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    Patent 9975632

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    Patent 9975632

    Copyright:

    © All Rights Reserved
    Download as PDF or read online from Scribd
    Flag for inappropriate content
    8 views41 pages

    Patent 9975632

    Uploaded by

    jwrodgers
    Patent 9975632

    Copyright:

    © All Rights Reserved
    Download as PDF or read online from Scribd
    Flag for inappropriate content
    of 41
    2) United States Patent Alegri US009975632B2 (a0) Patent No.: 4s) Date of Patent: US 9,975,632 B2 May 22, 2018 oy ow m™ a oo) en 6) on © 6) AERIAL VEHICLE SYS M Applicant: Drona, LLC, Pordand, OR (US) Inventor: Loren Alegria, Portland, OR (US) Assignge: Drona, LLC, Pordand, OR (US) Notice: Sobjgeto any disclaimer, the term of tis patent is extended or adjusted under 38 US.C. 15406) by 125 days Appl. No. 1/095,011 Filed: Ape 8, 2016 Prior Publlcaton Data US 201710291704 AL Ost, 12, 2017 Int. CL Gasp 100 (2006001) Bosc 3902 200601), Gors 1702 (200601) Gois 1302 (2006.01) Gors 1502 (200601) Gis 19/13, (01001) Gare 2116 (200601) Boab $708 (200601) us.c. fave ‘B64C 39122 (201301); OSC 39/024 (2013.01): nasD £7708 (2013.01): G0Ie 21/16 (201301; GOIS 12 201301. GOI. 1SM2 2013015, GOIS 172 (201301), GOIS IW/LE (201391. GOSD 10011 (2013.01) BIC 22017027 2013.01}, BOsC 2201/06 (@01301); Bosc 201/147 2013.01), Field of Classification Search CPC. BGA 391022, HGS 381025; DEED 35/06 THGAD 47/08: GOIC 21/16, GOIS 15/02 spe OUD, 13, 14, 15, 36; 244/30 ‘Sev appication file for complete search history. 65) References Cited US. PATENT DOCUMENTS {6439407 BI* $2002. tot 661306 Tbe BO "6301 Tock a Risa0s Be 42002 MWh 8 v0 £90809 B2 112013 Keidar ta Seedao BE 12208 aw = S816371 B2 {12014 Trowwidgs otal (Continsed) Primary Examiner: (74) Atorne: Genre Anu Jeangaude Agent, or Fem — Koliseh Harwell, PC. ABSTRACT A system is provided for maneuvering a payload in an aie space constrained by one or more obstacles, and may inlie fis and second aerial vehicles coupled by tether to 8 ‘round stition, Sensor systems and processors in the ground Station and aerial vehicles may tick obstacles end the tethers and the vehicles” postions and aude to maneuver the payload andthe tether to cary outa mission The sensor system may intial airborne cameras providing dat for a Scone reconsiniction process and simultaneous mapping of ‘obstacles and localization of aerial vchiles relative tothe ‘obstacles. The aril vehicles may include a fame formed Substantially ofa composite material for preventing contact (of the rotors with the teber segments 74 Clalms, 23 Drawing Sheets US 9,975,632 B2 Blan3sr Boe Sans Clans” ate 39022 Souvorsoces AL T3010 Orient doeon AL Mand Scent Solon Al Sant} teeta saLsorstst0 At Wane Joaorsee0 AL Frew eal oe eS, 3utsooeoeoe Wane Jotsianeanes AL Powe * cited by examiner US 9,975,632 B2 Sheet 1 of 23 May 22, 2018 U.S. Patent 80 ‘S0T — T Bid U.S. Patent May 22, 2018 Sheet 2 of 23 US 9,975,632 B2 Fig. 4 o Bb US 9,975,632 B2 May 22,2018 Sheet 3 of 23 U.S. Patent U.S. Patent May 22, 2018 Sheet 5 of 23 US 9,975,632 B2 Fig.9 U.S. Patent May 22, 2018 Sheet 6 of 23 US 9,975,632 B2 U.S. Patent May 22, 2018 Sheet 7 of 23 US 9,975,632 B2 Fig. 11 - ger 080 U.S. Patent May 22,2018 Sheet 8 of 23 US 9,975,632 B2 Fig. 14 U.S. Patent May 22, 2018 Sheet 9 of 23, US 9,975,632 B2 Fig. 15 U.S. Patent May 22, 2018 Sheet 10 of 23 US 9,975,632 B2 Fig. 16 US 9,975,632 B2 Sheet 11 of 23 May 22, 2018 U.S. Patent er “aly ¥ Wi30 ery eg “Bl eet Bd analy wae U.S. Patent May 22, 2018 Sheet 12 of 23 US 9,975,632 B2 308 306 in d I 308 0 Posy XQ Fig. 21b 302 Fig. 21 304 Fig. 21¢ 310- Fig. 21a Fr a2 302 we Fig. 20 US 9,975,632 B2 Sheet 13 of 23 May 22, 2018 U.S. Patent 967 “Bld zr e€z “Bly ne AKT ~ zr U.S. Patent May 22, 2018 Sheet 14 of 23 US 9,975,632 B2 3a oe 208 a2 210 Roa. x 3-88 a 2 2 | “ | 2 & | 3 | A | 3 | = Fig. 24a 198. U.S. Patent May 22, 2018 Sheet 15 of 23 US 9,975,632 B2 Fig. 25a U.S. Patent May 22, 2018 Sheet 16 of 23 US 9,975,632 B2 UY VWs Stereo FOV Gj Fig. 28 ‘ US 9,975,632 B2 Sheet 18 of 23, May 22, 2018 U.S. Patent 62 “3l4 28st pas Z pue T sesauies Aq oot. pamaly JoeW T evauies Aq pamal, siaxJ2W 80T ‘90T egst Or Jy U.S. Patent May 22,2018 Sheet 19 of 23, US 9,975,632 B2 Fig. 30 U.S. Patent May 22, 2018 Sheet 20 of 23 US 9,975,632 B2 Fig. 32 U.S. Patent May 22, 2018 Sheet 21 of 23 US 9,975,632 B2 