公开(公告)号：US20150331420A1

公开(公告)日：2015-11-19

申请号：US14135128

申请日：2013-12-19

Applicant: Google Inc.

Inventor： Erik Christopher Chubb

IPC: G05D1/00 ,  G05D1/04 ,  G05D1/10 ,  B64C39/02

CPC classification number: B64C39/022 ,  F03D7/026 ,  F03D13/30 ,  F05B2240/921 ,  G05D1/0866 ,  Y02E10/723

Abstract: An example method may include determining a drag force of an apparent wind on an aircraft that is coupled to a ground station via a tether. The method also includes determining a trajectory of the aircraft to a point downwind of the ground station such that the aircraft travelling the trajectory causes the tether to unfurl along a catenary path above ground. The method further includes determining an orientation of the aircraft to travel the trajectory in the apparent wind so that an actuator of the aircraft is configured to provide a vertical thrust in a direction substantially perpendicular to the ground. The method also includes determining a vertical thrust for the aircraft at the orientation to travel the trajectory in the apparent wind. The method also includes providing instructions to cause the actuator of the aircraft to provide the vertical thrust to move the aircraft along the trajectory.

Abstract translation: 示例性方法可以包括确定通过系绳联接到地面站的飞行器上的明显风力的拖曳力。 该方法还包括确定飞行器的轨迹到地面站的下风向点，使得飞行轨迹的飞行器使得系绳沿着地面上的悬链路径展开。 该方法还包括确定飞行器在明显的风中行进轨迹的方向，使得飞行器的致动器被配置成在基本上垂直于地面的方向上提供垂直推力。 该方法还包括确定飞行器在取向中的垂直推力以在明显的风中行进轨迹。 该方法还包括提供使飞行器的致动器提供垂直推力以使飞行器沿着轨迹移动的指令。

公开(公告)号：US09174732B2

公开(公告)日：2015-11-03

申请号：US14144146

申请日：2013-12-30

Applicant: Google Inc.

Inventor： Kenneth Jensen ,  Erik Christopher Chubb ,  Damon Vander Lind

IPC: B64C39/02 ,  F03D5/00 ,  G05D1/10

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

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

公开(公告)号：US09429954B2

公开(公告)日：2016-08-30

申请号：US14137286

申请日：2013-12-20

Applicant: Google Inc.

Inventor： Erik Christopher Chubb ,  Damon Vander Lind ,  Brian Hachtmann

IPC: G05D1/08 ,  B64C17/00 ,  B64C39/02

CPC classification number: G05D1/0816 ,  B64C17/00 ,  B64C39/022 ,  B64C39/024 ,  B64C2201/021 ,  B64C2201/042 ,  G05D1/0866

Abstract: An example method may include receiving data representing an initial position and an initial attitude of an aircraft. The method further includes determining a change to a first attribute and a second attribute of the position or the attitude of the aircraft to achieve a subsequent position and a subsequent attitude. The method also includes determining a priority sequence for changing the first attribute and the second attribute of the position or the attitude of the aircraft based on a first thrust of the actuator to achieve the change to the first attribute and a second thrust of the actuator to achieve the change to the second attribute. The priority sequence is configured to cause changes to the first attribute before causing changes to the second attribute where the actuator is unable to concurrently provide the first thrust and the second thrust.

Abstract translation: 示例性方法可以包括接收表示飞机的初始位置和初始姿态的数据。 该方法还包括确定飞行器的位置或姿态的第一属性和第二属性的改变以实现随后的位置和随后的姿态。 该方法还包括基于致动器的第一推力来确定用于改变飞行器的位置或姿态的第一属性和第二属性的优先顺序，以实现对第一属性的改变，并且致动器的第二推力 实现第二个属性的更改。 优先级序列被配置为在对第二属性进行改变之前引起对第一属性的改变，其中致动器不能同时提供第一推力和第二推力。

公开(公告)号：US20150353194A1

公开(公告)日：2015-12-10

申请号：US14831687

申请日：2015-08-20

Applicant: Google Inc.

