• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to a binding system for a connected UAV (unmanned aerial vehicle), the system comprising: a base (202) with a bottom surface (212) and a first coupling point (216); a vertically oriented elongated structure (204) having a lower end (218), an upper end (220) and an inner channel (222), the inner channel (222) including an upper access point (226) located near the upper end (220 ) is arranged, the base (202) being coupled near the lower end (218) to the elongated structure (204); a damping component coupled to the elongate structure (204) that can help absorb the impact of a collision between the attached UAV (206) and the elongate structure (204) and possibly mitigate damage to the UAV (206); and a tether (208) comprising a portion extending from the upper access point (226) to the UAV (206), the portion having a length less than a distance between the upper access point (226) and the bottom surface (212). Furthermore, the invention relates to a non-volatile computer-readable storage medium for use with a computer system of the system according to the invention, and to a method for use with the system according to the invention.
    公开号:CH713569B1
    申请号:CH00912/18
    申请日:2017-01-03
    公开日:2020-05-29
    发明作者:J Hundemer Hank
    申请人:Tribune Broadcasting Co Llc；
    IPC主号:
    专利说明:

    RELATED REVELATION
    [0001] This disclosure claims priority from US Provisional Application No. 62 / 273,728, filed December 31, 2015, and US Patent Application No. 15 / 210,039, filed July 14, 2016, both of which are hereby incorporated in full are incorporated by reference.
    LANGUAGE USE AND TERMINOLOGY
    In this disclosure, "a" or "a" unless otherwise stated and / or the respective context clearly specifies something else, "at least one" or "at least one", and "the" or "the." "Or" that "means and" the at least one "or" the at least one "or" the at least one ".
    GENERAL PRIOR ART
    Unless otherwise specified, the materials described in this section are not prior art based on the claims in this disclosure and are not recognized as prior art by their inclusion in this section.
    Technological and computer developments have recently contributed to an increasing development and use of unmanned aerial vehicles (UAVs). A UAV is an aircraft that can be operated without a human operator on board. Sometimes referred to as a "drone" or "unmanned aerial system", a UAV can be designed differently, such as a helicopter, quadrocopter, fixed-wing aircraft, impact airship or glider, and can be used for various purposes, such as an image or video of an area to take a bird’s eye view.
    [0005] A UAV can operate in one or more modes, such as a remote control mode, an autonomous mode, or a semi-autonomous mode. While the UAV is operating in a remote control mode, a remote operator can control the UAV. While the UAV is operating in an autonomous mode, a computer system on board the UAV can control the UAV. Finally, while the UAV is operating in a semi-autonomous mode, a remote operator can cause the UAV to perform some operations and a computer system on board the UAV can cause the UAV to perform other operations. For example, the operator can instruct the UAV to navigate to a particular location, and the computer system can have the UAV navigate to that location autonomously.
    SUMMARY
    [0006] A UAV can fly without a human operator on board. In some cases, however, a UAV can become inoperable and lose the ability to fly as intended. As a result, the UAV can fall to the ground and crash, which can injure a person or damage property. Here a system for a connected UAV is disclosed, with which such injuries and / or damage can be avoided.
    In one embodiment, a system includes: a base having a bottom surface and a first coupling point; a vertically oriented elongate structure having a lower end, an upper end and an inner channel, the inner channel including an upper access point located near the upper end, the base being coupled to the elongate structure near the lower end; a UAV with a second coupling point; and a tether comprising a first section, a second section, a third section and a fourth section, wherein (i) the first section is coupled to the first coupling point, (ii) the second section is coupled to the second coupling point, ( iii) the third section extends through the inner channel, (iv) the fourth section extends from the upper access point to the second coupling point, and (v) the fourth section has a length that is less than a distance between the upper access point and the floor area.
    [0008] In one embodiment, the system comprises: a base with a first coupling point; a vertically oriented elongate structure having a lower end, an upper end and an inner channel, the inner channel including an upper access point located near the upper end, the base being coupled to the elongate structure near the lower end; a land structure constructed and arranged to receive the UAV, the land structure coupled to the elongated structure near the top; and a tether comprising a first section, a second section, a third section and a fourth section, wherein (i) the first section is coupled to the first coupling point, (ii) the second section is coupled to a second coupling point of the UAV , (iii) the third section extends through the inner channel, and (iv) the fourth section extends from the upper access point to the second coupling point.
