U.S. patent application number 13/759087 was filed with the patent office on 2013-08-15 for systems and methods for controlling an aerial unit.
The applicant listed for this patent is Shy Cohen, Ronen Keidar, Gabriel Shachor. Invention is credited to Shy Cohen, Ronen Keidar, Gabriel Shachor.
Application Number | 20130206919 13/759087 |
Document ID | / |
Family ID | 46051347 |
Filed Date | 2013-08-15 |
United States Patent
Application |
20130206919 |
Kind Code |
A1 |
Shachor; Gabriel ; et
al. |
August 15, 2013 |
SYSTEMS AND METHODS FOR CONTROLLING AN AERIAL UNIT
Abstract
An aerial unit that includes a first propeller; a second
propeller that is spaced apart from the first propeller and is
below the first propeller; a propelling module that is configured
to rotate the first propeller and the second propeller about a
first axis; an apertured duct that comprises a first duct portion
and a second duct portion. The first duct portion surrounds the
first propeller. The second duct portion surrounds the second
propeller. The apertured duct defines at least one aperture at an
intermediate area that is positioned below the first propeller and
is above the second propeller. The aggregate size of the at least
one aperture is at least fifty percent of a size of the
intermediate area; a frame; and at least one steering element; an
interfacing module arranged to be connected to a connecting element
that couples the aerial unit to a ground unit. The propelling
module and the duct are connected to the frame.
Inventors: |
Shachor; Gabriel; (Maccabim
Reut, IL) ; Cohen; Shy; (Yokneam moshava, IL)
; Keidar; Ronen; (Yokneam moshava, IL) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Shachor; Gabriel
Cohen; Shy
Keidar; Ronen |
Maccabim Reut
Yokneam moshava
Yokneam moshava |
|
IL
IL
IL |
|
|
Family ID: |
46051347 |
Appl. No.: |
13/759087 |
Filed: |
February 5, 2013 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
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13814244 |
Apr 17, 2013 |
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PCT/IB11/55021 |
Nov 10, 2011 |
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13759087 |
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61412816 |
Nov 12, 2010 |
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Current U.S.
Class: |
244/23A |
Current CPC
Class: |
B64C 2201/148 20130101;
B64F 1/007 20130101; B64C 39/024 20130101; B64C 2201/122 20130101;
B64C 2201/108 20130101; B64C 2201/127 20130101; B64C 39/022
20130101; B64F 1/12 20130101; B64F 1/125 20130101; B64C 27/04
20130101; B64C 27/08 20130101; B64C 2201/027 20130101; B64C 29/04
20130101 |
Class at
Publication: |
244/23.A |
International
Class: |
B64C 29/04 20060101
B64C029/04 |
Claims
1. An aerial unit, comprising: a first propeller; a second
propeller that is spaced apart from the first propeller and is
below the first propeller; a propelling module that is configured
to rotate the first propeller and the second propeller about a
first axis; an apertured duct that comprises a first duct portion
and a second duct portion; wherein the first duct portion surrounds
the first propeller; wherein the second duct portion surrounds the
second propeller; wherein the apertured duct defines at least one
aperture at an intermediate area that is positioned below the first
propeller and is above the second propeller; wherein an aggregate
size of the at least one aperture is at least fifty percent of a
size of the intermediate area; a frame that is connected to the
propelling module and to the apertured duct; at least one steering
element; and an interfacing module arranged to be connected to a
connecting element that couples the aerial unit to a ground
unit.
2. The aerial unit according to claim 1, wherein a height of the
intermediate area exceeds a height of each one of the first and
second duct portions.
3. The aerial unit according to claim 1, wherein a height of the
intermediate area exceeds a sum of heights of the first and second
duct portions.
4. The aerial unit according to claim 1, wherein the first and
second duct portions have an annular shape.
5. The aerial unit according to claim 1, wherein the first and
second duct portions do not include any apertures.
6. The aerial unit according to claim 1, wherein the first and
second duct portions are spaced apart from each other and are
connected to each other by structural elements that are spaced
apart from each other.
7. The aerial unit according to claim 1, wherein the aggregate size
of the at least one aperture is at least seventy five percent of a
size of the intermediate area.
8. The aerial unit according to claim 1, wherein the aggregate size
of the at least one aperture is at least ninety percent of a size
of the intermediate area.
9. The aerial unit according to claim 1, wherein the aggregate size
of the at least one aperture is at least ninety five percent of a
size of the intermediate area.
10. The aerial unit according to claim 1, further comprising groups
of additional propellers and additional propelling modules, each
additional propelling module is arranged to rotate a group of
additional propellers; wherein each group of propellers differs
from the first and second propellers and is positioned outside the
duct.
11. The aerial unit according to claim 10, wherein a group of
propellers of the groups of additional propellers is surrounded by
an additional apertured duct.
12. The aerial unit according to claim 11, wherein the additional
apertured duct defines apertures that have an aggregate size that
exceeds forty percent of a size of the additional apertured
duct.
