| United States Patent Application | 20190161183 | | Kind Code | A1 | | Hagianu; Mihai | May 30, 2019 |
DUAL-KITE AERIAL VEHICLE AbstractSystems
and methods are disclosed for implanting a dual-kite aerial vehicle
including a first kite apparatus, a second kite apparatus, and a tether
extending between the first and second kite apparatuses. In particular,
the disclosed systems include a first kite apparatus including a first
flight controller that maintains flight at a first altitude. The
disclosed system further includes a second kite apparatus including a
second flight controller that maintains flight at a second altitude.
The flight controllers can cooperatively maintain a gradient air
movement between the first and second altitudes by extending or
retracting the tether to modify a difference in the air movements
between the first and second kite apparatuses. The systems described
herein additionally include components for generating electrical energy
from the gradient air movement to extend a flight time of the dual-kite
aerial vehicle.
| Inventors: | Hagianu; Mihai; (Redwood City, CA) |
| Applicant: | | Name | City | State | Country | Type |
|---|
Facebook, Inc. |
Menlo Park |
CA |
US |
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|---|
| Family ID: | 1000003783312 | | Appl. No.: | 16/203397 | | Filed: | November 28, 2018 |
Related U.S. Patent Documents
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| Application Number | Filing Date | Patent Number |
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| 62591571 | Nov 28, 2017 |
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| Current U.S. Class: | 1/1 | | Current CPC Class: | B64C
31/06 20130101; B64C 39/022 20130101; B64C 2201/042 20130101; B64C
2201/107 20130101; B64C 2201/127 20130101; B64C 2201/122 20130101 | | International Class: | B64C 31/06 20060101 B64C031/06; B64C 39/02 20060101 B64C039/02 |
Claims
1.
A dual-kite aerial vehicle, comprising: a first kite apparatus; a
second kite apparatus coupled to the first kite apparatus by a tether
extending between the first kite apparatus and the second kite
apparatus; and a flight control system comprising: a first flight
controller coupled to one or more actuators of the first kite apparatus
to control a flight path of the first kite apparatus; and a second
flight controller coupled to one or more actuators of the second kite
apparatus to control a flight path of the second kite apparatus; and
wherein the flight control system maintains a gradient air movement
between a first air movement at a first altitude of the first kite
apparatus and a second air movement at a second altitude of the second
kite apparatus, wherein the first altitude is higher than the second
altitude. 2.
The dual-kite aerial vehicle of claim 1, wherein the dual-kite aerial
vehicle comprises a single tether extending between the first kite
apparatus and the second kite apparatus. 3.
The dual-kite aerial vehicle of claim 1, further comprising a first
power generator that converts a mechanical force on the tether caused
by the gradient air movement between the first air movement and the
second air movement to electrical energy to power the first flight
controller and the one or more actuators of the first kite
apparatus. 4.
The dual-kite aerial vehicle of claim 3, further comprising a second
power generator that converts the mechanical force on the tether caused
by the gradient air movement between the first air movement and the
second air movement to electrical energy to power the second flight
controller and the one or more actuators of the second kite
apparatus. 5.
The dual-kite aerial vehicle of claim 1, wherein the flight control
system maintains a target gradient air movement by changing a length of
the tether extending between the first kite apparatus and the second
kite apparatus. 6.
The dual-kite aerial vehicle of claim 5, further comprising a winch
coupled to the tether, wherein the flight control system maintains the
target gradient air movement by activating the winch to extend or
retract the length of the tether. 7.
The dual-kite aerial vehicle of claim 6, wherein the flight control
system controls altitudes of both the first kite apparatus and the
second kite apparatus by activating the winch to alternatively extend
and retract the tether to create a flapping motion of a structure of
the first kite apparatus. 8.
The dual-kite aerial vehicle of claim 1, wherein the second kite
apparatus further comprises communication hardware for providing
internet connectivity to a plurality of client devices within a
predefined geographic area. 9.
The dual-kite aerial vehicle of claim 1, wherein the flight control
system maintains the flight path by selectively activating the one or
more actuators of the first kite apparatus and the one or more
actuators of the second kite apparatus to cooperatively control the
flight paths of the first kite controller and the second kite
controller to remain within the predetermined region corresponding to
the predetermined geographic area. 10.
