WO2021013672A1 - Système et procédé de levage d'un objet - Google Patents

Système et procédé de levage d'un objet Download PDF

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Publication number
WO2021013672A1
WO2021013672A1 PCT/EP2020/070088 EP2020070088W WO2021013672A1 WO 2021013672 A1 WO2021013672 A1 WO 2021013672A1 EP 2020070088 W EP2020070088 W EP 2020070088W WO 2021013672 A1 WO2021013672 A1 WO 2021013672A1
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WO
WIPO (PCT)
Prior art keywords
component
mass
pivot
vehicle
rocker
Prior art date
Application number
PCT/EP2020/070088
Other languages
English (en)
Inventor
Wei Pien LEE
Maurice Herman Johan Draaijer
Vincent Stefan David Gielen
Original Assignee
Signify Holding B.V.
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Signify Holding B.V. filed Critical Signify Holding B.V.
Publication of WO2021013672A1 publication Critical patent/WO2021013672A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/70—Constructional aspects of the UAV body
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
    • B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/60—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons

Definitions

  • the present disclosure is directed generally to vehicles for lifting objects, for example, Unmanned Aerial Vehicles (UAVs), in particular to systems and methods for lifting and stabilizing the movement an object during flight of a vehicle, even more particularly, to systems and methods for lifting and stabilizing an object about a pivot point.
  • UAVs Unmanned Aerial Vehicles
  • Luminaires for street lamps and other lighting fixtures are typically mounted atop a pole or post making it difficult to install, replace, or maintain luminaires after the pole or post is mounted upright.
  • UAVs and other vehicles driven manually by a user or automatically via software, are capable of lifting loads and moving those loads from one position to another.
  • UAVs currently utilize independent propellers to provide a lift force in a vertical direction and require tilting of the entire UAV, or require individual drive signals to the independent propellers to alter the UAVs position in, e.g., a horizontal direction.
  • the object is typically connected to the UAV by a pivot located approximately half-way between the UAV and the object the UAV is carrying. The position of this pivot results in the object experiencing inertia forces in response to any horizontal movement of the UAV. In other words, the motion caused by tilting the UAV destabilizes the object connected to the UAV.
  • the present disclosure is related to systems and methods for stabilizing the movement of an object connected to a vehicle, for example, a UAV during flight of the UAV by utilizing a pivot mechanism located at or in proximity to an optimal pivot point.
  • the pivot point may be determined by factoring the mass of each component fixedly secured to the body of the vehicle, for example, at least the mass of each of the plurality of propellers and the mass of the individual motors that drive each propeller.
  • a pivot mechanism is connected to the vehicle such that it is capable of pivoting about the pivot point. In having a pivot mechanism arranged to pivot about this optimal pivot point, any kinetic effects or rotational inertia caused by the tilting motion of the vehicle on the object can be minimized if not eliminated.
  • a system for mass stabilization including a vehicle, the vehicle including a body, the body having a first center of mass, a plurality of propellers rotatingly secured to the body of the vehicle and arranged to generate a lift force in a first direction, and a pivot mechanism connected to the body and an object, the pivot mechanism arranged to allow the object to pivot about a pivot point, the pivot point arranged at or proximity to the first center of mass of the body of the vehicle.
  • the body further includes a plurality of motors, where each motor of the plurality of motors drives a respective propeller of the plurality of propellers, and where each motor of the plurality of motors and each propeller of the plurality of propellers has a respective component mass, and the first center of mass is determined using each respective component mass.
  • the pivot mechanism is a universal joint, a constant velocity joint, or a ball-and-socket joint.
  • the body includes a frame and the pivot mechanism includes a first gimbal component rotatingly engaged with the frame and a second gimbal component rotatingly engaged with the first gimbal component, the second gimbal component further arranged to engage with the object, and the pivot mechanism is arranged to maintain a vertical orientation of the object during operation of the vehicle.
  • the second gimbal component includes a horizontal gimbal component and a vertical gimbal component, the horizontal gimbal component arranged to rotatingly engage with the first gimbal component and the vertical gimbal component arranged to engage with the object.
  • the pivot mechanism is a four-bar linkage system.