13. The aerial unit according to claim 11, wherein the group of
propellers comprises a first additional propeller and a second
additional propeller and wherein the additional apertured duct
comprises a first additional duct portion and a second additional
duct portion; wherein the first additional duct portion surrounds
the first additional propeller; wherein the second additional duct
portion surrounds the second additional propeller; wherein the
additional apertured duct defines at least one additional aperture
at an additional intermediate area that is positioned below the
first additional propeller and above the second additional
propeller; wherein an aggregate size of the at least one additional
aperture is at least fifty percent of a size of the additional
intermediate area.
14. The aerial unit according to claim 10, wherein each group of
propellers is surrounded by an additional apertured duct.
15. The aerial unit according to claim 14, wherein each group of
propellers of the groups of additional propellers is surrounded by
an additional apertured duct.
16. The aerial unit according to claim 15, wherein each additional
apertured duct defines apertures that have an aggregate size that
exceeds forty percent of a size of the additional apertured
duct.
17. The aerial unit according to claim 15, wherein each group of
propellers comprises a first additional propeller and a second
additional propeller and wherein each additional apertured duct
comprises a first additional duct portion and a second additional
duct portion; wherein the first additional duct portion surrounds
the first additional propeller; wherein the second additional duct
portion surrounds the second additional propeller; wherein the
additional apertured duct defines at least one additional aperture
at an additional intermediate area that is positioned below the
first additional propeller and above the second additional
propeller; wherein an aggregate size of the at least one additional
aperture is at least fifty percent of a size of the additional
intermediate area.
18. The aerial unit according to claim 14, wherein the additional
propellers are arranged in a symmetrical manner around the first
propeller.
19-20. (canceled)
21. A system, comprising an aerial unit, a ground unit and a
connecting element that connects the aerial unit to the ground
unit; wherein the ground unit comprises: a connecting element
manipulator, for altering an effective length of the connecting
element; wherein the effective length of the connecting element
defines a distance between the ground unit and the aerial unit; a
ground unit controller for controlling the connecting element
manipulator; and a positioning unit arranged to image the aerial
unit and to generate metadata about a location of the aerial unit;
wherein the aerial unit comprises: a first propeller; a second
propeller that is spaced apart from the first propeller and is
below the first propeller; a propelling module that is configured
to rotate the first propeller and the second propeller about a
first axis; an apertured duct that comprises a first duct portion
and a second duct portion; wherein the first duct portion surrounds
the first propeller; wherein the second duct portion surrounds the
second propeller; wherein the apertured duct defines at least one
aperture at an intermediate area that is positioned below the first
propeller and is above the second propeller; wherein an aggregate
size of the at least one aperture is at least fifty percent of a
size of the intermediate area; a frame that is connected to the
propelling module and to the apertured duct; at least one steering
element; and an interfacing module arranged to be connected to a
connecting element that couples the aerial unit to a ground
unit.
22-40. (canceled)
41. An aerial unit, comprising: a first propeller; a second
propeller that is spaced apart from the first propeller and is
below the first propeller; a propelling module that is configured
to rotate the first propeller and the second propeller about a
first axis; an apertured duct that comprises a first duct portion
and a second duct portion; wherein the first duct portion surrounds
the first propeller; wherein the second duct portion surrounds the
second propeller; wherein the first and second duct portions are
spaced apart from each other and are connected to each other by
structural elements that are spaced apart from each other.
Description
RELATED APPLICATIONS
[0001] This application is a continuation in part of U.S.
nonprovisional patent application Ser. No. 13/814,244 filing date
Feb. 5, 2013, which is a US national stage of PCT patent
application PCT/IB2011/055021 International filing date Nov. 10,
2011 that claims priority from U.S. provisional patent 61/412,816
filing date Nov. 12, 2010, all incorporated herein by reference in
their entirety.
BACKGROUND OF THE INVENTION
[0002] Prior art of height observation and signaling equipment
(such as observation cameras) are connected to a base unit by using
a mast made of rigid metal construction or other stiff materials
that supports the equipment.
[0003] The mast implements large moments on the base due to its
significant height. For example, every single Kg force of wind
pressure at the top of a 30 meter height mast will implement a
moment of about 30 Kg at one meter on the platform, and a pressure
of about 150 Kg on a typical 20 cm diameter base construction.
Thus, a heavy duty vehicle is required to support the equipment
with its supporting construction.
[0004] In addition, the process of lifting the equipment to the
destined altitude is time consuming and requires a team work.
Tactic balloons and masts suffer from long spreading time, long
folding time, large size (about 1 cubic meter of Helium for 300
gram of payload and balloon), bad stability and require highly
trained operators.
[0005] There is a need for a simpler system and method for lifting
equipment for height observation or signaling such as an
observation camera.