A dual-kite aerial vehicle, comprising: a first kite apparatus
comprising a first wing structure; a second kite apparatus comprising a
second wing structure; a tether extending between the first kite
apparatus and the second kite apparatus configured to extend or retract
to modify a length of the tether; and a flight control system
comprising: a first flight controller coupled to one or more actuators
of the first kite apparatus to control a flight path of the first kite
apparatus; and a second flight controller coupled to one or more
actuators of the second kite apparatus to control a flight path of the
second kite apparatus; and wherein the flight control system maintains
a gradient air movement between a first air movement at a first
altitude of the first kite apparatus and a second air movement at a
second altitude of the second kite apparatus, wherein the first
altitude is higher than the second altitude. 11.
The dual-kite aerial vehicle of claim 10, wherein the dual-kite aerial
vehicle comprises a single tether extending between the first kite
apparatus and the second kite apparatus. 12.
The dual-kite aerial vehicle of claim 10, further comprising: a first
power generator that converts a mechanical force on the tether caused
by the gradient air movement between the first air movement and the
second air movement to electrical energy for powering the first flight
controller and the one or more actuators of the first kite apparatus;
and a second power generator that converts the mechanical force on the
tether caused by the gradient air movement between the first air
movement and the second air movement to electrical energy for powering
the second flight controller and the one or more actuators of the
second kite apparatus. 13.
The dual-kite aerial vehicle of claim 10, wherein: the first flight
controller is enclosed within the first wing structure of the first
kite apparatus; and the second flight controller is enclosed within the
second wing structure of the second kite apparatus. 14.
The dual-kite aerial vehicle of claim 10, further comprising a winch
coupled to the tether, wherein the flight control system maintains a
target gradient air movement by activating the winch to extend or
retract the length of the tether extending between the first kite
apparatus and the second kite apparatus. 15. The dual-kite aerial vehicle of claim 14, wherein the winch is mounted on the second wing structure. 16.
The dual-kite aerial vehicle of claim 10, wherein: the first wing
structure comprises a first airfoil shape designed for a predicted
altitude of the first kite apparatus; and the second wing structure
comprises a second airfoil shape designed for a predicted altitude of
the second kite apparatus lower than the predicted altitude of the
first kite apparatus. 17.
The dual-kite aerial vehicle of claim 10, wherein: the first kite
apparatus comprises one or more solar panels mounted to the first wing
structure for converting solar power to electrical energy to power the
first flight controller and the one or more actuators of the first kite
apparatus; and the second kite apparatus comprises one or more solar
panels mounted to the second wing structure for converting solar power
to electrical energy to power the second flight controller and the one
or more actuators of the second kite apparatus. 18.
A method comprising: determining, by a first flight controller of a
first kite apparatus, a first air movement at a first altitude
corresponding to an altitude of the first kite apparatus; determining,
by a second flight controller of a second kite apparatus, a second air
movement at a second altitude corresponding to an altitude of the
second kite apparatus; determining a gradient air movement based on a
difference between the first air movement and the second air movement;
and modifying the gradient air movement by causing a tether extending
between the first kite apparatus and the second kite apparatus to
extend or retract based on the determined gradient air movement and a
target gradient air movement. 19.
The method of claim 18, wherein modifying the gradient air movement
between the first air movement and the second air movement comprises:
if the determined gradient air movement is greater than the target
gradient air movement, activating a winch on the second kite apparatus
to retract a length the tether; and if the determined gradient air
movement is less than the target gradient air movement, activating the
winch on the second kite apparatus to extend the length of the
tether. 20.
The method of claim 19, further comprising raising altitudes of both
the first kite apparatus and the second kite apparatus by activating
the winch to alternatively extend and retract the length of the tether
extending between the first kite apparatus and the second kite
apparatus to generate a lifting force on both the first kite apparatus
and the second kite apparatus.
Description
CROSS REFERENCE TO RELATED APPLICATIONS [0001]
The present application claims priority from U.S. Provisional
Application No. 62/591,571 filed Nov. 28, 2017. The aforementioned
application is hereby incorporated by reference in its entirety. BACKGROUND [0002]
Aerial vehicles are becoming increasingly common. Indeed, consumers,
governments, and various enterprises have begun to utilize unmanned
aerial vehicles (UAVs) to perform various operations. For example,
developers have recently created high-altitude, long-endurance UAVs to
perform flight missions that last an extended period of time. For
instance, developers have created high-altitude, long-endurance UAVs
that provide improved digital communication capabilities. [0003]
As UAV design moves into this challenging new frontier, shortcomings of
conventional aircraft design have become increasingly apparent. For
example, because UAVs need to periodically refuel, recharge, and/or
receive maintenance in order to operate reliably, maintaining operation
over large areas and over extended periods of time has become expensive
and presents various challenges. For instance, with higher demands on
flight paths and flight times, UAVs have generally increased in size
and cost to satisfy requirements for carrying out flight missions.