Fig. 33 U.S. Patent May 22, 2018 Sheet 22 of 23 US 9,975,632 B2 Fig. 37 3 A AW h | 4 Fig. 3 US 9,975,632 B2 Sheet 23 of 23 May 22, 2018 U.S. Patent 01 ‘90T wun jeuey US 9,975,632 B2 1 ABRIAL VEHICLE SYSTEM. ACKGROUND In rocont years, advances hve enablod acral vehicles, such a= multertor unmanned aerial systems (MUAS) to ravigate complex spices under an operators conta. But the muncuverabilty of MUAS comes at a great cost in power consumption. An unmanned aerial system (UAS), ‘which may include multiple rors or ober source of i, are ‘ypically fimted in operational enduance by on-board energy storage "Numerous approaches to extending operational endurance ‘aeus on the energy storage, conversion, of power transis sion. In embodiments of the present disclosure we describe 8 method of maneuvering a power snd data line wsing an Serial vehicle system, which may’ include oge or more sccossory MUAS'S. "The method has advantages of ‘conomy, safety, and efieey over previously described Spproaches. The power and data ine may be provided by a tether andlor tether sepmeats. The system may leverage @ \wide-handwidth optical communication along the tether ndioe tether segments to create lowlstney contol sys tem, which may te disibuted erwoen the proud a si ‘nis. The sitations in which the system maybe used Iinclde those requizing payloads with longer operational times, greater power consumption, andor greater data pr Alton rates than current MUAS platforms. “The system permits the precise positioning of detector anor other ols within Tage obsincted volume or ait Space. Embodiments where the system inches a plurality SF unmanned aerial systems linked gether along tether tay form a physical data network along with a power transmission in, terminated at a pround station at one end, ind erinsted at 2 primacy data clletion UAS atthe other fend. One or more intermediate UAS(s) may receive power fx! transmit andr recive data and cooperate 40 avoid bbstales and accomplish Mbt plan ofthe primary UAS. The present cislonare adresses mali-body serial systms, their power spstoms, fight contol architecture, and com. ‘mercial applications. BRIEF SUMMARY According to one oF more embodiments of the present disclosure, a system may include one oF more aerial ‘chiles. The system may provide for maneuvering & pay Jad in an air space constrained by ope or more obstacles. A first aerial vehicle may ielnde a processor for handling data shout the fight characteristics ofthe fist etal vehicle. A Second aerial vehicle may be configured 10 cary the pay~ Toad. The second aerial vehicle may include a processor for handing data about the Might characteristics ofthe second serial vehicle. Hither serial vehicle may carry senor ‘stem coupled 1 the processor inthe aerial vehicle. The ‘Sensor may be configured to gather data about obstales in the ar space, to develop dat about ight characterises of at least one f the serial vehicles, and fo prove the data to the processor inthe serial vehicle, The system may feher include s ground station having slight contol processor configured to maintain a ist dataset about obstacles inthe Si space and a second dataset about fight characteristics of the one oF more arial vehicles, A fs ether segment may svple the grind station tothe Tis seri vehicle and 9 ‘econ eter sepment may couple the second aerial vehicle to the ist aerial vehicle. The tether segments may provide 4 path for power from the ground station to the aerial 2 vehicles andr a path for data transmission between the ‘ound sation andthe aerial vehicles andor a wireless ik tothe ground station may provide daa transmission between the round sation andthe aerial vehicles. One or more ofthe seta vehicles may inelnde a plurality of spaced-apart ors ‘configured o spin abouts sobstntlly vera aie dering Aight ofthe serial vehicle and a frame with astactre for ‘preventing contact of the rotors with the tether segments “The sensor sysem may inckide an obstacle sensor andlor 4 position sensor andlor an anitude sensor. An obstacle Sensor may bea camer-based sensor, laser-based sens 4 radarbased sensor, a LIDAR based sensor, an acoustic: based sensor, of any sensor suitable lor the particular ‘obstacles o be sensed: Examples of suitable position sensors include a GPS anit, an inert) aavigaton unit, an nerd measurement nit, a harometer, or any sensor stable for

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