NO20181302A1 - An aerial vehicle arrangement - Google Patents
An aerial vehicle arrangementInfo
- Publication number
- NO20181302A1 NO20181302A1 NO20181302A NO20181302A NO20181302A1 NO 20181302 A1 NO20181302 A1 NO 20181302A1 NO 20181302 A NO20181302 A NO 20181302A NO 20181302 A NO20181302 A NO 20181302A NO 20181302 A1 NO20181302 A1 NO 20181302A1
- Authority
- NO
- Norway
- Prior art keywords
- vehicle
- support structure
- arrangement
- previous
- thruster
- Prior art date
Links
- 239000004020 conductor Substances 0.000 claims description 9
- 230000008878 coupling Effects 0.000 claims description 7
- 238000010168 coupling process Methods 0.000 claims description 7
- 238000005859 coupling reaction Methods 0.000 claims description 7
- 230000002567 autonomic effect Effects 0.000 claims description 4
- MHSKRLJMQQNJNC-UHFFFAOYSA-N terephthalamide Chemical compound NC(=O)C1=CC=C(C(N)=O)C=C1 MHSKRLJMQQNJNC-UHFFFAOYSA-N 0.000 claims description 4
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims description 3
- 239000003562 lightweight material Substances 0.000 claims description 3
- 229920002430 Fibre-reinforced plastic Polymers 0.000 claims 1
- 229910052799 carbon Inorganic materials 0.000 claims 1
- 239000011151 fibre-reinforced plastic Substances 0.000 claims 1
- 238000003032 molecular docking Methods 0.000 description 16
- 230000004048 modification Effects 0.000 description 4
- 238000012986 modification Methods 0.000 description 4
- 239000004918 carbon fiber reinforced polymer Substances 0.000 description 3
- 229920000271 Kevlar® Polymers 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 229910021389 graphene Inorganic materials 0.000 description 2
- 239000011796 hollow space material Substances 0.000 description 2
- 239000004761 kevlar Substances 0.000 description 2
- 229920000265 Polyparaphenylene Polymers 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000021615 conjugation Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- -1 polyparaphenylene Polymers 0.000 description 1
- 230000001603 reducing effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D15/00—De-icing or preventing icing on exterior surfaces of aircraft
- B64D15/02—De-icing or preventing icing on exterior surfaces of aircraft by ducted hot gas or liquid
- B64D15/06—Liquid application
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F3/00—Ground installations specially adapted for captive aircraft
- B64F3/02—Ground installations specially adapted for captive aircraft with means for supplying electricity to aircraft during flight
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U80/00—Transport or storage specially adapted for UAVs
- B64U80/70—Transport or storage specially adapted for UAVs in containers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
Description
AN AERIAL VEHICLE ARRANGEMENT
Introduction
The present invention relates to an aerial vehicle arrangement. The arrangement comprising an aerial vehicle comprising a thruster module and one or more sensor devices. The arrangement further comprising a tether coupling comprising a connection cable for providing power from the ground to the thruster module of the aerial vehicle.
Prior art
Prior art aerial vehicles, also denoted unmanned aerial vehicles (UAV) or drones, are used for several purposes, such as surveillance, aerial photography, and etcetera. In general, the aerial vehicles are controlled by an operator and are provided with thrusters for both lifting and displacement of the vehicle to different locations.
It is also known to use tether couplings to aerial vehicles for providing power. However, the aerial vehicles are of standard design, comprising thruster for both lifting and displacement of the vehicle to different locations. A problem with such arrangements is that the lifting thrust is not optimal for long duration of flight. Furthermore, only limited sensor devices can be provided to the vehicle.
A further problem with prior art aerial vehicles is that they are not scalable in lifting capacity. Prior art aerial vehicles also only allow limited modification in the sensor devices that can be attached thereto.
Summary of the invention
The invention has for its object to remedy or to reduce at least one of the drawbacks of the prior art, or at least provide a useful alternative to prior art. A first object of the invention is to provide an aerial vehicle with improved flexibility in lifting capacity and applicable alternation in sensor devices. A second object of the invention is to provide an aerial vehicle with improved lifting capacity for long duration flight. A third object of the invention is to provide an aerial vehicle for long duration flight.