Indeed, designing and implementing UAVs capable of carrying more fuel
and/or carrying out longer missions often results in larger, heavier,
and ultimately more expensive UAVs. [0004]
In addition, conventional UAVs often experience poor performance as a
result of unpredictable flight conditions. For instance, unpredictable
weather, varying air speeds, and other environmental conditions can
interfere with flight missions causing the UAV to fail in performing
various tasks or fly off a predetermined path. Further, while UAVs
often include functionality for altering a flight path, doing so often
causes UAVs to consume more fuel/energy, further contributing to higher
costs associated with operating conventional UAVs. [0005] These and other problems exist with regard to conventional UAV design. BRIEF SUMMARY [0006]
One or more embodiments described herein provide benefits and/or solve
one or more of the foregoing and other problems in the art with systems
for providing UAVs for use in various flight conditions. Indeed, one or
more embodiments described include a dual-kite aerial vehicle including
a first kite apparatus and a second kite apparatus. The dual-kite
aerial vehicle includes a tether extending between the first kite
apparatus and the second kite apparatus. For example, while in flight,
the first kite apparatus can maintain flight at a first altitude while
the second kite apparatus maintains flight at a second altitude lower
than the first altitude. In addition, the dual-kite aerial vehicle can
include a flight control system including one or more flight
controllers for controlling a flight path of the respective kite
apparatuses. [0007]
As will be described in further detail below, the dual-kite aerial
vehicle includes kite apparatuses at different altitudes to maintain
flight of the dual-kite aerial vehicle over extended periods of time.
For example, in one or more embodiments, the dual-kite aerial vehicle
includes a first kite apparatus at a first altitude coupled to a second
kite apparatus at a second altitude by a long tether (e.g.,
approximately one kilometer tether). In addition, the dual-kite aerial
vehicle utilizes the difference in air movement (e.g., a gradient air
movement) at the different altitudes to maintain flight of the
dual-kite aerial vehicle over an extended period of time. For example,
by maintaining the first kite apparatus at a first altitude that has
greater air movement than the second kite apparatus at a second (lower)
altitude, the dual-kite aerial vehicle maintains flight for an extended
period of time while consuming less fuel than conventional UAVs,
thereby reducing costs associated with maintaining flight of UAVs for
extended periods of time. [0008]
In addition to utilizing the difference in air movement at the
different altitudes to maintain flight, the dual-kite aerial vehicle
includes components for leveraging environmental forces to power
various components of the dual-kite aerial vehicle, further extending
flight time of the dual-kite aerial vehicle. For example, as will be
described in further detail below, the dual-kite aerial vehicle
includes one or more power generators that converts forces applied to
the tether (e.g., as a result of the gradient air movement) to
electrical energy for powering the respective flight controllers. As
another example, the dual-kite aerial vehicle can include solar panels
on one or both of the kite apparatuses that collect energy for use in
powering various components of the dual-kite aerial vehicle. By
leveraging environmental forces in this way, the dual-kite aerial
vehicle further extends flight time while maintaining control of the
flight path, further reducing cost associated with maintaining flight
of UAVs for extended periods of time. [0009]
The following description sets forth additional features and advantages
of one or more embodiments of the disclosed systems, computer media,
and methods. In some cases, such features and advantages will be
obvious to a skilled artisan from the description or may be learned by
the practice of the disclosed embodiments. BRIEF DESCRIPTION OF THE DRAWINGS [0010] The detailed description refers to the accompanying drawings, in which: [0011]
FIG. 1 illustrates an example environment in which a dual-kite aerial
vehicle operates in accordance with one or more embodiments; [0012] FIG. 2 illustrates an example dual-kite aerial vehicle in accordance with one or more embodiments; [0013] FIG. 3 illustrates another example dual-kite aerial vehicle in accordance with one or more embodiments; [0014] FIG. 4 illustrates yet another example dual-kite aerial vehicle in accordance with one or more embodiments; [0015]
FIG. 5 illustrates a block diagram of an example flight control system
implemented in connection with a dual-kite aerial vehicle in accordance
with one or more embodiments; [0016]
FIG. 6 illustrates a flowchart of a series of acts for implementing a