    In one embodiment, the system comprises: a base with a bottom surface and a first coupling point; a vertically oriented elongate structure having a lower end, an upper end and an inner channel, the inner channel including an upper access point located near the upper end, the base being coupled to the elongate structure near the lower end; a land structure constructed and arranged to receive the UAV, the land structure coupled to the elongated structure near the top; and a tether comprising a first section, a second section, a third section and a fourth section, wherein (i) the first section is coupled to the first coupling point, (ii) the second section is coupled to a second coupling point of the UAV , (iii) the third section extends through the inner channel to the upper access point, (iv) the fourth section extends from the upper access point through the opening and to the second coupling point, and (v) the fourth section has a length that is smaller than a distance between the upper access point and the floor area.
    In one embodiment, the system comprises: a base with a bottom surface and a first coupling point; a vertically oriented elongate structure having a lower end, an upper end and an inner channel, the inner channel including an upper access point located near the upper end, the base being coupled to the elongate structure near the lower end; a deployable cushioning device coupled to the elongated structure; a tether that includes a portion that extends from the upper access point to the UAV, the portion having a length that is less than a distance between the upper access point and the bottom surface; and a computer system configured to perform a set of actions, comprising: detecting abnormal operation of the UAV; and in response to detecting abnormal operation of the UAV, causing the damper to deploy.
    In one aspect, a non-volatile computer readable storage medium for use with a system is disclosed. The system includes: a base with a bottom surface and a first coupling point; a vertically oriented elongate structure having a lower end, an upper end and an inner channel, the inner channel including an upper access point located near the upper end, the base being coupled to the elongate structure near the lower end; a deployable cushioning device coupled to the elongated structure; and a tether that includes a portion that extends from the upper access point to the UAV, the portion having a length that is less than a distance between the upper access point and the floor surface. Program instructions are stored on the non-volatile computer readable storage medium which, when executed, cause a set of actions to be performed, including: detecting abnormal operation of the UAV; and in response to detecting abnormal operation of the UAV, causing the damper to deploy.
    According to a further aspect, a method for use with a system is disclosed. The system includes: a base with a bottom surface and a first coupling point; a vertically oriented elongate structure having a lower end, an upper end and an inner channel, the inner channel including an upper access point located near the upper end, the base being coupled to the elongate structure near the lower end; a deployable cushioning device coupled to the elongated structure; and a tether that includes a portion that extends from the upper access point to the UAV, the portion having a length that is less than a distance between the upper access point and the floor surface. The method includes: detecting abnormal operation of the UAV; and in response to detecting abnormal operation of the UAV, causing the damper to extend.
    According to a further aspect, a system for use with a UAV is disclosed. The system includes: a base with a bottom surface and a first coupling point; a vertically oriented elongate structure having a lower end, an upper end and an inner channel, the inner channel including an upper access point located near the upper end, the base being coupled to the elongate structure near the lower end; a damping component coupled to the elongated structure; and a tether that includes a portion that extends from the upper access point to the UAV, the portion having a length that is less than a distance between the upper access point and the floor surface.
    BRIEF DESCRIPTION OF THE DRAWINGS
    [0014] FIG. 1 shows a simplified block diagram of an exemplary computer device.
    FIG. 2 shows a representation of an exemplary UAV system.
    Figure 3 shows another representation of the exemplary UAV system.
    Figure 4 is a flowchart of an exemplary method.
    DETAILED DESCRIPTION
    I. Overview
    [0018] As discussed above, a UAV can fly without an on-board human operator. In some cases, however, a UAV can become inoperable and lose the ability to fly as intended. As a result, the UAV can fall to the ground and crash, causing injury to people or damage to property. Here a system for a connected UAV is disclosed, with which such injuries and / or damage can be avoided.