These objects are achieved by means of aerial vehicle arrangement comprising
- an aerial vehicle comprising a thruster module and one or more sensor devices, and
- a tether coupling comprising a connection cable for providing power from the ground to the thruster module of the aerial vehicle,
The arrangement characterized in that the vehicle comprises an elongated hollow support structure configured for attachment of the thruster module and said one or more sensor devices.
The elongated support structure facilitates modification of attachment of the at least one sensor device. The support structure is a separate part from the thruster module and thereby enables modification of thruster modules that are attached to the support structure. The connection cable provide power to the thruster module and preferably also to the at least one sensor device.
The arrangement of the invention provides an aerial vehicle configured for long duration flight and facilitates modification of thruster module and one or more sensor devices attached to the support structure.
According to an embodiment of the invention, the vehicle comprises attachment means for removable attachment of the thruster module to the support structure. The attachment means enables thruster module to quickly be modified to the applied weight of sensor device attached to the support structure. Furthermore, the attachment means facilitate replacement of thruster module when the thruster module has been in operation for a certain duration. Thereby, the vehicle of the invention enables long duration use in flight.
According to an embodiment of the invention, the attachment means comprises a pair of an internal threading and external threading attached on a respective end portion of the two or more sections.
According to an embodiment of the invention, the attachment means comprises a snap connection. The snap connection enables the thruster module to be replaced in a quick and reliable manner.
According to an embodiment of the invention, the hollow support structure comprises two or more removable sections configured for attachment of respective sensor devices, which sections comprises further attachment means for removable connecting the sections together.
By arranging the support structure in sections with the further attachment means a modular design is provided that enables the vehicle to be quickly modified with desired sensor devices.
According to an embodiment of the invention, the further attachment means comprises a pair of an internal threading and external threading attached on a respective end portion of the two or more sections.
According to an embodiment of the invention, the further attachment means comprises a snap connection. The snap connection enables the thruster module to be replaced in a quick and reliable manner.
According to an embodiment of the invention, the arrangement comprises a docking station configured to receive and releasably hold the vehicle. The docking station enables the vehicle to be held ready for use at the ground and released when operation is needed. Such as surveillance of an area.
According to an embodiment of the invention, the one or more thruster modules comprises two coaxial rotors rotatable in opposite directions. The coaxial rotors provide stability to the vehicle in flight.
According to an embodiment of the invention, the vehicle comprises a gyro. The gyro facilitates to hold the vehicle stable during flight.
According to an embodiment of the invention, the gyro comprises one mechanic gyro and one electronic implemented gyro.
According to an embodiment of the invention, the arrangement comprises means for autonomic control of the vehicle in flight. The autonomic control enables the vehicle to be in flight without control of an operator. The autonomic control of the vehicle is for example provided by a flight controller comprising a logic unit configured to control the generated lifting force from the thruster module.
According to an embodiment of the invention, the connection cable is configured to conduct electric power to the thruster module of the vehicle. By means of the electric power provided through the connection cable enables the vehicle to be maintained in flight for long duration.
According to an embodiment of the invention, the connection cable comprises means for transmitting information to and from the one or more sensor devices. Preferably, the means for transmitting information to and from the one or more sensor devices comprises a data cable, such as an optical fiber cable.
According to an embodiment of the invention, the vehicle comprises a shaft connecting the one or more thruster modules rotor, and further comprising means for positional control of the vehicle in a plane parallel to the ground, wherein the means for positional control consists of a controllable joint on the shaft.
By means of the means for positional control, the vehicle is controllable around the connection to the ground in the plane parallel to the ground. That is, the vehicle is controllable in a circle in the plane in respect to the connection to the ground. The controllable joint on the shaft enables the one or more thruster modules rotor to be tilted in respect to a longitudinal axis of the shaft, thereby providing positional control. By only providing the positional control in the form of controllable joint on the shaft, the vehicle requires no further rotors for the positional control, which reduces weight and enables the vehicle to be maintained in flight for long durations.
According to an embodiment of the invention, the vehicle is configured without directional control means. By means of configuring the vehicle without directional control means, the weight of the vehicle is reduced, which enables the vehicle to be maintained in flight for long durations.
According to an embodiment of the invention, the one or more thruster modules are configured to exclusively or essentially exclusively generate a controllable lifting force. By configuring thruster modules for exclusively or essentially exclusively generating the lifting force, the vehicle is configured to be maintained in flight for long durations.
According to an embodiment of the invention, the connection cable comprises means for providing a de-icing fluid to the wings of the one or more thruster modules.