  • the four-bar linkage system includes a first rocker portion, a second rocker portion, a first wing component pivotably secured between the first rocker portion and the second rocker portion, and a second wing component pivotably secured between the first rocker portion and the second rocker portion.
  • the first rocker portion includes a first horizontal rocker component, a second horizontal rocker component, a first vertical link pivotably secured between the first horizontal rocker component and the second horizontal rocker component, and a second vertical link pivotably secured between the first horizontal rocker component and the second horizontal rocker component.
  • the second rocker portion includes a third horizontal rocker component, a third vertical link pivotably secured between the third horizontal rocker component and first wing component, a fourth vertical link pivotably secured between the third horizontal rocker component and the second wing component.
  • the pivot mechanism includes a first connector component, a first roller, and a second roller, the first connector arranged to connect the first roller with the second roller, the first and second roller arranged to slidingly translate within a channel the body of the vehicle.
  • the channel is semi-circular, semi-elliptical, or curved.
  • a method of mass stabilization including: determining a first center of mass of a body of a vehicle, the body including a plurality of propellers arranged to generate a lift force in a first direction; securing a pivot mechanism to the body of the vehicle; securing an object to the pivot mechanism such that the pivot mechanism is arranged to allow the object to pivot about a pivot point, the pivot point arranged at or in proximity to the first center of mass.
  • the body further includes a plurality of motors, where each motor of the plurality of motors drives a respective propeller of the plurality of propellers, and where each motor of the plurality of motors and each propeller of the plurality of propellers has a respective component mass, and the first center of mass is determined using each respective component mass.
  • the pivot mechanism is a four-bar linkage system, a universal joint, a constant velocity joint, or a ball-and-socket joint.
  • the pivot mechanism includes a first connector component, a first roller, and a second roller, the first connector arranged to connect the first roller with the second roller, the first and second roller arranged to slidingly translate within a channel the body of the vehicle, and the channel is semi-circular, semi-elliptical, or curved.
  • FIG. 1 is a schematic representation of a system according to the prior art.
  • FIG. 2A is a schematic representation of a system according to the prior art.
  • FIG. 2B is a schematic representation of a system according to the prior art.
  • FIG. 3A is a schematic representation of a system according to the prior art.
  • FIG. 3B is a schematic representation of a system according to the prior art.
  • FIG. 4 illustrates a front perspective view of a system according to the present disclosure.
  • FIG. 5 illustrates a front schematic view of a system according to the present disclosure.
  • FIG. 6A illustrates a front schematic view of a system according to the present disclosure.
  • FIG. 6B illustrates a front schematic view of a system according to the present disclosure.
  • FIG. 7 illustrates a perspective view of a pivot mechanism according to the present disclosure.
  • FIG. 8 illustrates a perspective view of a system according to the present disclosure.
  • FIG. 9 illustrates a perspective view of a system according to the present disclosure.
  • FIG. 10 illustrates a perspective view of a pivot mechanism according to the present disclosure.
  • FIG. 11 illustrates a perspective view of a pivot mechanism according to the present disclosure.
  • FIG. 12 illustrates a perspective view of a pivot mechanism according to the present disclosure.
  • FIG. 13 illustrates a perspective view of a pivot mechanism according to the present disclosure.
  • FIG. 14 is a flow chart illustrating the method according to the present disclosure.
  • the present disclosure is related to systems and methods for stabilizing the movement of an object connected to a vehicle, for example, a UAV during flight of the UAV by utilizing a pivot mechanism located at or in proximity to an optimal pivot point.
  • the pivot point may be determined by factoring the mass of each component fixedly secured to the body of the vehicle, for example, at least the mass of each of the plurality of propellers and the mass of the individual motors that drive each propeller.
  • a pivot mechanism is connected to the vehicle such that it is capable of pivoting about the pivot point. In having a pivot mechanism arranged to pivot about this optimal pivot point, any kinetic effects or rotational inertia caused by the tilting motion of the vehicle on the object can be minimized if not eliminated.
  • FIGS. 1-3B illustrate systems according to the prior art.
  • FIG. 1 illustrates system 10 including drone 12, connector arms 14, pivot 16, and mass 18.