    In one example, a tethered UAV system may have a base with a vertically oriented elongated structure that positions a portion of a tether attached to a UAV at a height that may limit a position of the tied UAV. Within the system, the tether may extend upward from the base through an interior channel of the vertically oriented elongated structure and connected to a UAV from the top of the elongated structure. This allows the tether to limit the distance that the UAV can fly away from the top of the elongated structure. In this way, the tether can limit the UAV to a volume that is centered at the tip of the elongated structure and extends radially outward by a dimension defined by the tether. In some cases, the tether may have a portion of the tether that extends from the top of the elongated structure to the UAV and may have a length that is less than the height of the elongated structure, thereby reducing the tether, the likelihood that that UAV can reach people or objects on the nearby ground. With this arrangement, the combination of the elongated structure and the tether can cause the UAV to swing like a pendulum from the top of the elongated structure, even if the UAV is malfunctioning, rather than falling to the ground, and possibly no people or objects meets.
    [0020] As discussed above, a connected UAV system can restrict a UAV from reaching the ground. This may prevent the UAV from landing on the floor. Here, however, a tethered UAV system is disclosed that can allow a tethered UAV to land elsewhere. In one example, a connected UAV system may include a country structure configured and arranged to receive the connected UAV. The landing structure can provide the UAV with a platform for landing and can be designed differently, for example as a shell-shaped section that is designed to receive a connected UAV during landing. In some examples, the land structure is fastened near the upper end of the elongated structure and can also serve as a launching platform for the connected UAV to initiate the flight.
    In addition, UAVs can be expensive and often carry expensive equipment (e.g. cameras, sensors). Although a tethered UAV system can help constrain a tethered UAV from colliding with objects on the ground, the tether can still cause the UAV to swing into the vertically oriented elongated structure due to a malfunction of the UAV, which can damage the UAV or equipment located on the UAV. A system for a connected UAV is disclosed here, with which such damage can be avoided.
    In one example, a tethered UAV system may include a deployable cushioning device positioned on the outer surface of the vertically oriented elongated structure. The deployable cushioning device can help absorb the impact of a collision between the attached UAV and the elongated structure and possibly mitigate damage to the UAV. In some cases, a damper may have a deployable configuration that enables a computer system operating in the system for a connected UAV to detect abnormal operation of the UAV and cause the deployable damper to deploy in response. In this way, a deployable cushioning device can remain stowed in one position on the elongated structure and deploy similarly to an airbag (e.g., by inflation) to potentially reduce damage to the UAV and / or elongated structure in the event of a collision.
    II. Exemplary construction
    A. Computer device
    FIG. 1 is a simplified block diagram of an exemplary computing device 100 that can perform various actions and / or functions as described in this disclosure. Computing device 100 may include various components, such as e.g. include the processor 102, the memory unit 104, the communication interface 106 and / or the user interface 108. The components may be connected to one another (or to another device, system, or unit) via the link mechanism 110.
    In this disclosure, the term “connection mechanism” is to be understood as a mechanism which enables communication between two or more devices, systems or other units. A connection mechanism can be a relatively simple mechanism, such as a cable or a system bus, or a relatively complex mechanism, such as a packet-based communication network (e.g. the Internet). In some cases, a connection mechanism may include an intangible medium (e.g., if the connection is wireless).
    Processor 102 may include a general purpose processor (e.g., a microprocessor) and / or a specialty processor (e.g., a digital signal processor (DSP).
    The memory unit 104 can contain one or more volatile, non-volatile, removable and / or non-removable memory components such as magnetic memory, optical memory or flash memory and / or be wholly or partly integrated with the processor 102. Furthermore, the storage unit 104 can be embodied as a non-volatile computer-readable storage medium on which program instructions (for example compiled or non-compiled program logic and / or machine code) are stored which, when executed by the processor 102, cause the computer device 100 to have one or more Performs actions and / or functions as described in this disclosure. As such, computing device 100 may be configured to perform one or more actions and / or functions, such as those described in this disclosure. Such program instructions can define and / or be part of a discrete software application. In some cases, computing device 100 may execute program instructions in response to receiving an input, e.g. from the communication interface 106 and / or the user interface 108. Storage unit 104 may also store other types of data, such as that described in this disclosure.