SUMMARY
[0006] According to an embodiment of the invention an aerial unit
is provided and includes a first propeller; a second propeller that
is spaced apart from the first propeller and is below the first
propeller; a propelling module that is configured to rotate the
first propeller and the second propeller about a first axis; an
apertured duct that comprises a first duct portion and a second
duct portion; wherein the first duct portion surrounds the first
propeller; wherein the second duct portion surrounds the second
propeller; wherein the apertured duct defines at least one aperture
at an intermediate area that is positioned below the first
propeller and is above the second propeller; wherein an aggregate
size of the at least one aperture is at least fifty percent of a
size of the intermediate area; a frame that is connected to the
propelling module and to the apertured duct; at least one steering
element; and an interfacing module arranged to be connected to a
connecting element that couples the aerial unit to a ground
unit.
[0007] According to an embodiment of the invention a system may be
provided and may include an aerial unit, a ground unit and a
connecting element that connects the aerial unit to the ground
unit. The ground unit may include a connecting element manipulator,
for altering an effective length of the connecting element; wherein
the effective length of the connecting element defines a distance
between the ground unit and the aerial unit; a ground unit
controller for controlling the connecting element manipulator; and
a positioning unit arranged to image the aerial unit and to
generate metadata about a location of the aerial unit; wherein the
aerial unit comprises: a first propeller; a second propeller that
is spaced apart from the first propeller and is below the first
propeller; a propelling module that is configured to rotate the
first propeller and the second propeller about a first axis; an
apertured duct that comprises a first duct portion and a second
duct portion; wherein the first duct portion surrounds the first
propeller; wherein the second duct portion surrounds the second
propeller; wherein the apertured duct defines at least one aperture
at an intermediate area that is positioned below the first
propeller and is above the second propeller; wherein an aggregate
size of the at least one aperture is at least fifty percent of a
size of the intermediate area; a frame that is connected to the
propelling module and to the apertured duct; at least one steering
element; and an interfacing module arranged to be connected to a
connecting element that couples the aerial unit to a ground
unit.
[0008] The height of the intermediate area may exceed a height of
each one of the first and second duct portions.
[0009] The height of the intermediate area may exceed a sum of
heights of the first and second duct portions.
[0010] The first and second duct portions may have an annular
shape.
[0011] The first and second duct portions may or may not include
any apertures.
[0012] The first and second duct portions may be spaced apart from
each other and may be connected to each other by structural
elements that are spaced apart from each other.
[0013] The aggregate size of the at least one aperture may be at
least seventy five percent of a size of the intermediate area.
[0014] The aggregate size of the at least one aperture may be at
least ninety percent of a size of the intermediate area.
[0015] The aggregate size of the at least one aperture may be at
least ninety five percent of a size of the intermediate area.
[0016] The aerial unit further may include groups of additional
propellers and additional propelling modules, each additional
propelling module may be arranged to rotate a group of additional
propellers; wherein each group of propellers may differ from the
first and second propellers and may be positioned outside the
duct.
[0017] A group of propellers of the groups of additional propellers
may be surrounded by an additional apertured duct.
[0018] The additional apertured duct may define apertures that have
an aggregate size that exceeds forty percent of a size of the
additional apertured duct.
[0019] The group of propellers may include a first additional
propeller and a second additional propeller and wherein the
additional apertured duct may include a first additional duct
portion and a second additional duct portion; wherein the first
additional duct portion surrounds the first additional propeller;
wherein the second additional duct portion surrounds the second
additional propeller; wherein the additional apertured duct defines
at least one additional aperture at an additional intermediate area
that may be positioned below the first additional propeller and
above the second additional propeller; wherein an aggregate size of
the at least one additional aperture may be at least fifty percent
of a size of the additional intermediate area.
[0020] Each group of propellers may be surrounded by an additional
apertured duct.
[0021] Each group of propellers of the groups of additional
propellers may be surrounded by an additional apertured duct.
[0022] Each additional apertured duct may define apertures that
have an aggregate size that exceeds forty percent of a size of the
additional apertured duct.
[0023] Each group of propellers may include a first additional
propeller and a second additional propeller and wherein each
additional apertured duct may include a first additional duct
portion and a second additional duct portion; wherein the first
additional duct portion surrounds the first additional propeller;
wherein the second additional duct portion surrounds the second
additional propeller; wherein the additional apertured duct defines
at least one additional aperture at an additional intermediate area
that may be positioned below the first additional propeller and
above the second additional propeller; wherein an aggregate size of
the at least one additional aperture may be at least fifty percent
of a size of the additional intermediate area.
[0024] The additional propellers may be arranged in a symmetrical
manner around the first propeller.
[0025] The additional propellers may be smaller than the first
propeller.
[0026] The aerial unit may include a controller that may be
arranged to independently control at least two propelling modules
out of the propelling module and the additional propelling
modules.
[0027] The controller may be arranged to independently control each
propeller motor of the group of propeller motors.
[0028] The controller may be arranged to control one additional
propeller motor to rotate in a clockwise manner and control another
additional propeller motor to rotate in a counterclockwise
manner.
[0029] The controller may be arranged to alter at least one of a
location and an orientation of the aerial unit by controlling a
thrust of at least two propellers of a group of propellers that may
include the additional propeller and the first propeller.
