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1. 发明授权

US09389132B1 Methods and systems for estimating an orientation of a tethered aerial vehicle relative to wind 有权
公开(公告)号：US09389132B1
公开(公告)日：2016-07-12
申请号：US14141193
申请日：2013-12-26
申请人： Google Inc.
发明人： Kenny Jensen , Damon Vander Lind
IPC分类号： G01L1/22 , G01L5/16
CPC分类号： G01L5/16 , F03D5/00 , F05B2240/917 , F05B2240/921 , G01L1/22 , G01M9/06 , Y02E10/70 , Y02E10/728
摘要： A system may include a tether coupled to a ground station. The system may also include an aerial vehicle coupled to the tether and configured to fly in a given path relative to the ground station based on a length of the tether. The system may also include one or more load cells coupled to the tether and configured to provide information indicative of a tether force between the tether and the aerial vehicle. The one or more load cells may be arranged in a given arrangement indicative of a direction of the tether force. The system may also include a controller configured to determine an angle between a direction of wind incident on the aerial vehicle and a plane defined by a longitudinal axis and a lateral axis of the aerial vehicle based on the tether force.

2. 发明申请

US20160195443A1 Methods and Systems for Estimating an Orientation of a Tethered Aerial Vehicle Relative to Wind 有权
标题翻译：用于估计相对于风力的绑扎航空器的方向的方法和系统
公开(公告)号：US20160195443A1
公开(公告)日：2016-07-07
申请号：US14141193
申请日：2013-12-26
申请人： Google Inc.
发明人： Kenny Jensen , Damon Vander Lind
IPC分类号： G01L5/16
CPC分类号： G01L5/16 , F03D5/00 , F05B2240/917 , F05B2240/921 , G01L1/22 , G01M9/06 , Y02E10/70 , Y02E10/728
摘要： A system may include a tether coupled to a ground station. The system may also include an aerial vehicle coupled to the tether and configured to fly in a given path relative to the ground station based on a length of the tether. The system may also include one or more load cells coupled to the tether and configured to provide information indicative of a tether force between the tether and the aerial vehicle. The one or more load cells may be arranged in a given arrangement indicative of a direction of the tether force. The system may also include a controller configured to determine an angle between a direction of wind incident on the aerial vehicle and a plane defined by a longitudinal axis and a lateral axis of the aerial vehicle based on the tether force.
摘要翻译：系统可以包括耦合到地面站的系绳。系统还可以包括耦合到系绳并被配置为基于系链的长度相对于地面站在给定路径中飞行的飞行器。系统还可以包括耦合到系绳的一个或多个称重传感器，并且被配置为提供指示系绳与空中飞行器之间的系绳力的信息。一个或多个称重传感器可以以指示系绳力的方向的给定布置来布置。系统还可以包括控制器，该控制器被配置为基于系绳力来确定入射在飞行器上的风的方向与由空中飞行器的纵向轴线和横向轴线限定的平面之间的角度。

3. 发明授权

US09214022B1 Enhanced accuracy for tracking tethered airborne vehicles 有权
标题翻译：追踪拴系的机载车辆的精度提高
公开(公告)号：US09214022B1
公开(公告)日：2015-12-15
申请号：US14325187
申请日：2014-07-07
申请人： Google Inc.
发明人： Kurt Hallamask , Brian Hachtmann , Rob Nelson , Corwin Hardham , Kenny Jensen , Elias Wolfgang Patten
IPC分类号： B64F3/00 , B64F3/02 , G06T7/00 , B64F1/02 , B64C39/02
CPC分类号： G06T7/004 , B64C39/022 , B64F1/02 , B64F3/00 , B64F3/02 , G06T7/70
摘要： Wind energy systems, such as an Airborne Wind Turbine (“AWT”), may be used to facilitate conversion of kinetic energy to electrical energy. An AWT may include an aerial vehicle that flies in a path to convert kinetic wind energy to electrical energy. The aerial vehicle may be tethered to a ground station with a tether that terminates at a tether termination mount system. In one aspect, the tether termination mount system may include a tether termination unit configured in one or more gimbals that allow for the tether termination unit to rotate about one or more axes while tracking the aerial vehicle in flight. In a further aspect, the tether termination mount system may include an imaging device configured for imaging the aerial vehicle during flight in order to enhance tracking accuracy over that which is performed by angular motion of the tether termination unit.
摘要翻译：诸如空降风力发电机（“AWT”）等风能系统可用于促进将动能转换为电能。 AWT可以包括在将动能风能转换成电能的路径中飞行的空中飞行器。航空器可以连接到具有终止于系绳终端安装系统的系绳的地面站。在一个方面，系绳终端安装系统可以包括配置在一个或多个万向节中的系绳终端单元，其允许系绳终端单元围绕一个或多个轴线旋转，同时跟踪飞行中的空中飞行器。在另一方面，系绳终端安装系统可以包括被配置为在飞行期间对飞行器进行成像的成像装置，以便提高跟踪系统终端单元的角运动执行的追踪精度。