    The communication interface 106 may allow the computing device 100 to connect to and / or communicate with another, other entity according to one or more protocols. Communication interface 106 may, in one example, be a wired interface, such as an Ethernet interface or a high definition serial digital interface (HD-SDI). In another example, communication interface 106 may be a wireless interface, such as a cellular or Wi-Fi interface. In this disclosure, a connection may be a direct connection or an indirect connection, the latter being a connection that includes one or more entities, e.g. traverses and / or traverses a router, switcher or other network device. Likewise, in this disclosure, transmission may be direct transmission or indirect transmission.
    The user interface 108 may enable interaction between the computing device 100 and a user of the computing device 100. As such, user interface 108 may include input components such as a keyboard, a keypad, a mouse, a touch screen, a microphone, and / or a camera, and / or output components such as a display device (which may, for example, be combined with a touch screen) can), a speaker and / or a haptic feedback system. In general, the user interface 108 may include hardware and / or software components that enable the interaction between the computing device 100 and the user of the computing device 100.
    The computing device 100 can take various forms, such as a terminal at a workstation, a desktop computer, a laptop, a tablet and / or a mobile phone.
    B. System for a connected UAV
    Figure 2 is an illustration of an exemplary UAV system 200. The system 200 includes the base 202, the elongated structure 204, the UAV 206, the tether 208 and the land structure 210, but in examples can also more or fewer components include. For example, system 200 may include components that are not shown in FIG. 2, such as a computer system in or at base 202. In this disclosure, the term “computer system” is understood to mean a system that includes at least one computer device. As such, system 200 may be configured to perform various actions and / or functions in accordance with a set of instructions provided by such a computer system, including those described in this disclosure (also in the accompanying drawings).
    In Figure 2, the base 202 is shown as a vehicle, but in some examples it can also be present in other portable or fixed configurations. As shown, the base 202 includes a bottom surface 212 and the wrap mechanism 214 formed with the first interface 216. The bottom surface 212 corresponds to the bottom of a wheel of the base 202 and represents a lower portion of the base 202 that is adjacent or near the bottom. In other examples, bottom surface 212 may correspond to other portions of base 202, including portions further from the bottom.
    The winder mechanism 214 is a mechanical structure that is coupled to the base 202 and that can accommodate and adjust a length of the tether 208 automatically or manually. For example, the winder mechanism 214 may include a spool that is rotated so that the tether 208 is either wrapped around the spool, thereby reducing the length of the portion of the tether 208 that is not wrapped around the spool, or is rotated so that that the tether 208 is unwound, thereby increasing the length of the portion of the tether 208 that is not wrapped around the spool. The tether 208 is connected to the winding mechanism 214 at the first coupling point 216. As such, the wrap mechanism 214 may be configured to automatically adjust the length of the tether 208 via mechanical actuation based on user input, or may be configured to allow a human operator to manually adjust the tether 208 ( eg by winding or unwinding the winding mechanism by turning a handle or by actuating an electric motor in such a way that it comes into engagement with the winding mechanism and causes winding and unwinding). In some cases, wrap mechanism 214 may also serve as a location for tether 208 while navigating base 202. In some examples, tether 208 may be connected to base 202 at other locations (e.g., directly at base 202).
    [0033] Base 202 may include other components, such as a power source and communication components, in some examples. For example, the UAV 206 may communicate via the tether 208 and receive energy from components located on the base 202.
    As shown in Figure 2, the elongated structure 204 may be a vertically oriented adjustable mast that is coupled to the base 202. The elongated structure is shown in FIG. 2 in a sectional shape that shows the interior of the elongated structure 204. As an adjustable mast, the elongated structure 204 can change orientation and position, extend upward, adjust the orientation angle, and collapse into a stowable position, for example through the use of pneumatics. In other examples, elongated structure 204 may have other configurations, such as multiple structures (e.g., bars) connected to base 202. The elongated structure 204 is connected to the base 202 at the lower end 218 and extends from the base 202 in a vertical orientation, the upper end 220 of the elongated structure 204 being located opposite the lower end 218. Furthermore, the elongated structure 204 may include the inner channel 222, with the lower access point 224 to the inner channel 222 located near the lower end 218, and the upper access point 226 of the inner channel 222 near the upper end 220. The upper access point 226 is shown with a circular opening to allow the tether 208 to rotate completely when the UAV 206 navigates in different directions in an environment, but may be different in some examples.