  • pivot 16 is arranged to allow for relative rotation between connector arms 14 such that, in the event drone 12 should tilt, pitch, or roll (e.g., during thrust vectoring) with respect to first axis A1 where first axis A1 is substantially orthogonal to the ground beneath system 10, to generate movement of drone 12, for example, in a direction orthogonal to first axis Al, the kinetic forces on mass 18 will have undesirable effects on the stabilization of the flight of drone 12 and the orientation of mass 18.
  • FIGS. 2A-2B when the drone 12 initiates thrust vectoring, a relative movement of drone 12 to mass 18 is initiated.
  • FIG. 2B there is a relative displacement RD of mass 18 relative to first axis Al in response to the displacement of drone 12 during initial thrust vectoring.
  • This relative displacement RD negatively affects the ability of system 10 to align mass 18 with, for example, a pole atop which mass 18 is intended to be installed.
  • FIGS. 3A-3B illustrate another undesirable kinetic effect, i.e., contraction of the distance D1 between the drone 12 and the mass 18.
  • a series of short fast movements in a direction orthogonal to first axis Al may produce the effect shown in FIG.
  • mass 18 may have a momentum or inertia that opposes the relative motion or thrust vectoring of drone 12 such that the system 10 produces rotation of connector arms 14 relative to each other about pivot 16 which shortens or contracts the distance D1 to distance D2, where distance D2 is less than distance Dl, between drone 12 and mass 18. Additionally, this contraction, due to the rigid connection between the drone 12 and connector arm 14 and the rigid connection between mass 18 and connector arm 14, creates an additional relative rotation of mass 18 with respect to first axis Al.
  • FIG. 4 illustrates a front perspective view of system 100 according to the present disclosure.
  • System 100 may include a vehicle, for example, an unmanned aerial vehicle (UAV) 102, an object 104, and at least one connector arm 106 connecting the UAV 102 to the object 104.
  • UAV unmanned aerial vehicle
  • system 100 may utilize a manned aerial vehicle, or a manned or unmanned terrestrial vehicle, e.g., a crane or other robotic or motorized vehicle capable of engaging and lifting object 104.
  • Object 104 is intended to be a luminaire or luminaire housing capable of being mounted atop a pole or lamp post; however, it should be appreciated that other objects may be utilized, for example, a sensor or sensor housing.
  • the sensor housing can be selected from a Zhaga-based sensor housing or a NEMA sensor housing.
  • Connector arm 106 is intended to be rigid body, for example, a metallic member having a proximal end secured to pivot mechanism 128 (discussed below) or other pivotable connection in proximity to pivot point 124 (discussed below); however, it should be appreciated that given the beneficial stabilizing characteristics discussed below, cables, ropes, or other non-rigid bodies may be utilized instead.
  • UAV 102 may comprise a body, i.e., body 108, where the body 108 includes a frame 110 which includes plurality of motors 112A-112D configured to drive a plurality of propellers 114A-114D, respectively.
  • Body 108 and frame 110 can be made from a plastic material for example, Polyethylene Terephthalate (PETE or PET), High-Density
  • UAV 102 may include a controller having a processor and memory arranged to execute and store, respectively, a set of non-transitory computer readable instructions to perform the functions of the UAV 102 as discussed herein.
  • the controller of the UAV 102 may be electrically connected to a power source, e.g., a battery capable of providing electrical power to the various electrical components associated with UAV 102 as discussed herein, or a camera arranged to send image data to the controller for use in piloting UAV 102 by a user or autonomously through software.
  • UAV 102 may include an antenna and related electronic components that allow for wired or wireless communications between UAV 102 and, for example, a remote device utilized by a user or a centralized computing device capable of sending wired or wireless signals to UAV 102 to drive UAV 102 within an environment.
  • a remote device utilized by a user
  • a centralized computing device capable of sending wired or wireless signals to UAV 102 to drive UAV 102 within an environment.
  • Plurality of motors 112A-112D are arranged to receive an electrical signal, i.e., an electrical drive signal provided by the controller of UAV 102 as discussed above, which in turn generate rotational motion of each of the plurality of propellers 114A-114D.
  • the rotation of each of the propellers is intended to be within a plane substantially parallel with the ground beneath UAV 102 and object 104 such that they may generate a lift force 116 substantially in first direction DR1, i.e., a direction substantially parallel with first axis A1 and away from the ground beneath UAV 102.