[0030] The controller may be arranged to perform yaw steering by
controlling the first propeller and at least one steering element
that differs from the additional propellers; wherein the controller
may be arranged to perform pitch and roll steering by controlling
at least two additional propeller.
[0031] The controller may be arranged to perform yaw steering by
controlling a thrust of first propeller and a thrust of at least
one steering element that differs from the additional propellers;
wherein the controller may be arranged to perform pitch and roll
steering by controlling thrusts of at least two additional
propellers.
[0032] The aerial unit may include a group of propellers that may
include the first propeller, four additional propellers and a
second propeller that rotates about a second axis that may be
concentric to the first axis; wherein three propellers of the group
of propellers rotate clockwise and three other propellers of the
group rotate counter clockwise.
[0033] The aerial unit further may include a controller that may be
arranged to control a change of at least one of a location and
orientation of the aerial unit by altering at least one thrust of
at least one propeller of the group while maintaining directions of
rotation of the propellers of the group unchanged.
[0034] The positioning unit may be arranged to generate location
metadata about a location of the aerial unit and wherein the aerial
unit may include an orientation sensor arranged to generate
orientation metadata about the orientation of the aerial unit.
[0035] The metadata may include location metadata and orientation
metadata and wherein the controller may be arranged to control, at
least in response to the metadata the at least one of the first
propeller motor and the at least one steering element to affect at
least one of the location of the aerial unit and the orientation of
the aerial unit.
[0036] The frame at least partially surrounds the propeller;
wherein the system may include additional propellers and additional
propeller motors that are arranged to rotate the additional
propellers; wherein each additional propeller may be positioned
outside the frame; wherein the controller may be further arranged
to control the additional propeller motors; and wherein the
additional propeller motors are connected to additional frames;
wherein the additional frames are coupled to the frame by coupling
elements that allow movement between the frame and the additional
frames.
[0037] According to an embodiment of the invention there may be
provided an aerial unit that may include a first propeller; a
second propeller that may be spaced apart from the first propeller
and may be below the first propeller; a propelling module that may
be configured to rotate the first propeller and the second
propeller about a first axis; an apertured duct that may include a
first duct portion and a second duct portion; wherein the first
duct portion surrounds the first propeller; wherein the second duct
portion surrounds the second propeller; wherein the first and
second duct portions are spaced apart from each other and are
connected to each other by structural elements that are spaced
apart from each other.
BRIEF DESCRIPTION OF THE DRAWINGS
[0038] Further features and advantages of the invention will be
apparent from the description below. The invention is herein
described, by way of example only, with reference to the
accompanying drawings, wherein:
[0039] FIG. 1 is a general view of a system according to an
embodiment of the invention;
[0040] FIG. 2 is a general view of a system according to an
embodiment of the invention;
[0041] FIG. 3 is a general view of an aerial unit of a system
according to an embodiment of the invention;
[0042] FIG. 4 is a top view of an aerial unit of a system according
to an embodiment of the invention;
[0043] FIGS. 5A-5D are cross sectional views of aerial units of
systems according to embodiments of the invention;
[0044] FIG. 6 is a general view of an aerial unit of a system
according to an embodiment of the invention;
[0045] FIG. 7 is a flow chart of a method according to an
embodiment of the invention;
[0046] FIG. 8 illustrates an aerial unit according to an embodiment
of the invention;
[0047] FIG. 9 is a top view of an aerial unit of a system according
to an embodiment of the invention;
[0048] FIGS. 10A-10B are cross sectional views of aerial units
according to various embodiment of the invention;
[0049] FIG. 11 is a cross sectional view of a prior art aerial unit
and of air flows that flow through the aerial unit;
[0050] FIG. 12 is a cross sectional view of an aerial unit
according to an embodiment of the invention and of air flows that
flow through the aerial unit; and
[0051] FIGS. 13 and 14 are schematic diagrams illustrating
apertured duct 320 according to various embodiments of the
invention.
DETAILED DESCRIPTION OF THE DRAWINGS
[0052] A system is provided. The system may be used for height
spreading of observation, signaling equipment, antennas,
transmission relay station, anti-terrorist surveillance, and the
like. The system may be a light, compact and portable and may
include a ground unit and an aerial unit. The aerial unit
orientation and location (displacement) may be controlled within
four degrees of freedom while maintaining a built-in stability
thereof. The system may be automatically and easily deployed and
folded.
[0053] Various applications can use the system, for example:
observation, height photographing, a reception/transmission relay,
spot marking (by a projector or laser), antennas etc.
[0054] The system includes an aerial unit that may have an
apertured duct. An apertured duct can (a) reduce the side forces
applied by side winds, (b) reduce turbulences formed within the
duct that reduce the efficiency of the aerial unit and introduce
noise, (c) increase the effectiveness of lower propellers
surrounded by the duct, (d) allow side air flows to contribute the
overall thrust of the aerial unit and (e) provide higher
thrusts.