dual-kite aerial vehicle in accordance with one or more
embodiments; [0017] FIG. 7 illustrates a block diagram of a computing device in accordance with one or more embodiments. DETAILED DESCRIPTION [0018]
One or more embodiments of the present disclosure include a dual-kite
aerial vehicle including multiple kite apparatuses capable of
sustaining flight over an extended period of time while consuming
little or no fuel. In particular, the dual-kite aerial vehicle includes
a first kite apparatus that flies at a first altitude. The dual-kite
aerial vehicle additionally includes a second kite apparatus that flies
at a second (lower) altitude. The first kite apparatus is coupled to
the second kite apparatus via a tether that extends between the kite
apparatuses. In one or more embodiments, each of the kite apparatuses
include respective flight controllers coupled to one or more actuators
of the respective kite apparatuses. As will be described in further
detail below, the flight controllers can cooperatively control a flight
path of the dual-kite aerial vehicle over an extended period of
time. [0019]
To illustrate, as will be described in further detail below, the
dual-kite aerial vehicle includes a first kite apparatus that maintains
flight at a first altitude and a second kite apparatus that maintains
flight at a second altitude (e.g., a lower altitude than the first
altitude). In particular, the dual-kite aerial vehicle includes two
kite apparatuses designed for flight at different altitudes having
different air movements (e.g., air speeds, air masses). The different
air movement between the first and second altitudes applies a larger
force to the first kite apparatus relative to a corresponding force
applied to the second kite apparatus thereby enabling the dual-kite
aerial vehicle to maintain flight as a result of the first kite
apparatus pulling on the tether extending between the kite
apparatuses. [0020]
The dual-kite aerial vehicle further includes a flight control system
for controlling flight of the dual-kite aerial vehicle. In particular,
the dual-kite aerial vehicle includes electrical components (e.g.,
memory, a processor, electrical circuitry) coupled to various actuators
on the kite apparatuses capable of changing direction, altitude, speed,
pitch, angle of attack, or other movement of the kite apparatuses that
enables sustained flight and/or causes the dual-kite aerial vehicle to
follow a predefined path. For example, where the dual-kite aerial
vehicle includes hardware for providing bandwidth to a geographic
region, the flight control system can activate various actuators to
direct one or both of the kite apparatuses along a flight path within
the geographic region. As will be described in further detail below,
the flight control system can include a flight controller for each kite
apparatus connected to actuators for controlling flight of the
individual kite apparatuses. In this way, the flight controllers can
cooperatively control a flight path of the dual-kite aerial
vehicle. [0021]
In addition to generally controlling a path of flight of the dual-kite
aerial vehicle along a predefined path or within a target geographic
region, the flight control system can additionally maintain a gradient
air movement between air movements of the respective altitudes of the
kite apparatuses. For example, in one or more embodiments, the flight
control system causes the dual-kite aerial vehicle to climb or descend
such that the gradient air movement remains at a target difference
between the current altitudes of the kite apparatuses. Alternatively,
in one or more embodiments, the flight control system causes the
dual-kite aerial vehicle to alter a path until a target air motion
gradient is found. [0022]
In one or more embodiments, the flight controller maintains the
gradient air movement by modifying a length of the tether extending
between the kite apparatuses. For example, in one or more embodiments,
the dual-kite aerial vehicle includes a winch capable of extending
and/or retracting the tether. In one or more embodiments, the flight
controller alters the length of the tether to selectively change the
altitude of one or both kite apparatuses until a target gradient air
motion is found. In this way, the dual-kite aerial vehicle maintains
predictable flight conditions that further extend a flight time of the
dual-kite aerial vehicle while further enabling the flight controller
to navigate a path of the dual-kite aerial vehicle within a predefined
geographic region. [0023]
Moreover, in one or more embodiments, the dual-kite aerial vehicle
includes features and functionality for utilizing environmental
conditions to power various components of the dual-kite aerial vehicle,
thereby lengthening an amount of time that the dual-kite aerial vehicle
can remain in flight without docking for maintenance. For example, in
one or more embodiments, the dual-kite aerial vehicle includes one or