  • each component described above for example, at least each motor of plurality of motors 112A-112D and each propeller of plurality of propellers 114A-114D have a component mass, i.e., plurality of component masses 118A-118H (not illustrated), respectively.
  • a determination of the center of mass can be made, i.e., center of mass 120.
  • each motor and propeller combination for example, motor 112A and propeller 114A, etc., may schematically be represented by schematic mass 122 A which represents the combined mass of motor 112A and propeller 114 A.
  • the center of mass 120 can therefore be determined by finding a central point or location which represents the average or mean mass of each schematic mass 122A-122D, i.e., center of mass 120.
  • FIG. 5 illustrates a front view of UAV 102 and only two schematic masses, i.e., schematic mass 122B and 122D.
  • FIG. 5 illustrates that the mean distribution of those schematic masses can be located at center of mass 120 substantially between schematic masses 122B and 112D.
  • schematic masses 122A and 122C may also contribute to the determination of center of mass 120.
  • frame 110 may also have a component mass, i.e., component mass 1181 (not shown), which may contribute to the determination of center of mass 120 discussed above; however, in the event that frame 110 of body 108 is, for example, substantially symmetrical about first axis A1 and/or frame 110 is substantially less massive than the other component masses, the component mass 1181 (not shown) may not affect the previous determination of the center of mass 120. It should be understood that depending on the distribution of the various component masses discussed above, center of mass 120 may be located above, within, or below frame 110.
  • system 100 such that object 104 is arranged to pivot about a pivot point located at or in proximity to (e.g., less than 15 cm) center of mass 120, i.e., pivot point 124.
  • pivot point 124 By allowing, for example, connector arm 106 and object 104 to pivot their mass about pivot point 124 at or proximate to center of mass 120, the relative displacement issue described with respect to FIGS. 2A-2B and the contraction issue described with respect to FIGS. 3A-3B are eliminated as illustrated by FIGS. 6A-6B.
  • FIG. 6A illustrates the combined initial inertia of system 100, i.e., where object 104 and connector arm 106 are substantially vertical, i.e., in vertical orientation 126 substantially parallel with first axis Al.
  • FIG. 6B illustrates the lack of kinetic effects during any thrust vectoring, i.e., during any thrust vectoring, connector arm 106 and object 104 simply maintain vertical orientation 126 without imparting any unwanted kinetic effects to object 104.
  • Pivot mechanism 128 may be a universal joint, i.e., universal joint 130 arranged to allow connector arm 106 (shown in FIG. 4) and object 104 (shown in FIG. 4) to pivot or rotate about pivot point 124 proximate center of mass 120.
  • Universal joint 130 may include a first arm 132, a second arm 134, and a rotation member 136.
  • First arm 132 and second arm 134 are arranged such that the axis of rotation of first arm 132 and the axis of rotation of second arm 134 are inclined with respect to each other and connected to each other via rotation member 136.
  • universal joint 130 may be positioned such that first arm 132 is secured to frame 110 of UAV 102, second arm is secured to connector arm 106 and/or object 104, and rotation member 136 is positioned at or in proximity (e.g., within 15 cm) to pivot point 124 as discussed above.
  • a similar configuration may employ a constant velocity joint capable of performing a similar pivoting or rotational motion to a universal joint 130 with the additional feature that the pivoting or rotational motion is maintained at a constant rotational velocity.
  • a ball-and-socket type joint may be utilized in place of a universal joint which operates under the principles discussed above with respect to the universal joint described herein.
  • system 100 may utilize pivot mechanism 128.
  • Pivot mechanism 128 may include a plurality of gimbal-like components, i.e., frame 110 may be pivotably secured to a first gimbal component 138.
  • First gimbal component 138 is arranged to pivot or rotate about or with respect to second axis A2, where second axis A2 is orthogonal to first axis Al.
  • Pivot mechanism 128 may further include a second gimbal component 140.
  • Second gimbal component 140 is arranged to pivot or rotate about or with respect to a third axis A3, where the third axis A3 is orthogonal to first axis Al and second axis A2.
  • Second gimbal component 140 may include a horizontal gimbal component 142 and a vertical gimbal component 144.