[0055] FIG. 11 is a cross sectional view of a prior art aerial unit
and of air flows that flow through the aerial unit while FIG. 12 is
a cross sectional view of an aerial unit according to an embodiment
of the invention and of air flows that flow through the aerial
unit.
[0056] The side air flows 391 of FIG. 11 well exceed side air flows
391' of FIG. 12--due to the smaller profile of the apertured duct
of FIG. 12. The turbulences 393 of FIG. 11 do not develop in the
apertured duct of FIG. 12. FIG. 12 also shows side air flows 394
that enters through apertures defined between first and second duct
portions 3201 and 3202 and attribute to the thrust.
[0057] FIG. 1 illustrates a system 105 according to an embodiment
of the invention having a ground unit 200 that is carried by a
vehicle 222. FIG. 2 illustrates a system 107 according to an
embodiment of the invention. It illustrates ground unit 200 as
including an image processor 238 coupled to camera 232.
[0058] The system 105 includes, in addition to ground unit 200, an
aerial unit 300 and a connecting element 400 that is arranged to
connect the ground unit 200 to the aerial unit 300.
[0059] The ground unit 200 may include: [0060] i. A connecting
element manipulator 201, a base 202 and a ground unit controller
203 (collectively denoted 210), the connecting element manipulator
201 is arranged to alter an effective length of the connecting
element; wherein the effective length of the connecting element
defines a distance between the ground unit and the aerial unit.
[0061] ii. A positioning unit 232 arranged to image the aerial unit
and to generate metadata about a location of the aerial unit.
[0062] iii. Controller 500 that may be arranged to apply various
control schemes and to determine the manner in which the aerial
unit 300 operates. The controller can control the speed and the
orientation of the aerial unit.
[0063] The aerial unit 200 may include a first propeller 310,
second propeller 330, a propelling module that includes first and
second propellers motors 312 and 332, a frame and at least one
steering element (not shown). The first and second propellers are
concentric.
[0064] Systems 105 and 107 are illustrated as including additional
first and second propellers 340, 342, 344 and 346.
[0065] Aerial unit 300 of FIGS. 3,4 and 5A-5D is illustrates as
including a pair of propellers as well as four additional
propellers. These figures illustrate different folding arrangements
of the four additional propellers.
[0066] FIGS. 5A-5D illustrate a rotation within an imaginary
horizontal plane while FIG. 6 illustrates an aerial unit 302 that
performs the folding within a vertical plane.
[0067] FIG. 5A is a top view of aerial unit 300 at an open
configuration. FIG. 5B is a top view of aerial unit 302 at a closed
configuration.
[0068] FIG. 5C is a side view of aerial unit 300 at a closed
configuration where the additional propellers (for example 342 and
346) are located below the first and second propellers 310 and
330.
[0069] FIG. 5D is a side view of aerial unit 300 at a closed
configuration where the additional propellers (for example 342 and
346) are located between the first and second propellers 310 and
330.
[0070] Any combination of components of each of the systems can be
provided. The same applies to the aerial unit. For example, any one
of systems 105 and 107 can be equipped with any of the aerial units
300, 302 and 304. Yet for another example, each system can include
one or more video cameras, one or more orientation sensors and the
like.
[0071] A system may be provided and may include a ground unit 200,
an aerial unit 300 (of FIGS. 1-5 and 12) 302 (of FIGS. 6) and 304
(of FIGS. 8-10) and a connecting element 400 arranged to connect
the ground unit 200 to the aerial unit 300, 302 and 304.
[0072] The ground unit 200 may include a connecting element
manipulator 201, a base 202 and a ground unit controller 203
(collectively denoted 210).
[0073] The connecting element manipulator 201 is for altering an
effective length of the connecting element 400. The effective
length of the connecting element 400 defines a distance between the
ground unit 200 and the aerial unit 300, 302 and 304.
[0074] The connecting element 400 can be a flexible cable that is
maintained in a tensed status while the aerial unit 300 is in the
air.
[0075] The aerial unit 300 can be arranged to maneuver in relation
to the flexible cable, when the flexible cable is maintained in the
tensed status.
[0076] The Flexible cable may include an electrical cable and a
communication cable. These cables may be wrapped by or otherwise
surrounded by flexible cable that provides a mechanical
connectivity between the ground unit and the aerial unit.
[0077] The flexible cable is expected to physically tie and secure
the aerial unit and electrically connect the ground unit and the
aerial unit for power supply and communication. The aerial unit and
the flexible cable do not require a special vehicle for support, as
any van or relatively light vehicle can be adequate. Lighter
versions of the system can even be carried by a person and even
installed inside a backpack.
[0078] The flexible cable (once fully released) may be of 30 m
length in order to get a good observation but other lengths may be
used too. The average lifting and landing time of the aerial unit
is around 10 seconds. The aerial unit may be configured to hold a
payload of 1 to 5 kilos (although heavier or lighter payloads may
be lifted by the aerial unit), may have a low heat emission and may
barely generate noise. It is noted that flexible cables of other
lengths may be used.
