Active position control of tethered hook
US10689113B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Dec 21, 2017 |
| Grant date | Jun 23, 2020 |
| Priority date | — |
| Expiry date | Sep 6, 2038 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB64U2201/20
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
An example system includes an aerial vehicle, a sensor, and a winch system. The winch system includes a tether disposed on a spool, a motor operable to apply a torque to the tether, and a payload coupling apparatus coupled to the tether and configured to mechanically couple to a payload. The system also includes a repositioning apparatus configured to reposition the payload coupling apparatus in at least a horizontal direction. A control system is configured to control the aerial vehicle to deploy the payload coupling apparatus by unwinding the tether from the spool; receive, while the aerial vehicle hovers above the payload and from the sensor, data indicative of a position of the payload coupling apparatus in relation to the payload; and reposition, using the repositioning apparatus and based on the data, the payload coupling apparatus in the horizontal direction to mechanically couple to the payload.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.