  • Horizontal gimbal component 142 is pivotably engaged with first gimbal component 138 and arranged to rotate substantially about third axis A3.
  • Vertical gimbal component 144 is fixedly secured to and/or integral with horizontal gimbal component 142 and may be fixedly secured to the various electronic components stored within body 108 of UAV 102 and/or may also be removably or fixedly secured to object 104, for example, via connector arm 106 (shown in FIG. 4).
  • first gimbal component 138 and second gimbal component 140 are arranged such that the axes about which they rotate, e.g., second axis A2 and third axis A3, bisect at or in proximity (e.g., within 15 cm) to pivot point 124.
  • the payload i.e., object 104
  • the various electronic components discussed above which contribute to the operation of system 100 for example, the controller, processor, memory, battery, etc., can all be fixedly or removably secured to the vertical gimbal component 144 of second gimbal component 140.
  • vertical gimbal component 144 may extend past pivot point 124, for example, in first direction DR1, such that a portion of the total mass carried by UAV 102 during flight may be disposed above pivot point 124.
  • the various electronic components discussed above may be positioned above pivot point 124 while still maintaining the optimal location for pivot point 124. It should be noted that these components may be positioned above pivot point 124 and/or center of mass 120 as long as they do not interfere with the rotational motion of the propellers of the plurality of propellers 114A-114D during flight.
  • pivot point 124 It may be desirable to, when positioning these components above pivot point 124, keep them within, e.g., 5-15 cm of the pivot point 124, such that when the rotation about first gimbal component 138 and second gimbal component 140 discussed above occurs, the electronic components do not interfere with the rotation of plurality of propellers 114A-114D.
  • a virtual pivot point may be generated by utilizing pivot mechanism 128, where pivot mechanism 128 is secured to, for example, the bottom surface of UAV 102 such that the mass of object 104 may pivot about a pivot point 124 proximate to center of mass 120.
  • the pivot mechanism 128 includes at least one component arranged to mechanically rotate or pivot about pivot point 124 in physical proximity to center of mass 120.
  • pivot mechanism 128 may be arranged such that the components that allow for the masses discussed above to pivot or rotate about pivot point 124 may be arranged such that they are not physically in proximity to pivot point 124, but still function to allow, for example, object 104 to pivoting about pivot point 124.
  • FIGS. 10-13 schematically illustrated the use of such a virtual pivot point, i.e., pivot point 124 where the components which allow for rotation are not located physically in proximity to pivot point 124.
  • system 100 includes pivot mechanism 128 arranged to allow, for example, object 104 to pivot about pivot point 124.
  • pivot mechanism may utilize a four-bar linkage system 146.
  • Four bar-linkage system 146 may include a first rocker portion 148, a second rocker portion 150, first wing component 152, and a second wing component 154.
  • First rocker portion 148 includes a first horizontal rocker component 156, a second horizontal rocker component 158, a first vertical link 160 and a second vertical link 162.
  • Second rocker portion 150 includes a third horizontal rocker component 164 a third vertical link 166, and a fourth vertical link 168.
  • First horizontal rocker component 156 is pivotably secured to a first end of first vertical link 160 and a first end of second vertical link 162, and second horizontal rocker component 158 is pivotably secured to a second end of first vertical link 160 and a second end of second vertical link 160, substantially forming first rocker portion 148.
  • a first end of first wing component 152 is pivotably secured to second horizontal rocker component 158 and a second end of first wing component 152 is pivotably secured to a first end of third vertical link 166.
  • a first end of second wing component 154 is pivotably secured to second horizontal rocker component 158 and a second end of second wing component 154 is pivotably secured to a first end of fourth vertical link 168.
  • a second end of third vertical link 166 is pivotably secured to third horizontal rocker component 164 and a second end of fourth vertical link 168 is pivotably secured to third horizontal rocker component 164, substantially forming second rocker portion 150.
  • the configuration recited above and illustrated in FIG. 10 is arranged such that movement of first rocker portion 148 along second axis A2 substantially represents a four-bar linkage type connection enabling rotation about pivot point 124; and, second rocker portion 150, along with first wing component 152 and second wing component 154, are arranged such that movement of the second rocker portion 150 along third axis A3 substantially represents a four-bar linkage type connection enabling rotation about pivot point 124.