[0079] The base 202 is for receiving aerial unit and even for
storing the aerial unit when the aerial unit is at its lowest
position (ground position).
[0080] The ground unit controller 203 is for controlling the
connecting element manipulator 201.
[0081] The ground unit 200 also includes a positioning unit 230
(see FIG. 2) that is arranged to image the aerial unit and to
generate metadata about a location of the aerial unit. The position
unit is illustrates in FIG. 1 as including video camera 232 and an
image processor 238. It may include multiple video cameras. The
metadata can refer to the location of the aerial unit, to the
orientation of the aerial unit of both. It has been found that the
image processing can be simplified by having the single video
camera detect the location of the aerial unit while an orientation
sensor can detect the orientation of the aerial unit.
[0082] According to various embodiment of the invention various
aerial units 300 and 301 are provided. These aerial units may
differ from each other by the number of propellers (second
propeller 330, additional propellers 340, 342, 344 and 346,
additional propellers 340', 342', 344' and 246'), the manner in
which payload is connected (to the aerial unit or to the connecting
element 400), manner in which the additional propellers (if exist)
converge when the aerial unit is in a close position, the number,
shape and size of the additional propellers and the like, the type
of electronic circuitry that is included in the aerial unit--from a
controller to having only control wires and power lines the convey
power and instructions to the various propeller motors.
[0083] Any of the aerial units 300, 302 and 304 may include (a) a
first propeller 310, (b) a frame, (c) a first propeller motor 312
that is configured to rotate the first propeller 310 about a first
axis, wherein the first propeller motor 312 is connected to the
frame 333, (d) at least one steering element, and (e) an apertured
duct 320. The at least one steering element can be a second
propeller 330, one or more additional propellers 340, 342, 344 and
346 or any other steering element such as movable shelves.
[0084] At least one of the ground unit 200 and the aerial unit 300,
302 and 304 may include a controller (such as controller 500) that
is arranged to control, at least in response to the metadata, at
least one of the first propeller motor 312 and the at least one
steering element to affect at least one of the location of the
aerial unit 300, 302 and 304 and the orientation of the aerial unit
300, 302 and 304.
[0085] For simplicity of explanation controller 500 is illustrated
as being a part of the ground unit 200 but this is not necessarily
so.
[0086] As indicated above, the positioning unit may include a
single video camera (232), multiple video cameras and at least two
optical axes of at least two video cameras are oriented in relation
to each other.
[0087] The video camera 232 can be proximate to point in which the
connecting element 400 is connected to the ground unit--as shown,
for example, in FIG. 1.
[0088] The video camera can be remotely positioned from the
connecting element manipulator 201.
[0089] The image processor 238 may be arranged to determine a
location of the aerial unit in relation to a desired location, and
generate location metadata indicative of position corrections that
should be made to position the aerial unit at the desired location.
The location metadata can include positioning commands, the desired
correction to be applied in order to return the aerial unit to a
desired rotation and the like.
[0090] FIGS. and 1 and 2 also illustrates a connector 410 (such as
a joint) that couples the flexible cable 400 to the aerial unit
300, while allowing the aerial unit 300 to move in relation to the
flexible cable 400.
[0091] FIGS. 1 and 2 further illustrate a payload such as an
interface electronic unit 420 that is positioned below the
connector 410 and is arranged to send power and commands to the
first motor. The interface electronic unit 420 can send commands to
the various propeller motors in a format that is compliant to the
formal acceptable by these various propeller motors. Placing the
interface electronic unit 420 outside the aerial unit and without
being supported by the aerial unit reduced the weight of the aerial
unit and makes it easier to steer and manipulate.
[0092] FIGS. 1-3 illustrate a second propeller 330 that is arranged
to rotate about a second axis; wherein the first and second axes
are concentric. Yaw steering of the aerial unit can be facilitated
by controlling the thrust of each of the first and second
propellers 310 and 330, as illustrates by arrow 930 of FIG. 4.
[0093] The apertured frame 320 surrounds the first propeller 310
and surrounds the second propeller 330 but includes many
apertures--as illustrated in further detail in FIG. 8.
[0094] According to an embodiment of the invention the system (see,
for example, FIGS. 3 and 4) may include additional propellers 340,
342, 344 and 346, as well as additional propeller motors 350, 352,
354 and 356 that are arranged to rotate the additional
propellers.
[0095] Each additional propeller is positioned outside the
apertured duct 320. The controller 500 may be further arranged to
control the additional propeller motors.
[0096] The additional propellers may be are arranged in a
symmetrical manner around the first propeller 310.
[0097] The additional propellers 340, 342, 344 and 348 may be
smaller than the first propeller 310.
[0098] The various propeller motors can be independently controlled
by the controller 500.
[0099] The controller 500 can independently control at least two of
the propeller motors. Thus, the thrust and the direction of such
motors can differ from each other.
[0100] The controller 500 can be arranged to control one additional
propeller motor to rotate in a clockwise manner and control another
additional propeller motor to rotate in a counterclockwise manner.