    As shown in Figure 2, the tether 208 can be passed through the inner channel 222 of the elongated structure 204. Accordingly, the tether 208 can enter the lower access point 224, pass through the inner channel 222 and exit through the upper access point 226. As such, the winder mechanism 214 may therefore be located outside of the elongated structure 204 (and, for example, mounted to the base 202 near the lower end 218 of the elongated structure 204, as shown in Figure 2). However, in some examples, the winder mechanism can be mounted elsewhere. For example, the wrap mechanism may be located within the base 202 or within the elongated structure 204 itself. As a result, the lower access point 224 cannot offer access to the inner channel 222 from outside the base 202. For example, if the winder mechanism 214 is mounted inside the base 202, below the lower end 218 of the elongated structure 204, an access point to the inner channel 222 located within the base 202 may be provided, thereby providing a tether path that runs between the internally mounted winding mechanism and the inner channel 222 of the elongated structure 204. In some cases, the wrap mechanism may also be disposed within the elongated structure 204 itself, in which case the inner channel 222 may only extend between the upper access point 226 and the location of such a wrap mechanism. In addition, in an example where the winder mechanism is near the upper end 220 of the elongated structure 204, the tether 208 cannot pass through the inner channel 222 at all. In either of these configurations, actuation of the winding mechanism 214 to wind and unwind the tether 208 can be used to determine the length of the tether 208 that extends from the top 220 of the elongated structure 204 (e.g., at the top access point 226) to the UAV 206 extends to control, thereby limiting the maximum separation distance between the upper end 220 of the elongated structure 204 and the UAV 206.
    The elongated structure 204 further includes a deployable cushioning device 228 that is connected to an outer surface of the elongated structure 204. If the UAV 206 collides with the elongated structure 204, the deployable damper 228 may reduce damage to the UAV 206 and / or the elongated structure 204. For example, if the UAV 206 stops normal flight operations (e.g., due to a malfunction), the tether 208 can cause the UAV 206 to pivot into the elongated structure 204. For example, a computer system 200 system 200 can detect abnormal operation of the connected UAV 206 and, in response, cause the deployable cushioning device 228 to inflate using a gaseous substance. The deployable cushioning device 228 can be inflated by transitioning from a first volume of gaseous substance inside to a second volume of gaseous substance, the second volume being greater than the first volume. The deployable cushioning device 228 may include, for example, a set of deployable cushioning components that extend at various locations around the outer surface of the elongated structure 204. In some examples, elongated structure 204 may include cushioning components that do not require inflation or other form of preparation by system 200 prior to use. For example, stationary damping components can be attached to the outer surface of the elongated structure 204.
    To enable the deployable cushioning device 204 to provide such functionality, the deployable cushioning device 204 may be positioned on the elongated structure 204 at a height such that a length of the fourth section 240 is greater than or equal to a first distance between the upper access point 226 and an upper end 246 of the deployable cushioning device 228 and is also less than or equal to a second distance between the upper access point 226 and a lower end 248 of the deployable cushioning device 228.
    The system 200 further includes the UAV 206, which is connected to the base 202 via the tether 208. The UAV 206 can be any type of aircraft that can be operated without a human operator on board. For example, a human operator can control the navigation of the UAV 206 via a spatially separate remote control, which can provide control instructions to the UAV 206 via a wired or wireless connection. As shown in FIG. 2, the UAV 206 can be formed with the second coupling point, which serves as a connection point for connecting the tether 208 to the UAV 206. In examples, the second coupling location on the UAV 206 can be located at various locations that may depend on the configuration of the UAV 206. The UAV 206 itself can be designed differently, such as a helicopter, quadrocopter, fixed-wing aircraft, impact airship or glider, and can be operated in different modes, such as a remote control mode, an autonomous mode or a semi-autonomous mode.