  • FIGS. 11 and 12 are illustrated in FIGS. 11 and 12, respectively. It should be appreciated that motions are possible which combine motion along the second axis A2 and motion along the third axis A3 such that rotation about pivot point 124 may be achieved with respect to any axis.
  • first rocker portion 148 As illustrated in FIG. 11, movement and/or pivoting of the components of first rocker portion 148 along second axis A2 generate a rotation about pivot point 124.
  • the solid line in the shape of an inverted“T” represents pivot mechanism 128 in a stable or rest state.
  • pivoting of the components of first rocker portion 148 along second axis A2 generates a relative rotation about pivot point 124 in a plane parallel to second axis A2.
  • movement and/or pivoting of the components of second rocker portion 150, along with movement and/or pivoting of first wing component 152 and second wing component 154, along third axis A3 generate a rotation about pivot point 124.
  • the solid line in the shape of an inverted“T” represents pivot mechanism 128 in a stable or rest state.
  • pivoting of the components of second rocker portion 150 along third axis A3 generates a relative rotation about pivot point 124 in a plane parallel to third axis A3.
  • any combination of movements or pivoting within a plane substantially parallel to first axis A1 can be realized by a combination of the movements illustrated in FIG. 11-12.
  • One advantage of utilizing a four-bar linkage system 146 as described and illustrated with respect to FIGS. 10-12, is that the system can be designed such that the axes of rotation approximately coincide with the axes of lowest rotational inertia of the UAV 102, whilst being fixedly secure to the body of UAV 102.
  • any of the foregoing examples may utilize some form of passive or active damping between the body 108 of UAV 102 and the object 104 such that the amount of stabilization of the object/payload 104 may be controlled.
  • body 108 of UAV 102 may include a semicircular channel, i.e., channel 170.
  • channel 170 may be semi-circular, semi-elliptical, or curved such that the radius of curvature of channel 170 is measured between the channel 170 and the pivot point 124.
  • pivot mechanism may include a first roller 172, a second roller 174, and a first connector component 176.
  • First roller 172 and second roller 174 are arranged to slidingly or rotationally engage with channel 170.
  • First connector component 176 is intended to be a rod or other rigid member arranged between first roller 172 and second roller 174 such that a fixed distance can be maintained between first roller 172 and second roller 174.
  • connector arm 106 (shown in FIG. 4) may be fixedly secured to first connector component 176 and arranged to hang below, i.e., in second direction DR2 from body 108, or may extend above, i.e., in first direction DR1, body 108 and may be arranged to engage with object 104 or any of the electronic components of the body 108 as discussed above.
  • First roller 172, second roller 174, and first connector component 176 are arranged to move as a single unit and create a rotation around pivot point 124.
  • the solid line in the shape of an inverted“T” represents pivot mechanism 128 in a stable or rest state.
  • sliding translation of first roller 172 and second roller 174 within channel 170 generates a relative rotation about pivot point 124 in a plane parallel to first axis Al.
  • first roller 172, second roller 174 and first connector component 176 can occur along the second axis A2, the third axis A3, or a combination of second axis A2 and the third axis A3.
  • body 108 of UAV 102 may further include a sensor or plurality of sensors arranged to detect, measure and send data relating to the rotational misalignment of body 108 with respect to the ground beneath system 100.
  • the sensor can be located on, for example, connector arm 106 such that the sensor always is always oriented in second direction DR2, i.e., always facing the ground beneath system 100.
  • system 100 may utilize a camera connected to the other electronic components, where the camera is atached to connector rod 106 or one of the pivotable components described above that can maintain vertical orientation 126 such that the camera may capture and utilize images during operation of system 100 and camera 100 maintains a constant orientation, i.e., vertical orientation 126.
  • FIG. 14 is a flow chart illustrated the steps of method 200 as disclosed herein.
  • Method 200 may include, for example: determining a first center of mass 120 of a body 108 of an unmanned aerial vehicle (UAV) 102, the body 108 including a plurality of propellers 114A-114D arranged to generate a lift force 116 in a first direction DR1 (step 202); securing a pivot mechanism 128 to the body 108 of the UAV 102 (step 204); and, securing an object 104 to the pivot mechanism 128 such that the pivot mechanism 128 is arranged to allow the object 104 to pivot about a pivot point 124, the pivot point 124 arranged at or in proximity to the first center of mass 120 (step 206).