FIG. 4 illustrates three propellers that rotate clockwise (see
arrow 902) and three other propeller that rotate counterclockwise
(see arrow 901).
[0101] The controller 500 may alter at least one of a location and
an orientation of the aerial unit 300 by controlling a thrust of at
least two propellers of a group of propellers that includes the
additional propeller and the first propeller.
[0102] The controller 500 may perform yaw steering by controlling
the first propeller 310 and at least one steering element (such as
second propeller 330) that differs from the additional
propellers.
[0103] The controller 500 may perform pitch (910) and roll (920)
steering by controlling at least two additional propellers.
[0104] The controller 500 may be arranged to control (by sending
control signals) a change of at least one of a location and
orientation of the aerial unit by altering at least one thrust of
at least one propeller of the group while maintaining directions of
rotation of the propellers of the group unchanged. An example is
provided in FIG. 4--the direction of rotation remains unchanged.
The following table illustrates a relationship between thrust
differences and their meaning.
TABLE-US-00001 Difference between thrust of first and Yaw steering
(rotation about second propellers 310 and 330 z-axis) Difference
between thrust of first and Roll steering (rotation about third
additional propellers 340 and 344 x-axis) Difference between thrust
of second and Pitch steering (rotation about fourth additional
propellers 342 and 346 y-axis)
[0105] For example, referring to the example set forth in FIG. 4,
allowing the first propeller 310 to develop more thrust than the
second propeller 330 will cause the aerial unit to rotate
clockwise. Allowing the first additional propeller 340 to develop
more thrust than the third additional propeller 330 will cause the
aerial unit to rotate within an imaginary Y-Z plane, wherein the
rotation starts by lowering the third additional propeller 330
while elevating the first additional propeller.
[0106] Various types of steering can be applied in order to set the
aerial unit at a desired location, a desired orientation or both.
If, for example, the wind causes the aerial unit to drift to a
certain location the steering can be applied to counter that drift.
FIG. 5 illustrates a field of view 600 of video camera 232, a
current location 620 of the aerial unit, a desired location 610 of
the aerial unit and a vector 630 that represents the desired
location correction action.
[0107] Yet for another example, the steering can be applied in
order to allow the aerial unit to fulfill a predefined flight
pattern such as a scan pattern in which the aerial unit is directed
along scan patters thus allowing its payload to change its field of
view according to a desired pattern.
[0108] The additional propeller motors 350, 352, 354 and 356 and
the additional propellers 340, 342, 344 and 346 may be positioned
outside the apertured duct 320. The additional propeller motors
350, 352, 354 and 356 may be connected to additional frame elements
360, 362, 364 and 366. The additional ducts 321, 322, 324 and 326
can be are coupled to the apertured duct 320 by coupling elements
360, 362, 364 and 366 that allow movement between the aperture duct
320 and the additional frames.
[0109] This movement is required to facilitate the aerial unit to
move between an open configuration to a close configuration. The
coupling elements can be rods, arms, or any structural element that
facilitates such movement.
[0110] When the additional frames are in an open condition the
additional frames 321, 322, 324 and 326 and the frame 320 do not
overlap and when the additional frames 321, 322, 324 and 326 are in
a close condition the additional frames 321, 322, 324 and 326 and
the frame 320 overlap.
[0111] The additional frames can change their position from a
horizontal position to a vertical position--when moving from an
open position to a closed position--as illustrated in FIG. 6, and
especially by dashed arrows 940.
[0112] Additionally or alternatively, the movement from a closed
position to an open position can take place in a horizontal
plane--as illustrated by dashed arrows 930 of FIG. 5A.
[0113] The aerial unit can be in a closed position when proximate
to the ground unit (at the beginning of the elevation process and
at the end of the landing process). This can be done by activating
motors that change the spatial relationship between the frame and
the additional frames or by deactivating the additional propellers
at the appropriate time.
[0114] Various figures such as FIGS. 1-2, illustrate the ground
unit 200 as including a power source 240 and a user interface (not
shown) that can allow a user to affect the control scheme--for
example by determining the desired location. The user interface may
include a joystick (or other man machine interface) for receiving
positioning commands and, additionally or alternatively, for
displaying the location of the aerial unit in relation to the
desired location.
[0115] The power provided to the aerial unit can also be utilized
for powering the payload 700.
[0116] The ground unit 200 may be positioned on a vehicle such as a
van and aerial unit that holds a payload (such as one or more types
of equipment) and can lift itself to heights of about thirty meters
within approximately ten seconds. It is noted that the aerial unit
can lift the equipment to heights that differ from thirty meters
and during a period that differs than ten seconds.
[0117] The system does not require a physical support for the
aerial unit that performs the observation from the heights, since
the aerial unit supports itself. Thus--the flexible cable can be
light weighted since it doesn't need to support aerial unit.
[0118] FIG. 7 illustrates method 1200 according to an embodiment of
the invention.
[0119] Method 1200 may start by stage 1210 of tracking the location
of an aerial unit by a positioning control unit that does not
belong to the aerial unit.
