EP2480478A1 - Suspended payload platform thrusted by fluid mass flow generators - Google Patents
Suspended payload platform thrusted by fluid mass flow generatorsInfo
- Publication number
- EP2480478A1 EP2480478A1 EP10749902A EP10749902A EP2480478A1 EP 2480478 A1 EP2480478 A1 EP 2480478A1 EP 10749902 A EP10749902 A EP 10749902A EP 10749902 A EP10749902 A EP 10749902A EP 2480478 A1 EP2480478 A1 EP 2480478A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- fluid mass
- mass flow
- payload platform
- payload
- action
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 239000012530 fluid Substances 0.000 title claims abstract description 45
- 230000009471 action Effects 0.000 claims description 20
- 239000013598 vector Substances 0.000 claims description 15
- 239000000725 suspension Substances 0.000 claims description 5
- 230000002441 reversible effect Effects 0.000 claims description 4
- 238000013461 design Methods 0.000 description 13
- 230000000295 complement effect Effects 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 1
- 238000004873 anchoring Methods 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000008707 rearrangement Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
Definitions
- the present invention relates to th-rusting a payload platform suspended like a pendulum on a single cable or -on parallel cables attached to a supporting el-ement.
- the pendulum like suspension system may include complex multi- body or multi-cable sections but at least one section of it is limited to a single cable or parallel cables.
- the present invention is directed to thrusting a payload platform of an aerial tethered robot or a suspended rescue system or a crane system.
- the concept of the aerial tethered system was inspired by deep sea marine robotics where a host ship uses a tethered robot to survey the site of a shipwreck and deploy tiny robotic agents from the tethered robot into an opening within the sunken vessel. This concept was applied to aerial systems .
- the aerial robot may include at least one pair of counter-rotating blades or propellers, which may be contained within a circumferential shroud or a duct.
- the aerial robot may have the ability to hover and move indefinitely getting the electric power through a tether anchoring the robot to a ground station.
- the robot is suitable for remote observation, environment detection, communication, but due to the lifting force powered by fans not suitable for carrying heavy payloads.
- a design of a tethered aerial robot is presented by P. J. McKerrow and D.
- Ratner originally published as: McKerrow, PJM & Ratner, D, The design of a tethered aerial robot, IEEE International Conference on Robotics and Automation 2007, Rome, Italy, 10-14 April 2007, 355-360. Copyright 2007 IEEE; in which the concept of a tethered aerial robot swinging on the end of a tether is described.
- the weight of the robot is carried by the tether and the thrusting force is generated -by two fans with parallel axis.
- the critical issue in such suspended systems is the under-actuation of the suspended payload.
- the two ducted fans with parallel axes can only provide a one- directional thrust force and a resulting moment acting upon the suspended payload as independent control inputs.
- the number of actuators is lower than the degrees of f-reedom of the suspended payload.
- a suspended payload platform can be a part of a robotic system or that of a crane structure as well.
- Pendulum-like suspension systems that include single or parallel cables do not allow the actuation of the payload platform through the cables only.
- the required position and orientation of the payload can only be provided with the use of additional actuators, because of the pendulum-like behavior of these systems.
- the present invention involves a new system which solves the aforementioned problems, as well as other problems that will become apparent from an understanding of the following description.
- the invention is based on the recognition that a payload platform suspended like a pendulum on single or parallel cables can only be controlled with serious limitations by a single direction thrust force -or a pair of thrust forces. So the object of the invention is to provide a system of thrust forces of fluid mass flows for moving a payload platform the weight of which is compensated by pendulum-like single or parallel suspending cables attached to a suspending element. In the system of thrust forces the fluid mass flows are generated by at least three fluid mass flow generators each of them providing a force vector.
- Fluid mass flow generator is a system that determines the magnitude and the direction of the thrust force vector produced by emission of fluid or solid body particles.