    [0039] The UAV 206 may include a camera 230 that is configured to record video and / or images from an aerial perspective. The UAV 206 may include other components, such as an energy source (e.g., a battery) and an on-board computer system. In some examples, the UAV 206 may also be configured to be powered by a power source located on the base 202 via a power supply connection located within the tether 208. As a result, the UAV 206 can be lighter in weight since no on-board battery is required. In operation, the UAV 206 may send and receive communication content such as sensor data, images, videos, and control instructions via the tether 208 or via a wireless connection to another computer system, such as the base 202 computer system.
    The system 200 includes the tether 208 that serves as a link between the base 202 and the UAV 206. The tether 208 may include various materials, including materials that enable elastic stretching, as well as materials that enable transmission of electrical energy or communication between the computer systems of the base 202 and the UAV 206. In some examples, tether 208 may include multiple assembled components.
    3, the tether 208 is divided into the first section 234, the second section 236, the third section 238 and the fourth section 240. The first section 234 of the tether 208 extends from the first coupling point 216 in the lower access point 224 and second portion 236 is the portion of tether 208 that is connected to UAV 206 at the second coupling point. The tether 208 may, however, be connected to the base 202 and the UAV 206 at different positions. For example, the first portion 234 of the tether 208 may be directly connected to the base 202 without the wrap mechanism 214. The third section 238 of the tether 208 begins at the lower access point 224 and extends through the inner channel 222 of the elongated structure 204 to the upper access point 226 of the elongated structure 204. The fourth section 240 of the tether 208 extends from the upper access point 226 of the elongated structure 204 to the second section 236 of the tether 208, which is arranged at the second coupling point on the UAV 206.
    In some examples, the fourth portion 240 of the tether 208 may have a length that is less than a distance between the top access point 226 of the elongated structure 204 and the bottom surface 212 of the base 202. At this or a shorter length, the tether may 208 hang the UAV 206 above the ground due to a malfunction of the UAV 206 during the flight. As mentioned elsewhere, the length of the fourth section 240 can be controlled by operating the winder mechanism 214 to wind and unwind the tether 208.
    The system 200 may further include a land structure 210 that is constructed and arranged to receive the UAV 206. The country structure 210 can provide a structure for the landing of the UAV 206 and can also serve, for example, as a launch platform for initiating the flight for the UAV 206. As shown in FIG. 2, the land structure 210 may be attached near the top end 220 of the elongated structure 204. As shown in FIG. 3, land structure 210 may include an opening 242 that allows tether 208 (or any portion thereof) to extend through land structure 210. In some examples, opening 242 may be circular to allow full rotation of tether 208 during operation of UAV 206, and may also be located near upper access point 226 of elongated structure 204.
    The country structure 210 is depicted with a shell-shaped section 244 that is designed and arranged to receive the UAV 206, but in some examples it can be configured differently. Shell-shaped portion 244 may include, for example, a mesh fabric or a nylon fabric to help catch a landing UAV 206. In one example, the country structure 210 may include a network that is arranged around the circumference of the country structure 210. In other examples, country structure 210 may include other structures and materials, such as combinations of hard and soft materials. For example, the country structure 210 may include collapsible parts that, controlled by the computer system of the system 200, can be collapsed and expanded outward.
    As shown, the land structure 210 may be mounted on the elongated structure 204 so that it completely surrounds the surface of the outer sidewall of the elongated structure 204 near the top end 220. However, in some examples, land structure 210 may be disposed adjacent a portion of the outer sidewall surface without completely surrounding elongated structure 204.
    The land structure 210 may also include a coupling portion that extends around the upper end 220 of the elongated structure 204 to enable the land structure 210 to be coupled to the elongated structure 204. The coupling section can take various forms. For example, the coupling section can be a lip that engages in a corresponding recess on the elongated structure 204. However, other coupling techniques can also be used.