According to an embodiment of the invention, the vehicle comprises a pivot at a first end portion of the support structure to which pivot the connection cable is attached and from which pivot the support structure is hanging. By configuring the support structure to be hanging from the pivot, the support structure is maintained directed towards the ground by gravity. The pivot comprises a first rotational axis perpendicular or essentially perpendicular to a longitudinal axis of the support structure.
According to an embodiment of the invention, the vehicle comprises a further pivot a first end portion of the support structure, wherein the further pivot enables rotation around an elongated axis of the support structure. The further pivot comprises a second rotational axis parallel or essentially parallel with a longitudinal axis of the support structure.
According to an embodiment of the invention, the vehicle comprises means for heating the support structure.
According to an embodiment of the invention, the support structure mainly is made of a light weight material, such as poly-paraphenylene terephthalamide (Kevlar), carbon fiber reinforced plastic, etcetera. The poly-paraphenylene terephthalamide and the carbon fiber reinforced plastic have the advantage of providing high strength with low weight.
According to an embodiment of the invention, the support structure comprises an electric conductive material at least partly enclosing a hollow spacing of the support structure.
The electric conductive material is for layer covering the hollow spacing at least in part or fully. The electric conductive material has the function of providing electromagnetic shielding of sensor devices in the hollow spacing.
According to an embodiment of the invention, the conductive material comprises a layer of graphene.
According to an embodiment of the invention, the vehicle comprises a battery unit for powering the vehicle in the event of a power loss in the power supply through the connection cable.
According to an embodiment of the invention, the support structure comprises spiral protrusions arranged on an outer surface of the support structure. The spiral protrusions have the function of reducing effect of wind on the vehicle.
Brief description of drawings
In the following is described examples of preferred embodiments illustrated in the accompanying drawings, wherein:
Fig.1 discloses an aerial vehicle arrangement according to an embodiment of the invention, wherein the arrangement comprises an aerial vehicle, a tether coupling and a docking station;
Fig.2 discloses a perspective view of the aerial vehicle in fig.1;
Fig.3a discloses a detailed view of the aerial vehicle in fig.1;
Fig.3b discloses an exploded view of a support structure of the aerial vehicle in fig.1;
Fig.4 discloses the docking station in fig.1 in further details.
Fig.5a discloses the arrangement in fig.1, where the vehicle is docked in the docking station;
Fig.5b discloses the arrangement in fig.1, where the vehicle has been released from the docking station.
Detailed description of the invention
In fig.1 is a schematic illustration of an aerial vehicle arrangement 1 according to an embodiment of the invention disclosed. The arrangement 1 comprises an aerial vehicle 10, a tether coupling 12 and a docking station 14.
The tether coupling 12 comprises a connection cable 20 for providing power from the docking station 14 at the ground 16 to the aerial vehicle 10, a first connection member 22a for connecting the connection cable 20 to the aerial vehicle 10, and a second connection member 22b for connecting the connection cable 20 to the docking station 14.
In fig.2 is a perspective view of the aerial vehicle 10 in fig.1 disclosed. The vehicle 10 comprises an elongated hollow support structure 30, a thruster module 32 and attachment means 34 for removable connection of the thruster module 32 to the support structure 30. In fig.2 is also an exam ple of the first connection member 22a disclosed.
The vehicle 10 comprises a pivot 35a at the first end portion 24a of the support structure 30. The connection cable 20 is attached to the pivot 35a so that the support structure 30 is hanging from the pivot 35a. The pivot 35a is configured to enable rotation perpendicular to an elongated axis L of the support structure 30. Hence, the pivot 35a comprises a first rotational axis perpendicular or essentially perpendicular to the longitudinal axis L of the support structure 30.
The vehicle 10 comprises a further pivot 35b at the first end portion 24a of the support structure 30. The further pivot 35b is configured to enable rotation around an elongated axis L of the support structure 30. The further pivot 35b comprises a second rotational axis parallel or essentially parallel with a longitudinal axis L of the support structure 30.
The support structure 30 is preferably mainly made of a light weight material, such as polyparaphenylene tereph-thalamide (Kevlar), carbon fiber reinforced plastic, etcetera, which provides high strength and low weight.
The support structure 30 preferably comprises an electric conductive material at least partly enclosing the hollow spacing of the support structure 30, such as a layer of electric conductive material. The electric conductive material has the function of providing electromagnetic shielding of attached sensor device 50 or sensor devices 50 in the hollow spacing of the support structure 30. For example, the electric conductive material comprises a layer of graphene.