Inventor： Erik Christopher Chubb ,  Damon Vander Lind

IPC: B64C39/02

CPC classification number: B64C39/022 ,  B64C2201/021 ,  B64C2201/12 ,  B64C2201/148 ,  F03D5/00 ,  F03D9/25 ,  F03D13/20 ,  F05B2240/921 ,  G05D1/0866 ,  Y02E10/70 ,  Y02E10/728

Abstract: A method may involve operating an aerial vehicle in a hover-flight orientation. The aerial vehicle may be connected to a tether that defines a tether sphere having a radius based on a length of the tether, and the tether may be connected to a ground station. The method may involve positioning the aerial vehicle at a first location that is substantially on the tether sphere. The method may involve transitioning the aerial vehicle from the hover-flight orientation to a forward-flight orientation, such that the aerial vehicle moves from the tether sphere. And the method may involve operating the aerial vehicle in the forward-flight orientation to ascend at an angle of ascent to a second location that is substantially on the tether sphere. The first and second locations may be substantially downwind of the ground station.

Abstract translation: 一种方法可以包括以悬停飞行方向操作飞行器。 航空器可以连接到限定了基于系绳的长度的半径的系绳球的系绳，并且系绳可以连接到地面站。 该方法可以包括将飞行器定位在基本上在系绳球上的第一位置。 该方法可以包括将空中飞行器从悬停飞行方向转换到前向飞行方向，使得空中飞行器从系绳球移动。 并且该方法可以涉及以前向飞行方向操作飞行器，以升高的角度升高到基本上处于系绳球上的第二位置。 第一和第二位置可以是地面站的大致顺风向。

公开(公告)号：US20160011600A1

公开(公告)日：2016-01-14

申请号：US14137286

申请日：2013-12-20

Applicant: GOOGLE INC.

Inventor： Erik Christopher Chubb ,  Damon Vander Lind ,  Brian Hachtmann

IPC: G05D1/08 ,  B64C39/02

CPC classification number: G05D1/0816 ,  B64C17/00 ,  B64C39/022 ,  B64C39/024 ,  B64C2201/021 ,  B64C2201/042 ,  G05D1/0866

Abstract: An example method may include receiving data representing an initial position and an initial attitude of an aircraft. The method further includes determining a change to a first attribute and a second attribute of the position or the attitude of the aircraft to achieve a subsequent position and a subsequent attitude. The method also includes determining a priority sequence for changing the first attribute and the second attribute of the position or the attitude of the aircraft based on a first thrust of the actuator to achieve the change to the first attribute and a second thrust of the actuator to achieve the change to the second attribute. The priority sequence is configured to cause changes to the first attribute before causing changes to the second attribute where the actuator is unable to concurrently provide the first thrust and the second thrust.

Abstract translation: 示例性方法可以包括接收表示飞机的初始位置和初始姿态的数据。 该方法还包括确定飞行器的位置或姿态的第一属性和第二属性的改变以实现随后的位置和随后的姿态。 该方法还包括基于致动器的第一推力来确定用于改变飞行器的位置或姿态的第一属性和第二属性的优先顺序，以实现对第一属性的改变，并且致动器的第二推力 实现第二个属性的更改。 优先级序列被配置为在对第二属性进行改变之前引起对第一属性的改变，其中致动器不能同时提供第一推力和第二推力。

公开(公告)号：US09169013B2

公开(公告)日：2015-10-27

申请号：US14620204

申请日：2015-02-12

Applicant: Google Inc.

Inventor： Kenneth Jensen ,  Erik Christopher Chubb ,  Damon Vander Lind

IPC: B64C39/02 ,  F03D5/00 ,  G05D1/10

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

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

Abstract translation: 一种方法涉及在沿着侧风飞行方向定向的情况下操作空中飞行器沿着系绳球体上的第一封闭路径行进。 系绳在第一端连接到飞行器，并在第二端连接到地面站。 此外，系绳球具有对应于系绳长度的半径。 该方法还涉及当飞行器处于侧风飞行方向时，操作飞行器沿着系绳球上的第二闭合路径行进，使得飞行器的速度降低。 该方法涉及在降低航空器的速度之后或同时降低航空器的速度，使空中飞行器沿着侧风飞行方向沿着第二闭合路径行驶到悬停飞行方位。

公开(公告)号：US09126675B2

公开(公告)日：2015-09-08

申请号：US14144545

申请日：2013-12-30

Applicant: Google Inc.