    III. Exemplary operation
    System 200 and / or components thereof can perform various actions. These actions and the features associated with them will now be described. A computer system 200 system can monitor and detect when the UAV 206 is operating abnormally during operation. If this is detected, the computer system can initiate actions in response, for example inflating the deployable damping device 228, or prepare the country structure 210 for use. For example, the computer system may interpret the abnormal operation of the UAV 206 as a possible malfunction of the UAV 206 and may cause the deployable cushioning device located on the elongated structure 204 to expand through expansion with a gaseous substance.
    In one example, the system 200 may include sensors configured to measure the tension of the tether 208 during operation of the UAV 206. Based on the measured tension level of the tether 208, the system 200 computer system may determine that the UAV 206 is operating abnormally or is preparing for a landing. In response, the UAV 206 may deploy the deployable cushioning device 228 located on the elongated structure 204. Similarly, the computer system can perform other operations depending on the measured tension level of tether 208. For example, the system 200 computer system may cause a collapsible portion of the landing structure 210 to expand outward to prepare for the landing of the UAV 206, or adjust a length of the tether 208 using the wrap mechanism 214.
    In another example, the system 200 computer system may receive sensor data from a UAV 206 sensor that provides information about the operation of the UAV 206. The computer system may make a determination that the received sensor data has a certain property and detect abnormal operation of the UAV 206 based on the determination. Likewise, the computer system can determine further information about the UAV 206 from the sensor data received from the sensors of the UAV 206. For example, the computer system may receive an indication from the UAV 206 indicating that the UAV 206 is losing altitude and prepare to land the UAV 206. The computer system may also receive sensor data indicating that the UAV 206 is operating at low battery power. In the above situations and in other possible scenarios, the computer system may cause one or more deployable cushioning devices to deploy and cause other components of the system 200 to perform operations (e.g., preparing the land structure 210).
    FIG. 4 is a flow chart that illustrates an exemplary method 400. At block 402, method 400 may include detecting abnormal operation of the UAV. At block 404, method 400 may include causing the damper to deploy in response to detecting abnormal operation of the UAV.
    权利要求:
    Claims (15)
    [1]
    1. A system (200) for use with a UAV (206), the system (200) comprising:a base (202) having a bottom surface (212) and a first coupling point (216);a vertically oriented elongated structure (204) having a lower end (218), an upper end (220) and an inner channel (222), the inner channel (222) including an upper access point (226) located near the upper end (220 ) is arranged, the base (202) being coupled near the lower end (218) to the elongated structure (204);a damping component coupled to the elongate structure (204) that can help absorb the impact of a collision between the attached UAV (206) and the elongate structure (204) and possibly mitigate damage to the UAV (206); anda tether (208) comprising a portion extending from the upper access point (226) to the UAV (206), the portion having a length less than a distance between the upper access point (226) and the Floor area (212).
    [2]
    The system (200) of claim 1, wherein the system (200) comprises: a deployable cushioning device (228) coupled to the elongated structure (204) that may include a set of deployable cushioning components and that may help absorb the impact of a collision between the connected UAV (206) and the elongated structure (204) and possibly mitigate damage to the UAV (206);anda computer system (100) configured to perform a set of actions, comprising:detecting abnormal operation of the UAV (206); andin response to detecting abnormal operation of the UAV, causing the damping device (228) to deploy.
    [3]
    The system (200) of claim 2, wherein the base (202) comprises a vehicle.
    [4]
    4. The system (200) of claim 2, wherein the vertically oriented elongated structure (204) comprises a mast with an adjustable height.
    [5]
    The system (200) of claim 2, wherein the deployable cushioning device (228) comprises a set of one or more deployable cushioning components, the set extending around an outer surface of the elongate structure (204).
    [6]
    The system (200) of claim 2, wherein the system (200) comprises sensors configured to measure the tension of the tether (208) during operation of the UAV (206); and detecting abnormal operation of the UAV (206) comprises:measuring a tension level of the tether (208);making a determination that the measured tension level is below a threshold tension level; andbased on the determination, detecting abnormal operation of the UAV (200).
    [7]
    The system (200) of claim 2, wherein detecting abnormal operation of the UAV (206) comprises:receiving sensor data from a sensor of the UAV (206);making a determination that the received sensor data has a particular property; andbased on the determination, detecting abnormal operation of the UAV (206).