The thruster module 32 comprise one or more rotors 36. Preferably, the thruster module 32 comprises two coaxial rotors 36 configured to rotate in opposite directions, which provides stability to a lifting force generated by the thruster module 32.
In fig.3 is a detailed view of the aerial vehicle 10 in fig.1 disclosed, which schematic discloses components of the vehicle 10. In fig.3 is the vehicle 10 disclosed provided with two coaxial rotors 36 as discussed above.
The support structure 30 is configured to hold various components of the vehicle 10. The components are schematic illustrated as boxes.
The vehicle 10 comprises a power converter 40 and a flight controller 42. The power converter 40 is configured to receive and convert electric power to a suitable form for electric motors of the thruster module 32. The conversion provided by the power converter 40 is for example pulse-width modulation. The flight controller 42 configured to send control information to the power converter 40 so that power converter 40 converts electric power to a suitable form that results in a specific lifting force from the thruster module 32.
The vehicle 10 preferably further comprises a battery unit 44 for providing power to the power converter 40 in the event of an interruption of energy supply through the cable to the vehicle 10. The battery unit 44 is connected to the power converter 40. In the event of an interruption of energy supply through the cable to the vehicle 10, the flight controller 42 is configured to control the power converter 40 so that the vehicle 10 is lowered to the docking station 14 in a controlled manner.
The vehicle 10 preferably comprises at least one sensor device 50 at a second end portion 24b of the support structure 30 and a and sensor pivot 52 between the support structure 30 and the sensor device 50. The sensor device 50 is for example an optical camera (such as HD camera), a thermal camera, IR camera, environmental sensors (such as for temperature and pressure), laser locator, and etcetera. The sensor pivot 52 comprises for example a gimbal or other joints allowing the sensor device 50 to be directed in various directions.
The vehicle 10 preferably also comprises a positioning receiver 60, such a Global Positioning System (GPS) receiver for registering location of the aerial vehicle 10. The vehicle 10 preferably further comprises a transponder 62 and a gyro 64. The transponder 62 is configured to emit a coded identifying signal in response to an interrogating received signal. The gyro 64 improves the stability to the vehicle 10 in flight.
In fig.3b is an exploded view of the support structure 30 of the aerial vehicle 10 in fig.1 disclosed. The support structure 30 is elongated and comprises a hollow support cover 65 and a support insert 66 adapted to be inserted in a hollow space of the support cover 65. In the disclosed embodiment, the support insert 66 comprises a plurality of elongated rods 67 positioned in a pattern corresponding to the circumference of the hollow space. The support insert 66 further comprises support plates 68 intermittent positioned along the length of the rods 67.
In fig.3b is also a thruster cover 69 for the thruster modules 32 disclosed attached to the support cover 65 of the support structure 30. The thruster cover 69 has preferably a similar configuration as the support structure 30.
In fig.4 is the docking station 14 in fig.1 disclosed in further details. The docking station 14 comprises a docking body 70 with a receipt portion 72 adapted to receive and hold the support structure 30 of the vehicle 10. The receipt portion 72 has a shape that essentially conforms to the outer circumference of the support structure 30 of the vehicle 10.
In the disclosed embodiment, the docking body 72 is L-shaped, with a first support leg 74a configured to rest on the ground 16 and second support leg 74b configured to protrude away from the ground 16. The second support leg 74b comprises the receipt portion 72.
In fig.5a is the arrangement 1 in fig.1 disclosed, where the vehicle 10 is docked in the docking station 14. In fig.5b is the arrangement 1 in fig.1 disclosed, where the vehicle 10 has been released from the docking station 14.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design many alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. Use of the verb "comprise" and its conjugations does not exclude the presence of elements or steps other than those stated in a claim. The article "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage.
Claims (10)
1. An aerial vehicle arrangement (1) comprising
- an aerial vehicle (10) comprising a thruster module (32) and one or more sensor devices (50),
- a tether coupling (12) comprising a connection cable (20) for providing power from the ground (16) to the thruster module (32) of the aerial vehicle (10),
characterized in that the
the vehicle (10) comprises an elongated hollow support structure (30) configured for attachment of the thruster module (32) and said one or more sensor devices (50).