more power generators that convert forces applied to the system (e.g.,
the tether) to electrical energy to power the flight controllers and/or
actuators of the kite apparatuses. In addition, in one or more
embodiments, one or both of the kite apparatuses include one or more
solar panels that convert solar energy to electrical energy for
powering the flight controllers and/or actuators of the kite
apparatuses. [0024]
While one or more embodiments described herein include kite apparatuses
including conventional kite structures including a pliable fabric
(e.g., a carbon fiber fabric) that overlays a kite frame, the dual-kite
aerial vehicle can alternatively include kite apparatuses having
different structures. For example, in one or more embodiments, one or
both of the kite apparatuses include a wing structure, drone structure,
UAV, or other non-fabric structures coupled together via a tether
extending between apparatuses at different altitudes. For instance, as
will be described in further detail herein, in one or more embodiments,
the dual-kite aerial vehicles include airfoil-shaped wing structures
coupled together via a tether extending between first and second
altitudes of the corresponding wing structures. Additional detail with
respect to different example embodiments will be provided in further
detail below. [0025]
The dual-kite aerial vehicle described herein provides a variety of
advantages and benefits over conventional high-altitude UAVs. For
example, by implementing light-weight kite and/or wing structures that
maintain flights at different altitudes, the dual-kite aerial vehicle
utilizes forces exerted on the kite apparatuses as a result of
different air movements corresponding to the altitudes of the
respective kite apparatuses. This maintains a constant tension on the
tether extending between the kite apparatuses thereby enabling the
dual-kite aerial vehicle to maintain flight for an extended period
while controlling a flight path of the dual-kite aerial vehicle over a
predefined geographic region. [0026]
In addition, the dual-kite aerial vehicle reduces fuel consumption by
converting various environmental forces to electrical energy to power
components of the dual-kite aerial vehicle. For example, by converting
solar energy and/or forces applied as a result of the gradient air
movement to electrical energy, the dual-kite aerial vehicle can power
various components of the dual-kite aerial vehicle without consuming
fuel. As mentioned above, reducing fuel consumption in this way reduces
an overall weight of the dual-kite aerial vehicle as well as costs
associated with storing and consuming fuel for powering the dual-kite
aerial vehicle, thereby reducing overall cost of operation of the
dual-kite aerial vehicle. [0027]
In addition, by utilizing independent flight controls in addition to a
single tether extending between the kite apparatuses, the dual-kite
aerial vehicle facilitates a more predicable single point of force
between the kite apparatuses at the different altitudes that grants
greater cooperative control over the dual-kite aerial vehicle. Having a
single point of force extending between the kite apparatuses provides
greater control to the respective flight controllers to navigate a
predictable flight path while maintaining a constant gradient air
movement between the different altitudes of the kite apparatuses.
Indeed, by tethering the kite apparatuses using a long, single tether,
the dual-kite aerial vehicle can maintain greater control of the
dual-kite aerial vehicle while taking advantage of significantly
different gradient air movement that would not be possible utilizing
multiple tethers extending between the first and second kite
apparatuses. [0028]
As illustrated by the foregoing discussion, the present disclosure
utilizes a variety of terms to described features and benefits of the
dual-kite aerial vehicle. Additional detail is now provided regarding
the meaning of these terms. [0029]
As used herein, a "kite apparatus" refers to a flight structure at an
end of a tether and forming a part of an unmanned aerial vehicle
capable of maintaining flight over an extended period of time. For
example, a kite structure can be a kite, a wing, or other structure
having various shapes and sizes in accordance with one or more
embodiments described herein. For instance, where a dual-kite aerial
vehicle includes two kite apparatuses coupled together via one or more
tethers tether, a kite apparatus may refer to a structure including a
wing frame, material stretched over at least a portion of the wing
frame, and one or more actuators for modifying an angle, direction, or
other movement of the wing frame. In addition, the kite apparatus can
include a payload including electrical hardware for communicating
signals (e.g., providing internet connectivity), solar panels for
collecting solar energy, one or more turbines or other power generators