  • UAV unmanned aerial vehicle
  • “or” should be understood to have the same meaning as“and/or” as defined above.
  • “or” or“and/or” shall be interpreted as being inclusive, i.e., the inclusion of at least one, but also including more than one, of a number or list of elements, and, optionally, additional unlisted items. Only terms clearly indicated to the contrary, such as“only one of’ or“exactly one of,” or, when used in the claims,“consisting of,” will refer to the inclusion of exactly one element of a number or list of elements.
  • the phrase“at least one,” in reference to a list of one or more elements, should be understood to mean at least one element selected from any one or more of the elements in the list of elements, but not necessarily including at least one of each and every element specifically listed within the list of elements and not excluding any combinations of elements in the list of elements.
  • This definition also allows that elements may optionally be present other than the elements specifically identified within the list of elements to which the phrase“at least one” refers, whether related or unrelated to those elements specifically identified.
  • transitional phrases such as“comprising,”“including,”“carrying,”“having,”“containing,”“involving,”“holding,” “composed of,” and the like are to be understood to be open-ended, i.e., to mean including but not limited to. Only the transitional phrases“consisting of’ and“consisting essentially of’ shall be closed or semi-closed transitional phrases, respectively.
  • inventive embodiments are presented by way of example only and that, within the scope of the appended claims and equivalents thereto, inventive embodiments may be practiced otherwise than as specifically described and claimed.
  • inventive embodiments of the present disclosure are directed to each individual feature, system, article, material, kit, and/or method described herein.

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Abstract

La présente invention concerne un système de levage d'un objet comprenant un véhicule comprenant : un corps, le corps présentant un premier centre de masse, une pluralité d'hélices fixées rotatives au corps du véhicule et agencées pour générer une force de levage dans une première direction ; et un mécanisme de pivotement raccordé au corps et à l'objet, le mécanisme de pivotement étant conçu pour permettre à l'objet de pivoter autour d'un point de pivotement optimal déterminé, le point de pivotement étant agencé au niveau ou à proximité du premier centre de masse du corps du véhicule, le corps comprenant une pluralité de moteurs, chaque moteur de la pluralité de moteurs entraînant une hélice respective de la pluralité d'hélices, et le point de pivotement optimal étant déterminé par factorisation de la masse de chaque composant solidaire du corps du véhicule, chaque composant comprenant chacune de la pluralité d'hélices et les moteurs individuels qui entraînent chaque hélice.
PCT/EP2020/070088 2019-07-25 2020-07-16 Système et procédé de levage d'un objet WO2021013672A1 (fr)

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EP19188236.4 2019-07-25

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3948467A (en) * 1974-01-19 1976-04-06 Dornier Gmbh Device for position stabilization
WO2017183637A1 (fr) * 2016-04-19 2017-10-26 インダストリーネットワーク株式会社 Aéronef drone
WO2018066043A1 (fr) * 2016-10-03 2018-04-12 株式会社Ａｅｒｏｎｅｘｔ Aéronef de livraison à voilure tournante
US20180141647A1 (en) * 2015-05-19 2018-05-24 Aeronext Inc. Rotary-wing aircraft
EP3505445A1 (fr) * 2017-12-28 2019-07-03 Aurora Flight Sciences Corporation Système de manipulation et procédé pour aéronef

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3948467A (en) * 1974-01-19 1976-04-06 Dornier Gmbh Device for position stabilization
US20180141647A1 (en) * 2015-05-19 2018-05-24 Aeronext Inc. Rotary-wing aircraft
WO2017183637A1 (fr) * 2016-04-19 2017-10-26 インダストリーネットワーク株式会社 Aéronef drone
WO2018066043A1 (fr) * 2016-10-03 2018-04-12 株式会社Ａｅｒｏｎｅｘｔ Aéronef de livraison à voilure tournante
EP3505445A1 (fr) * 2017-12-28 2019-07-03 Aurora Flight Sciences Corporation Système de manipulation et procédé pour aéronef

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