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1.发明申请Method of Actively Controlling Winch Swing via Modulated Uptake and Release 有权通过调制式吸收和释放来主动控制绞盘摆动的方法公开(公告)号：US20160332851A1
公开(公告)日：2016-11-17
申请号：US15222150
申请日：2016-07-28
Applicant: Google Inc.
Inventor： Joshua John Bialkowski , John Roberts , Abraham Bachrach
CPC classification number: B66D1/485 , B64C39/024 , B64C2201/128 , B64C2201/141 , B64C2201/146 , B64D1/08 , B64D1/22 , B66C13/06 , G05D1/0858
Abstract: An unmanned aerial vehicle (UAV) including a winch system, wherein the winch system includes a winch line having a first end that is secured to the payload, and wherein the winch system is controllable to vary the rate of descent of the payload, an inertial measurement unit positioned on the payload or on the first end of the winch line, wherein the inertial measurement unit is configured to measure oscillations of the payload, and a control system configured to (a) receive data from the IMU, (b) determine oscillations of the payload based on the data received from the IMU, and (c) operate the winch system to vary the deployment rate of the winch line so to damp oscillations of the payload.
Abstract translation: 一种包括绞盘系统的无人驾驶飞行器（UAV），其中所述绞盘系统包括具有固定到所述载荷的第一端的绞盘线，并且其中所述绞盘系统是可控制的，以改变所述有效载荷的下降速率，惯性 位于所述有效载荷或所述绞盘线的第一端上的测量单元，其中所述惯性测量单元被配置为测量所述有效载荷的振荡;以及控制系统，其被配置为（a）从所述IMU接收数据，（b）确定振荡 基于从IMU接收的数据的有效负载，以及（c）操作绞车系统以改变绞车线的部署速率，以便减轻有效载荷的振荡。
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2.发明授权Method of actively controlling winch swing via modulated uptake and release 有权通过调节吸收和释放来主动控制绞车摆动的方法公开(公告)号：US09422139B1
公开(公告)日：2016-08-23
申请号：US14281846
申请日：2014-05-19
Applicant: Google Inc.
Inventor： Joshua John Bialkowski , John Roberts , Abraham Bachrach
CPC classification number: B66D1/485 , B64C39/024 , B64C2201/128 , B64C2201/141 , B64C2201/146 , B64D1/08 , B64D1/22 , B66C13/06 , G05D1/0858
Abstract: An unmanned aerial vehicle (UAV) including a winch system, wherein the winch system includes a winch line having a first end that is secured to the payload, and wherein the winch system is controllable to vary the rate of descent of the payload, an inertial measurement unit positioned on the payload or on the first end of the winch line, wherein the inertial measurement unit is configured to measure oscillations of the payload, and a control system configured to (a) receive data from the IMU, (b) determine oscillations of the payload based on the data received from the IMU, and (c) operate the winch system to vary the deployment rate of the winch line so to damp oscillations of the payload.
Abstract translation: 一种包括绞盘系统的无人驾驶飞行器（UAV），其中所述绞盘系统包括具有固定到所述载荷的第一端的绞盘线，并且其中所述绞盘系统是可控制的，以改变所述有效载荷的下降速率，惯性 位于所述有效载荷或所述绞盘线的第一端上的测量单元，其中所述惯性测量单元被配置为测量所述有效载荷的振荡;以及控制系统，其被配置为（a）从所述IMU接收数据，（b）确定振荡 基于从IMU接收的数据的有效负载，以及（c）操作绞车系统以改变绞车线的部署速率，以便减轻有效载荷的振荡。
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