2. The arrangement (1) according to claim 1, wherein the vehicle (10) comprises attachment means (34) for removable attachment of the thruster module (32) to the support structure (30).
3. The arrangement (1) according any of claim 1 or 2, wherein the hollow support structure (30) comprises two or more removable sections configured for attachment of respective sensor devices (50), which sections comprises further attachment means for removable connecting the sections together.
4. The arrangement (1) according to any of the previous claims, wherein the one or more thruster modules (32) comprises two coaxial rotors (36) rotatable in opposite directions.
5. The arrangement (1) according to any of the previous claims, wherein the arrangement (1) comprises means for autonomic control of the vehicle (10) in flight.
6. The arrangement (1) according to any of the previous claims, wherein the connection cable (20) comprises means for transmitting information to and from the one or more sensor devices (50).
7. The arrangement (1) according to any of the previous claims, wherein the vehicle (10) comprises a pivot at a first end portion (24a) of the support structure to which pivot the connection cable (20) is attached and from which pivot the support structure (30) is hanging.
8. The arrangement (1) according to any of the previous claims, wherein the support structure (30) mainly is made of a light weight material, such as poly-paraphenylene terephthalamide or carbon fibre reinforced plastic.
9. The arrangement (1) according to any of the previous claims, wherein the support structure (30) comprises an electric conductive material at least partly enclosing a hollow spacing of the support structure (30).
10. The arrangement (1) according to any of the previous claims, wherein the vehicle (10) comprises a shaft connecting the one or more thruster modules rotor (36), and means for positional control of the vehicle (10) in a plane parallel to the ground, wherein the means for positional control consists of a controllable joint on the shaft..
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| NO20181302A NO344927B1 (en) | 2018-10-10 | 2018-10-10 | An aerial vehicle arrangement |
| PCT/NO2019/050204 WO2020076161A1 (en) | 2018-10-10 | 2019-10-03 | An aerial vehicle arrangement |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| NO20181302A NO344927B1 (en) | 2018-10-10 | 2018-10-10 | An aerial vehicle arrangement |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| NO20181302A1 true NO20181302A1 (en) | 2020-04-13 |
| NO344927B1 NO344927B1 (en) | 2020-06-29 |
Family
ID=70165110
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| NO20181302A NO344927B1 (en) | 2018-10-10 | 2018-10-10 | An aerial vehicle arrangement |
Country Status (2)
| Country | Link |
|---|---|
| NO (1) | NO344927B1 (en) |
| WO (1) | WO2020076161A1 (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050051667A1 (en) * | 2001-12-21 | 2005-03-10 | Arlton Paul E. | Micro-rotorcraft surveillance system |
| US20070200027A1 (en) * | 2006-02-24 | 2007-08-30 | Johnson Samuel A | Aerial robot |
| US20150041598A1 (en) * | 2011-06-09 | 2015-02-12 | Thomas J. Nugent | Aerial platform system, and related methods |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2801034B1 (en) * | 1999-11-12 | 2001-12-14 | Salaberry Bernard Lucien Charl | HIGH STABILITY AND HIGHLY MANEUVERABLE PENDULAR PILOT HELICOPTER |
| CN102458987B (en) * | 2009-04-06 | 2015-10-07 | 天空智慧有限公司 | Be used for lifting the system of capacity weight, floating element and method |
| US8738198B2 (en) * | 2011-05-26 | 2014-05-27 | Foster-Miller, Inc. | Robot surveillance system and method |
| US9193452B2 (en) * | 2012-12-14 | 2015-11-24 | Raymond George Carreker | Direct orientation vector rotor |
-
2018
- 2018-10-10 NO NO20181302A patent/NO344927B1/en unknown
-
2019
- 2019-10-03 WO PCT/NO2019/050204 patent/WO2020076161A1/en active Application Filing
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050051667A1 (en) * | 2001-12-21 | 2005-03-10 | Arlton Paul E. | Micro-rotorcraft surveillance system |
| US20070200027A1 (en) * | 2006-02-24 | 2007-08-30 | Johnson Samuel A | Aerial robot |
| US20150041598A1 (en) * | 2011-06-09 | 2015-02-12 | Thomas J. Nugent | Aerial platform system, and related methods |
Also Published As
| Publication number | Publication date |
|---|---|
| NO344927B1 (en) | 2020-06-29 |
| WO2020076161A1 (en) | 2020-04-16 |
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