for generating electrical energy, other components for carrying out a
flight mission of the dual-kite aerial vehicle. [0030]
As used herein, "air movement" refers to a measurement associated with
air or wind at a corresponding altitude. For example, air movement may
refer to wind speed, wind intensity, air mass, air flow, or other unit
of measurement that applies or otherwise contributes to a force applied
to a surface of the kite apparatus. In one or more embodiments
described herein, a "gradient air movement" refers to a difference in
air movement between two different altitudes. For instance, in one or
more embodiments, a gradient air movement refers to a difference in
wind speed between a first measurement of wind speed at a first
altitude and a second measurement of wind speed at a second
altitude. [0031]
As mentioned above, the dual-kite aerial vehicle includes a flight
control system including one or more flight controllers. As used
herein, a "flight controller" refers to hardware, software, or a
combination of both for controlling a flight path of a corresponding
kite apparatus. For example, in one or more embodiments, a flight
controller includes one or more processors for executing instructions
associated with maintaining flight, controlling altitude, and/or
navigating a flight path over a predefined geographic area. For
instance, in one or more embodiments, a flight controller provides a
control signal to activate one or more actuators of a corresponding
kite apparatus to modify a flight path, change an altitude, or
otherwise control motion of the kite apparatus. The flight controller
can additionally include communication hardware for communicating with
the flight controller of the other kite apparatus to cooperatively
control a flight path of the dual-kite aerial vehicle. Additional
features and functionality of the flight controllers will be provided
in further detail below. [0032]
Additional detail will now be given in relation to illustrative figures
portraying example embodiments. For example, FIG. 1 illustrates an
environment in which a dual-kite aerial vehicle may operate in
accordance with one or more embodiments described herein. For example,
FIG. 1 illustrates an example environment in which one or more
high-altitude dual-kite aerial vehicles provide connectivity (e.g.,
Internet connectivity) to one or more areas. For example, the dual-kite
aerial vehicle may be dispatched to provide connectivity to areas with
no connectivity or limited connectivity (e.g., 2G or less). [0033]
In particular, FIG. 1 illustrates an example environment 100 including
a fleet operation center (FOC) 102 that communicates with a number of
dual-kite aerial vehicles including features and functionality as
described in one or more embodiments herein. By way of example shown in
FIG. 1, the environment 100 includes a dual-kite aerial vehicle 104 in
communication with a gateway 106 and customer premise equipment (CPE)
108. As further shown, the gateway 106 communicates with the FOC 102 by
way of a communication link 110 (e.g., radio frequency (RF) link), data
backhaul link) over which the FOC 102 provides command and control data
and receives data from the dual-kite aerial vehicle 104. While FIG. 1
illustrates an example environment 100 including the FOC 102 and three
dual-kite aerial vehicles, in one or more embodiments, the FOC 102
provides a single FOC to any number of dual-kite aerial vehicles by way
of representative communication channels, gateways, and CPE. [0034]
By way of example, the FOC 102 can make use of various types of
computing devices to receive and/or transmit data to the UAVs by way of
respective gateways. For example, in one or more embodiments, the FOC
102 may make use of one or more server device(s). In addition, in one
or more embodiments, the FOC 102 includes or otherwise implements
various non-mobile or mobile client devices such as desktop computers,
servers, laptops, tablets, etc. [0035]
In addition, as shown in FIG. 1, in one or more embodiments, the FOC
102 communicates with the dual-kite aerial vehicles by way of gateways
via a communication link 110 (e.g., an RF link) between the FOC 102 and
respective gateways. It will be understood that the FOC 102 can
communicate with the gateways and/or dual-kite aerial vehicles by way
of one or multiple networks that make use of one or more communication
platforms or technologies suitable for transmitting data. In one or
more embodiments, the FOC 102 communicates with the gateways via an RF
link. Alternatively, in one or more embodiments, the FOC 102
communicates with the gateways via other types of networks using
various communication technologies and protocols. [0036]
In one or more embodiments, the dual-kite aerial vehicle is launched
from an aircraft at an altitude having a target air movement. Once
launched, the flight controllers of the respective kite apparatuses can
cause the dual-kite aerial vehicle to stabilize at a target altitude.