    [8]
    The system (200) of claim 2, wherein the action of the computer system (100) related to causing the deployable cushioning device (228) to unfold comprises:causing the deployable cushioning device (228) to expand with a gaseous substance.
    [9]
    The system (200) of claim 2, wherein the portion has a length that is (i) greater than or equal to a first distance between the upper access point (226) and an upper end (220) of the deployable cushioning device (228), and which (ii) is less than or equal to a second distance between the upper access point (226) and a lower end of the deployable cushioning device (228).
    [10]
    10. A non-volatile, computer readable storage medium for use with a computer system (100) of a system (200), the system (200) comprising:a base (202) having a bottom surface (212) and a first coupling point (216);a vertically oriented elongated structure (204) having a lower end (218), an upper end (220) and an inner channel (222), the inner channel (222) including an upper access point (226) located near the upper end (220 ) is arranged, the base (202) being coupled near the lower end (218) to the elongated structure (204);a deployable cushioning device (228) coupled to the elongated structure (204); anda tether (208) comprising a portion extending from the upper access point (226) to a UAV (206), the portion having a length less than a distance between the upper access point (226) and the Bottom surface (212);wherein program instructions are stored on the non-volatile computer readable storage medium which, when executed, cause a set of actions to be performed, comprising:detecting abnormal operation of the UAV (206); andin response to detecting abnormal operation of the UAV (206), causing the damper (228) to deploy.
    [11]
    The non-transitory computer readable storage medium of claim 10, wherein the system (200) includes sensors configured to measure the tension of the tether (208) during operation of the UAV (206) and detecting abnormal operation of the UAV (206) Includes:measuring a tension level of the tether (208);making a determination that the measured voltage level is below a threshold; andbased on the determination, detecting abnormal operation of the UAV (206).
    [12]
    12. The non-transitory computer readable storage medium of claim 10, wherein detecting abnormal operation of the UAV (206) comprises:receiving sensor data from a sensor of the UAV (206);making a determination that the received sensor data has a particular property; andbased on the determination, detecting abnormal operation of the UAV (206).
    [13]
    13. A method for use with a system (200), comprising:a base (202) having a bottom surface (212) and a first coupling point (216);a vertically oriented elongated structure (204) having a lower end (218), an upper end (220) and an inner channel (222),wherein the inner channel (222) includes an upper access point (226) located near the upper end (220), the base (202) near the lower end (218) coupled to the elongate structure (204);a deployable cushioning device (228) coupled to the elongated structure (204); anda tether (208) comprising a portion extending from the upper access point (226) to a UAV (206), the portion having a length less than a distance between the upper access point (226) and the Bottom surface (212);the method comprising:detecting abnormal operation of the UAV (206); andin response to detecting abnormal operation of the UAV (206), causing the damper (228) to deploy.
    [14]
    The method of claim 13, wherein the deployable cushioning device (228) comprises a set of one or more deployable cushioning components, the set extending around an outer surface of the elongate structure (204).
    [15]
    15. The method of claim 13, wherein the portion has a length that is (i) greater than or equal to a first distance between the upper access point (226) and an upper end (220) of the deployable cushioning device (228), and (ii ) is less than or equal to a second distance between the upper access point (226) and a lower end (218) of the deployable damping device (228).
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    US20190055036A1|2019-02-21|
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    WO2017117609A1|2017-07-06|
    CA3009980A1|2017-07-06|
    US10138002B2|2018-11-27|
    US20170190444A1|2017-07-06|
    US20200094989A1|2020-03-26|
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    法律状态:
    2018-08-15| PCOW| Change of address of patent owner(s)|Free format text: NEW ADDRESS: 303 E. WACKER DRIVE 17TH FLOOR, CHICAGO, IL 60601 (US) |
    2021-08-31| PL| Patent ceased|
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    US201562273728P| true| 2015-12-31|2015-12-31|
    US15/210,072|US10138002B2|2015-12-31|2016-07-14|Tethered unmanned aerial vehicle system|
    PCT/US2017/012057|WO2017117609A1|2015-12-31|2017-01-03|Tethered unmanned aerial vehicle system|
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