular, a UAV's control system may determine one or more operational parameters of a motor for a winch disposed in the UAV, the winch including the tether and a spool. The control system may then detect in the one or more operational parameters, an operational pattern of the motor that is indicative of an intentional user-interaction with the tether. Based on the detected operational pattern of the motor that is indicative of the intentional user-interaction with the tether, the control system may determine a motor response process. Then, the control system may operate the motor in accordance with the determined motor response process.

    METHODS AND SYSTEMS FOR DAMPING OSCILLATIONS OF A PAYLOAD

    公开(公告)号:US20220135211A1

    公开(公告)日:2022-05-05

    申请号:US17577997

    申请日:2022-01-18

    Abstract: Described herein are methods and systems to dampen oscillations of a payload coupled to a tether of a winch system arranged on an unmanned aerial vehicle (UAV). For example, the UAV's control system may dampen the oscillations by causing the UAV to switch to a forward flight mode in which movement of the UAV results in drag on the payload, thereby damping the oscillations. In another example, the control system may cause the UAV to reduce an extent flight stabilization along at least one dimension, thereby resulting in damping of the detected oscillations due to energy dissipation during movement of the UAV along the dimension. In this way, the control system could select and carry out one or more such techniques, and could do so during retraction and/or deployment of the tether.

    Perforated Capsule Hook for Stable High Speed Retract

    公开(公告)号:US20210238014A1

    公开(公告)日:2021-08-05

    申请号:US17213738

    申请日:2021-03-26

    Inventor: Andre Prager

    Abstract: A payload coupling apparatus is provided that includes a housing having an upper portion, a lower portion, and a side wall positioned between the upper and lower portions, an attachment point on the housing adapted for attachment to a first end of a tether, a slot in the housing that extends downwardly towards a center of the housing thereby forming a hook or lip on the lower portion of the housing beneath the slot, a plurality of holes in the upper portion of the housing; and a plurality of holes in the lower portion of the housing. A method of retracting a payload coupling apparatus during UAV flight is also provided.

    Active position control of tethered hook

    公开(公告)号:US10974831B2

    公开(公告)日:2021-04-13

    申请号:US15930107

    申请日:2020-05-12

    Abstract: An example system includes an aerial vehicle, a sensor, and a winch system. The winch system includes a tether disposed on a spool, a motor operable to apply a torque to the tether, and a payload coupling apparatus coupled to the tether and configured to mechanically couple to a payload. The system also includes a repositioning apparatus configured to reposition the payload coupling apparatus in at least a horizontal direction. A control system is configured to control the aerial vehicle to deploy the payload coupling apparatus by unwinding the tether from the spool; receive, while the aerial vehicle hovers above the payload and from the sensor, data indicative of a position of the payload coupling apparatus in relation to the payload; and reposition, using the repositioning apparatus and based on the data, the payload coupling apparatus in the horizontal direction to mechanically couple to the payload.

    Methods and systems for damping oscillations of a payload

    公开(公告)号:US10414488B2

    公开(公告)日:2019-09-17

    申请号:US15389290

    申请日:2016-12-22

    Abstract: Described herein are methods and systems to dampen oscillations of a payload coupled to a tether of a winch system arranged on an unmanned aerial vehicle (UAV). For example, the UAV's control system may dampen the oscillations by causing the UAV to switch to a forward flight mode in which movement of the UAV results in drag on the payload, thereby damping the oscillations. In another example, the control system may cause the UAV to reduce an extent flight stabilization along at least one dimension, thereby resulting in damping of the detected oscillations due to energy dissipation during movement of the UAV along the dimension. In this way, the control system could select and carry out one or more such techniques, and could do so during retraction and/or deployment of the tether.

    Active Position Control of Tethered Hook
    10.
    发明申请

    公开(公告)号:US20190193856A1

    公开(公告)日:2019-06-27

    申请号:US15851654

    申请日:2017-12-21

    Abstract: An example system includes an aerial vehicle, a sensor, and a winch system. The winch system includes a tether disposed on a spool, a motor operable to apply a torque to the tether, and a payload coupling apparatus coupled to the tether and configured to mechanically couple to a payload. The system also includes a repositioning apparatus configured to reposition the payload coupling apparatus in at least a horizontal direction. A control system is configured to control the aerial vehicle to deploy the payload coupling apparatus by unwinding the tether from the spool; receive, while the aerial vehicle hovers above the payload and from the sensor, data indicative of a position of the payload coupling apparatus in relation to the payload; and reposition, using the repositioning apparatus and based on the data, the payload coupling apparatus in the horizontal direction to mechanically couple to the payload.

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