4. 发明授权

US09329096B1 Methods and systems for estimating an orientation of a tethered aerial vehicle relative to wind 有权
标题翻译：用于估计拴系航空器相对于风的取向的方法和系统
公开(公告)号：US09329096B1
公开(公告)日：2016-05-03
申请号：US14620122
申请日：2015-02-11
申请人： Google Inc.
发明人： Kenny Jensen , Damon Vander Lind
IPC分类号： G01L1/22 , G01L5/16
CPC分类号： G01L5/16 , F03D5/00 , F05B2240/917 , F05B2240/921 , G01L1/22 , G01M9/06 , Y02E10/70 , Y02E10/728
摘要： A system may include a tether coupled to a ground station. The system may also include an aerial vehicle coupled to the tether and configured to fly in a given path relative to the ground station based on a length of the tether. The system may also include one or more load cells coupled to the tether and configured to provide information indicative of a tether force between the tether and the aerial vehicle. The one or more load cells may be arranged in a given arrangement indicative of a direction of the tether force. The system may also include a controller configured to determine an angle between a direction of wind incident on the aerial vehicle and a plane defined by a longitudinal axis and a lateral axis of the aerial vehicle based on the tether force.
摘要翻译：系统可以包括耦合到地面站的系绳。系统还可以包括耦合到系绳并被配置为基于系链的长度相对于地面站在给定路径中飞行的飞行器。系统还可以包括耦合到系绳的一个或多个称重传感器，并且被配置为提供指示系绳与空中飞行器之间的系绳力的信息。一个或多个称重传感器可以以指示系绳力的方向的给定布置来布置。系统还可以包括控制器，该控制器被配置为基于系绳力来确定入射在飞行器上的风的方向与由空中飞行器的纵向轴线和横向轴线限定的平面之间的角度。

5. 发明申请

US20160005159A1 Enhanced Accuracy for Tracking Tethered Airborne Vehicles 有权
标题翻译：跟踪绑定机载车辆的增强精度
公开(公告)号：US20160005159A1
公开(公告)日：2016-01-07
申请号：US14325187
申请日：2014-07-07
申请人： Google Inc.
发明人： Kurt Hallamask , Brian Hachtmann , Rob Nelson , Corwin Hardham , Kenny Jensen , Elias Wolfgang Patten
IPC分类号： G06T7/00 , B64F1/02
CPC分类号： G06T7/004 , B64C39/022 , B64F1/02 , B64F3/00 , B64F3/02 , G06T7/70
摘要： Wind energy systems, such as an Airborne Wind Turbine (“AWT”), may be used to facilitate conversion of kinetic energy to electrical energy. An AWT may include an aerial vehicle that flies in a path to convert kinetic wind energy to electrical energy. The aerial vehicle may be tethered to a ground station with a tether that terminates at a tether termination mount system. In one aspect, the tether termination mount system may include a tether termination unit configured in one or more gimbals that allow for the tether termination unit to rotate about one or more axes while tracking the aerial vehicle in flight. In a further aspect, the tether termination mount system may include an imaging device configured for imaging the aerial vehicle during flight in order to enhance tracking accuracy over that which is performed by angular motion of the tether termination unit.
摘要翻译：诸如空降风力发电机（“AWT”）等风能系统可用于促进将动能转换为电能。 AWT可以包括在将动能风能转换成电能的路径中飞行的空中飞行器。航空器可以连接到具有终止于系绳终端安装系统的系绳的地面站。在一个方面，系绳终端安装系统可以包括配置在一个或多个万向节中的系绳终端单元，其允许系绳终端单元围绕一个或多个轴线旋转，同时跟踪飞行中的空中飞行器。在另一方面，系绳终端安装系统可以包括被配置为在飞行期间对飞行器进行成像的成像装置，以便提高跟踪系统终端单元的角运动执行的追踪精度。

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