Once stabilized, the dual-kite aerial vehicle can maintain flight
within a target geographic region and provide Internet backhaul to
ground-based cellular base stations (e.g., CPE). In one or more
embodiments, command, control, and telemetry for the dual-kite aerial
vehicle is accomplished from the FOC 102 through a secure channel over
the Internet backhaul. In one or more embodiments, a secondary link is
provided via a satellite communication system. [0037]
In one or more embodiments, the dual-kite aerial vehicle primarily
performs operations independent from a satellite communication (SATCOM)
datalink. For example, in one or more embodiments, the dual-kite aerial
vehicle utilizes a SATCOM datalink exclusively for command and control
and emergency operations. In one or more embodiments, a radio frequency
datalink is used to provide connectivity between the dual-kite aerial
vehicle and base stations/gateway. In one or more embodiments, a radio
frequency datalink is used to provide connectivity between the
dual-kite aerial vehicle and customer end points. In addition, in one
or more embodiments, the dual-kite aerial vehicle connects to a base
station (e.g., ground entry point/gateway) via an optical link. [0038]
As mentioned above, systems and methods described herein accomplish
many of the above benefits by implementing a dual-kite aerial vehicle
including kite apparatuses connected via a tether extending between a
first kite apparatus at a first altitude and a second kite apparatus at
a second altitude. For example, FIG. 2 illustrates an example dual-kite
aerial vehicle 202 including a first kite apparatus 204 at a first
altitude and a second kite apparatus 206 at a second (lower) altitude.
As shown in FIG. 2, the first kite apparatus 204 maintains flight at a
first altitude having a first air movement 208 while the second kite
apparatus 206 maintains flight at a second altitude having a second air
movement 210. As further shown, the dual-kite aerial vehicle 202
includes a tether 212 extending between the first kite apparatus 204 at
the first altitude and the second kite apparatus 206 at the second
altitude. [0039]
As indicated above, the dual-kite aerial vehicle 202 maintains a
gradient air movement corresponding to a target difference in air
movement between the first air movement 208 and the second air movement
210. In particular, because the first kite apparatus 204 maintains
flight at a higher altitude than the second kite apparatus 206, the
first air movement 208 at the first altitude is generally significantly
higher than the second air movement 210 at the second altitude. As a
result of the gradient air movement, the first kite apparatus 204
causes an upward and lateral force (via the tether 212) to be applied
on the second kite apparatus 206, as shown in FIG. 2. [0040]
As mentioned above and as shown in the example of FIG. 2, the dual-kite
aerial vehicle 202 includes a single tether 212 extending between the
first kite apparatus 204 and the second kite apparatus 206. Indeed, in
contrast to many conventional kite systems that include multiple lines
for controlling a path of a kite, the dual-kite aerial vehicle 202
utilizes a single tether 212 to connect the kite apparatuses 204, 206
while relying primarily on the flight controllers 216, 228 to control a
trajectory of the dual-kite aerial vehicle 202. Accordingly, the tether
212 provides a point of force between the first kite apparatus 204 and
the second kite apparatus 206 that enables the dual-kite aerial vehicle
202 to maintain a constant gradient air movement between the first air
movement 208 and the second air movement 210 corresponding to altitudes
of the respective kite apparatuses 204, 206. [0041]
The tether 212 can be made from a variety of materials. For example, in
one or more embodiments, the tether 212 includes a conductive line
extending between the first kite apparatus 204 and second kite
apparatus 206 that enables flight controllers 216, 228 of the
respective kite apparatuses 204, 206 to communicate. Alternatively, in
one or more embodiments, the tether 212 includes a non-conductive
material that encloses a conductive path (e.g., one or more wires) that
passes between the flight controllers 216, 228 via the tether 212.