- fluid mass flow can be made by an axial or radial fan without or within a tube, nozzle with routed fluid mass flow from an external or on board compressor, nozzle with routed fluid mass flow from - A - an external or on board fluid bottle, fluid storage tank.
- the source of thrust can be turned, deflectors including slewable nozzles or controlled valves can be used at the inlet (s) or outlet (s) of the source of the fluid mass flow, and variable blade pitch impellers -can be applied.
- the fluid mass flow generators are fans, preferably ducted fans provided with reversible blade pitch impellers.
- two lines of action of the thrust force vectors may be parallel whereas the third line of action of the thrust force is a skew line at an angle to the parallel lines of actions, or two lines of action of the thrust force vectors are parallel whereas the line of action of a third thrust force vector is a skew line at a right angle to the parallel lines of actions.
- FIGURE 1 shows a simplified model of the pendulum-like suspended payload platform.
- FIGURES 2/a, 2/b, 2/c and 2/d present concepts for pendulum-like single and parallel cable based suspending systems .
- FIGURES 3/a and 3/b show arrangements of fluid mass flow generators (for simplicity modeled by ducted fans) and the supplied thrust force for two different designs that use three or six fluid mass flow generators, respectively.
- FIGURE 4 shows a possible embodiment of a 3 fluid mass flow generator based design.
- FIGURE 5 shows a possible embodiment of a six fluid mass flow generator based design.
- the main operating functions that the pendulum-like suspended payload platform PP should provide are: compensating for the gravity by using single or parallel cables attached to the supporting element SE, and making thrust for controlling the position and orientation of the payload PL.
- the swinging out of the payload is described by the nutation angle, while its polar displacement is described by the precession angle.
- turning the payload is characterized by the rotation angle about an axis fixed to the payload.
- the roll and pitch of the payload e.g., and not by way of limitation, is to be set by additional fluid mass flow generators or by using windable orienting cables.
- FIGURES 2/a, 2/b, 2/c and 2/d some possible solutions are presented for the pendulum-like suspension system composed at least in part of single or parallel cable segments. Solutions described in FIGURE 2/b, 2/c and 2/d utilizing windable cables for the actuation of the roll and pitch of the payload platform, while concept in FIGURE 2/a requires complementary actuators such as fans, gyros, etc.
- the primary design constraint is the amount of the required thrust.
- FIGURE 3/a there are two fluid mass flow generators that pull the payload platform from the vertical direction and a complementary transversal fluid mass flow generator is used to provide actuation in the direction of precession.
- the two parallel fluid mass flow generators can exert high thrust in a specific direction.
- FIGURE 3/b six identical fluid mass flow generators are utilized. Considering these generators as ducted fans it is apparent that the thrust supplied by the smaller fans will be lower, however they provide better maneuverability for the suspended payload platform. This is because the special triangular arrangement of the fans that ensures closely uniform thrusting.
- FIGURE 4 and FIGURE 5 show the possible embodiments of the three and six fluid mass flow generator based designs. These designs show the similarities and main differences between the two concepts as well. Both concepts utilizes ducted fans as thrust sources, since these devices have lower weight (and smaller size) compared to other solutions.
- the three fluid mass flow generator based design reaches a singular position. If the thrust force is not reversible, a small change of the position of the payload platform may require infinite angular accelerations. Reversing of the thrust may also be needed for the orientation of the payload platform when it hangs vertically down. In addition, the moment generated by the opposite direction thrust forces can be used to compensate for the inertial effects of the payload.
- the design concept based on three fluid mass flow generators should incorporate two ducted fans arranged in parallel and a complementary ducted fan with transversal air mass flow, while the thrusting forces should be reversible at all ducted fans.