[0120] Stage 1210 may be followed by stage 1220 of determining the
relationship between the actual location of the aerial unit and a
desired location.
[0121] Stage 1220 may be followed by stage 1230 of sending to the
aerial unit positioning commands that affect the location of the
aerial unit. The aerial unit may belong to a system as illustrated
above. It may include, for example, a first propeller; a frame; a
first propeller motor that is configured to rotate the first
propeller about a first axis, wherein the first propeller motor is
connected to the frame; an interfacing module for coupling a
payload to the aerial unit; and additional propellers and
additional propeller motors that are arranged to rotate the
additional propellers; wherein each additional propeller is
positioned outside the frame.
[0122] FIGS. 8 and 9 illustrate an aerial unit 304 according to an
embodiment of the invention.
[0123] Aerial unit 304 includes a "main" group of propellers (first
and second propellers 310 and 330) and four additional groups of
propellers--first additional group of propellers includes first and
second additional propellers 340 and 340', second additional group
of propellers includes first and second additional propellers 342
and 342', third additional group of propellers includes first and
second additional propellers 344 and 344' and fourth additional
group of propellers includes first and second additional propellers
346 and 346'.
[0124] The first till fourth additional groups of propellers are
rotated by propelling modules 350', 352', 354' and 356'. Each
propelling module may include one or two propeller engines. Each
additional propeller can have its own additional propeller
motor.
[0125] The various propeller motors can be independently controlled
by a controller such as controller 500 of FIG. 2. The controller
500 can independently control at least two of the propeller motors.
Thus, the thrust and the direction of such motors can differ from
each other.
[0126] FIGS. 8 and 9 illustrate that each one of the first till
fourth groups of additional propellers are surrounded by apertured
ducts 231'-234'. FIGS. 10A and 10B illustrate different folding
manners of the additional ducts, propellers and propelling
modules.
[0127] FIG. 8 illustrates the apertured duct 320 as including first
and second duct portions 3201 and 3202 that are spaced apart from
each other and are connected to each other via vertical structural
elements 701. The vertical structural elements 701 are relatively
small in relation to the intermediate area spanned between the
first and second duct portions 3201 and 3202.
[0128] FIGS. 13 and 14 are schematic diagrams illustrating
apertured duct 320 according to various embodiments of the
invention.
[0129] In both FIGS. 13 and 14 two dashed curved lines 904 and 903
represent the space in which first propeller 310 rotates. The
distance between curved dashed lines 904 and 903 represents the
height of the first propeller 310.
[0130] In both FIGS. 13 and 14 two dashed curved lines 902 and 901
represent the space in which second propeller 310 rotates. The
distance between curved dashed lines 902 and 901 represents the
height of the second propeller 320.
[0131] An intermediate area spans between curved dashed line 903
(bottom of first propeller 310) and 902 (top of second propeller
330). The height of the intermediate area is represented by
vertical arrows 910.
[0132] As can viewed by both FIGS. 13 and 14 most of the
intermediate area is apertured--most of the space between the first
and second propellers 310 and 330 is "empty".
[0133] FIG. 13 illustrates the first duct portion 3201 as being
spaced apart from the second duct portion 3202 and are connected by
structural elements 701, the space between first and second duct
portions 3201 and 302 and structural elements 701 form apertures
702.
[0134] FIG. 14 illustrates these portions (3201 and 3202) as being
connected to each other to form a large aperture 702.
[0135] FIG. 13 also illustrates the upper and lower edges 32011 and
32012 of the first duct portion 3201 and the upper and lower edges
32021 and 32022 of the second duct portion 3202.
[0136] FIG. 13 illustrates the first duct portion 3201 as having an
upper edge 32011 that is slightly above the upper edge (represented
by dashed curved arrow 904) of first propeller 310 and has a lower
edge 32012 that is slightly below the lower edge (represented by
dashed curved arrow 903) of the first propeller 310. The height of
the first duct portion 3201 can be about 1-10 (and preferably 2-6
times) times the height of the first propeller.
[0137] The second duct portion 3202 has an upper edge (32021) that
is slightly above the upper edge (represented by dashed curved
arrow 902) of second propeller 330 and has a lower edge (32022)
that is slightly below the lower edge (represented by dashed curved
arrow 901) of the second propeller 330. The height of the second
duct portion can be about 1-10 (and preferably 2-6 times) times the
height of the second propeller.
[0138] The first and second duct portions can be connected to each
other--but in any case the apertured duct should include apertures
of substantial size in relation to the overall size of the
apertured duct.
[0139] The first duct portion 3201 has an annular shape and it
surrounds first propeller 310. The upper and lower edges of the
[0140] Although the invention has been described in conjunction
with specific embodiments thereof, it is evident that many
alternatives, modifications and variations will be apparent to
those skilled in the art, accordingly, it is intended to embrace
all such alternatives, modifications and variations that fall
within the spirit and broad scope of the appended claims.
* * * * *