Alternatively, as will be described in further detail below, the flight
controllers 216, 228 can communicate wirelessly using one or more
antennas or other wireless communication devices. [0042]
In one or more embodiments, the tether 212 has a significantly longer
length than the dimension of the kite structures and/or lines
connecting the kite structures to corresponding flight controllers. As
an illustrative example, in one or more embodiments, the first kite
structure 214 includes approximately ten square meters of material over
a kite frame and a three-meter line connecting the first kite structure
214 to the first flight controller 216. In contrast, the tether 212 may
include one or more kilometers of line extending between the first and
second kite apparatuses 204, 206. Accordingly, the tether 212 can have
a significantly longer length than dimensions of the kite structure 214
and/or lines (e.g., command lines 219) connecting the kite structure
214 to the flight controller 216 (e.g., by a factor of 10, 100,
1000). [0043]
As shown in FIG. 2, the kite apparatuses 204, 206 includes various
components for accomplishing various features and functionality
described herein. For instance, in the example shown in FIG. 2, the
first kite apparatus 204 includes kite structure 214 including a frame
and material for catching air and providing an upward lifting force on
the first kite apparatus 204. The kite structure 214 can include a
variety of materials including nylon, carbon fiber, or other sturdy and
lightweight material capable of capturing air movement and maintaining
flight over an extended period of time. [0044]
In one or more embodiments, the first kite apparatus 204 includes
sensors 215 for detecting a measurement of the air movement 208. For
example and not by way of limitation, the sensors 215 can include
temperature sensors, barometers, accelerometers (e.g., 3 axis
accelerometers), gyroscopes (e.g., three-axis gyroscopes),
magnetometers (e.g., three-axis magnetometers), GPS, or other types of
sensors capable of detecting and measuring movement of the kite
apparatus 204 and/or detecting and measuring the first air movement 208
corresponding to the first altitude of the first kite apparatus 204 and
coming into contact with the kite structure 214. Further, while FIG. 2
illustrates an example in which the sensors 215 are implemented within
the kite structure 214, in one or more embodiments, some or all of the
sensors 215 described above are included within the flight controller
216 coupled to the kite structure 214. [0045]
As mentioned above, and as further shown in FIG. 2, the first kite
apparatus 204 includes a flight controller 216 including software,
hardware, or a combination of hardware and software for controlling a
flight path of the first kite apparatus 204 and carrying out a flight
mission in accordance with instructions stored on a computer readable
storage medium. Indeed, as will be described in further detail below,
the flight controller 216 can include a processor and electrical
hardware for carrying out various flight instructions and maintaining
flight of the dual-kite aerial vehicle 202 over a geographic region for
a target period of time. In one or more embodiments, the flight
controller 216 includes or otherwise implements one or more types of
computing devices including one or more processors and a non-transitory
computer readable medium for executing instructions. Additional detail
with regard to different types of computing devices that may be
implemented within the flight controller 216 is described in reference
to FIGS. 5-7. [0046]
The flight controller 216 can direct a flight path of the first kite
apparatus 204 in a variety of ways. In particular, as shown in FIG. 2,
the first kite apparatus 204 includes one or more actuators 218 coupled
to the kite structure 214, flight controller 216 and command lines 219.
In one or more embodiments, the flight controller 216 modifies the
flight path by activating one or more of the actuators 218 causing the
first kite apparatus 204 to change directions, speed, pitch, angle of
attack, or other movement that affects a trajectory of the first kite
apparatus 204. [0047]
The actuators 218 can refer to various types of actuators for
controlling a flight path of the first kite apparatus 204. For example,
in one or more embodiments, the actuators 218 refer to mechanical
actuators that control movement of or apply a force to a portion of the
kite structure 214. For instance, the actuators 218 can refer to
mechanical arms, levers, or other components that pull, release, or
otherwise apply a force to command lines 219 attached to the kite
structure 214 and cause the first kite apparatus 204 to change
directions, change a pitch or angle of attack, or modify a trajectory
of the first kite apparatus 204. As used herein, an actuator may refer
to any type of actuator including, by way of example, a hydraulic
actuator, electric actuator, or mechanical actuator. [0048]
As shown in FIG. 2, the first kite apparatus 204 additionally includes
a winch 220 coupled to the flight controller 216 and the tether 212. In
addition to activating the actuators 218 to modify a trajectory of the
first kite apparatus 204, the flight controller 216 can additional
control a winch 220 (or other type of actuator) for controlling an
altitude of the first kite apparatus 204 relative to the second kite
apparatus 206. For example, based on a detected air speed (e.g., as
detected by the sensors 215), the fight controller 216 can cause the
winch 220 to extract or retract the tether 212, thereby causing the
first kite apparatus 204 to raise or lower in altitude relative to the
second kite apparatus 206. [0049]
As further shown in FIG. 2, the first kite apparatus 204 includes a
power generator 222 for converting a force applied by the tether 212 to
electrical power. In one or more embodiments, the power generator 222
includes turbine, a crank, or other type of electric generator capable
of converting mechanical energy into electrical power. Indeed, as the
first air movement 208 causes the first kite apparatus 204 to apply a
mechanical force on the tether 212, the power generator 222 can turn,
move, or other mechanism to generate mechanical energy which the power
generator 222 converts to electrical power.
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