Inventor： Erik Christopher Chubb ,  Damon Vander Lind

IPC: B64C39/02 ,  F03D5/00 ,  B64C13/00 ,  G05D1/10

CPC classification number: B64C39/022 ,  B64C2201/021 ,  B64C2201/12 ,  B64C2201/148 ,  F03D5/00 ,  F03D9/25 ,  F03D13/20 ,  F05B2240/921 ,  G05D1/0866 ,  Y02E10/70 ,  Y02E10/728

Abstract: A method involves operating an aerial vehicle in a hover-flight orientation. The aerial vehicle is connected to a tether that defines a tether sphere having a radius based on a length of the tether, and the tether is connected to a ground station. The method involves positioning the aerial vehicle at a first location that is substantially on the tether sphere. The method involves transitioning the aerial vehicle from the hover-flight orientation to a forward-flight orientation, such that the aerial vehicle moves from the tether sphere. And the method involves operating the aerial vehicle in the forward-flight orientation to ascend at an angle of ascent to a second location that is substantially on the tether sphere. The first and second locations are substantially downwind of the ground station.

Abstract translation: 一种方法涉及以悬停飞行方向操作飞行器。 航空器连接到一个系绳，该系绳限定了基于系绳长度的半径的系绳球，并且系绳连接到地面站。 该方法包括将飞行器定位在基本上在系绳球上的第一位置。 该方法包括将空中飞行器从悬停飞行方向转换到前向飞行方向，使得飞行器从系绳球移动。 并且该方法涉及以前向飞行方向操作飞行器，以升高的角度升高到基本上处于系绳球上的第二位置。 第一和第二位置基本上是地面站的顺风向。

公开(公告)号：US20150183512A1

公开(公告)日：2015-07-02

申请号：US14144146

申请日：2013-12-30

Applicant: Google Inc.

Inventor： Kenneth Jensen ,  Erik Christopher Chubb ,  Damon Vander Lind

IPC: B64C19/00

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

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

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

公开(公告)号：US20150076284A1

公开(公告)日：2015-03-19

申请号：US14028251

申请日：2013-09-16

Applicant: Google Inc.

Inventor： Erik Christopher Chubb ,  Damon Vander Lind

IPC: B64C39/02

CPC classification number: B64C39/022 ,  B64C2201/021 ,  B64C2201/148 ,  F03D1/00 ,  F03D5/00 ,  F05B2240/917 ,  F05B2240/921 ,  Y02E10/70 ,  Y02E10/728

Abstract: A method may involve operating an aerial vehicle in a hover-flight orientation. The aerial vehicle may be connected to a tether that defines a tether sphere having a radius based on a length of the tether, and the tether may be connected to a ground station. The method may involve positioning the aerial vehicle at a first location that is substantially on the tether sphere. The method may involve transitioning the aerial vehicle from the hover-flight orientation to a forward-flight orientation, such that the aerial vehicle moves from the tether sphere. And the method may involve operating the aerial vehicle in the forward-flight orientation to ascend at an angle of ascent to a second location that is substantially on the tether sphere. The first and second locations may be substantially downwind of the ground station.

公开(公告)号：US09205921B1

公开(公告)日：2015-12-08

申请号：US14135128

申请日：2013-12-19

Applicant: Google Inc.

Inventor： Erik Christopher Chubb

IPC: F03D9/00 ,  B64C39/02 ,  F03D1/00 ,  F03D7/02

CPC classification number: B64C39/022 ,  F03D7/026 ,  F03D13/30 ,  F05B2240/921 ,  G05D1/0866 ,  Y02E10/723

Abstract: An example method may include determining a drag force of an apparent wind on an aircraft that is coupled to a ground station via a tether. The method also includes determining a trajectory of the aircraft to a point downwind of the ground station such that the aircraft travelling the trajectory causes the tether to unfurl along a catenary path above ground. The method further includes determining an orientation of the aircraft to travel the trajectory in the apparent wind so that an actuator of the aircraft is configured to provide a vertical thrust in a direction substantially perpendicular to the ground. The method also includes determining a vertical thrust for the aircraft at the orientation to travel the trajectory in the apparent wind. The method also includes providing instructions to cause the actuator of the aircraft to provide the vertical thrust to move the aircraft along the trajectory.

Abstract translation: 示例性方法可以包括确定通过系绳联接到地面站的飞行器上的明显风力的拖曳力。 该方法还包括确定飞行器的轨迹到地面站的下风向点，使得飞行轨迹的飞行器使得系绳沿着地面上的悬链路径展开。 该方法还包括确定飞行器在明显的风中行进轨迹的方向，使得飞行器的致动器被配置成在基本上垂直于地面的方向上提供垂直推力。 该方法还包括确定飞行器在取向中的垂直推力以在明显的风中行进轨迹。 该方法还包括提供使飞行器的致动器提供垂直推力以使飞行器沿着轨迹移动的指令。