- the role of the fluid mass flow generators cannot be separated. They are identical to each other and contribute to the thrusting and turning of the payload platform equally.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Structures Of Non-Positive Displacement Pumps (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
HU0900467A HUP0900467A2 (en) | 2009-07-28 | 2009-07-28 | Suspended payload platform thrusted by fluid mass flow generators |
PCT/HU2010/000084 WO2011012915A1 (en) | 2009-07-28 | 2010-07-27 | Suspended payload platform thrusted by fluid mass flow generators |
Publications (2)
Publication Number | Publication Date |
---|---|
EP2480478A1 true EP2480478A1 (en) | 2012-08-01 |
EP2480478B1 EP2480478B1 (en) | 2014-12-17 |
Family
ID=89989140
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP10749902.2A Not-in-force EP2480478B1 (en) | 2009-07-28 | 2010-07-27 | Suspended payload platform thrusted by fluid mass flow generators |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP2480478B1 (en) |
HU (1) | HUP0900467A2 (en) |
WO (1) | WO2011012915A1 (en) |
Families Citing this family (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11209836B1 (en) | 2018-02-08 | 2021-12-28 | Vita Inclinata Technologies, Inc. | Long line loiter apparatus, system, and method |
US11945697B2 (en) | 2018-02-08 | 2024-04-02 | Vita Inclinata Ip Holdings Llc | Multiple remote control for suspended load control equipment apparatus, system, and method |
US11142316B2 (en) | 2018-02-08 | 2021-10-12 | Vita Inclinata Technologies, Inc. | Control of drone-load system method, system, and apparatus |
US11746951B2 (en) | 2019-02-26 | 2023-09-05 | Vita Inclinata Ip Holdings Llc | Cable deployment apparatus, system, and methods for suspended load control equipment |
US11618566B1 (en) | 2019-04-12 | 2023-04-04 | Vita Inclinata Technologies, Inc. | State information and telemetry for suspended load control equipment apparatus, system, and method |
US11834305B1 (en) | 2019-04-12 | 2023-12-05 | Vita Inclinata Ip Holdings Llc | Apparatus, system, and method to control torque or lateral thrust applied to a load suspended on a suspension cable |
EP3778393B1 (en) | 2019-08-13 | 2021-12-08 | AIRBUS HELICOPTERS DEUTSCHLAND GmbH | A load carrying assembly |
US11873099B2 (en) | 2020-12-02 | 2024-01-16 | Airbus Helicopters Deutschland GmbH | Load carrying assembly |
WO2023211499A1 (en) | 2022-04-29 | 2023-11-02 | Vita Inclinata Ip Holdings Llc | Machine learning real property object detection and analysis apparatus, system, and method |
US11992444B1 (en) | 2023-12-04 | 2024-05-28 | Vita Inclinata Ip Holdings Llc | Apparatus, system, and method to control torque or lateral thrust applied to a load suspended on a suspension cable |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4601444A (en) * | 1983-06-08 | 1986-07-22 | Bernard Lindenbaum | Aerial load-lifting system |
JPH04256686A (en) * | 1991-02-06 | 1992-09-11 | Ishikawajima Harima Heavy Ind Co Ltd | Suspending device |
SE506569C2 (en) * | 1996-05-10 | 1998-01-12 | Asea Atom Ab | Method and apparatus for motion correction and positioning of a suspension device |
NO316438B1 (en) * | 2001-08-31 | 2004-01-26 | Lars Magnus Solstad | Remote controlled connection device for lifting device |
US7510142B2 (en) | 2006-02-24 | 2009-03-31 | Stealth Robotics | Aerial robot |
-
2009
- 2009-07-28 HU HU0900467A patent/HUP0900467A2/en unknown
-
2010
- 2010-07-27 WO PCT/HU2010/000084 patent/WO2011012915A1/en active Application Filing
- 2010-07-27 EP EP10749902.2A patent/EP2480478B1/en not_active Not-in-force
Non-Patent Citations (1)
Title |
---|
See references of WO2011012915A1 * |
Also Published As
Publication number | Publication date |
---|---|
HUP0900467A2 (en) | 2011-06-28 |
EP2480478B1 (en) | 2014-12-17 |
WO2011012915A1 (en) | 2011-02-03 |
HU0900467D0 (en) | 2009-09-28 |
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