# US 9,753,355 B2 · Flying camera with string assembly for localization and interaction

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- Number: US 9,753,355 B2
- Document ID: US9753355B2
- Status: Granted
- Kind: B2
- Application number: 14/421,747
- Filed: 2013-08-16
- Published: 2015-07-30
- Granted: 2017-09-05
- Earliest claimed: 2012-08-17
- Assignees: Perspective Robotics AG
- Applicants: Perspective Robotics AG
- Inventors: Markus Waibel; Sergei Lupashin; Markus Hehn; Raffaello D'Andrea
- Web page: https://patentgrep.com/patent/US9753355B2

## CPC

- G03B 15/006: {Apparatus mounted on flying objects}
- G05D 1/0011: {associated with a remote control arrangement}
- G05D 1/005: {by providing the operator with signals other than visual, e.g. acoustic, haptic}
- G05D 1/0094: {involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target}
- G05D 1/0866: {specially adapted to captive aircraft}
- G05D 1/101: {specially adapted for aircraft}
- H04N 23/50: Constructional details
- H04N 23/51: Housings
- H04N 23/54: Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils
- H04N 23/555: {for picking-up images in sites, inaccessible due to their dimensions or hazardous conditions, e.g. endoscopes or borescopes}
- G03B: APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR (optical parts of such apparatus G02B; photosensitive materials or processes for photographic purposes G03C; apparatus for processing exposed photographic materials G03D)
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION

## Abstract

According to a first aspect of the present invention there is provided an arrangement comprising, a volitant body comprising at least one actuator; a control unit for controlling said actuator; and a mechanical arrangement for operationally connecting said volitant body to a reference point remote from said volitant body. There is further provided a corresponding method for operating such an arrangement.

## Claims

### Claim 1

An arrangement comprising:
a volitant body comprising at least one actuator;
a mechanical arrangement, said mechanical arrangement comprising a tether for mechanically and operationally connecting said volitant body to a reference point remote from said volitant body; and
one or more physical processors configured to:
control said actuator;
determine a tension in said tether using an acceleration of said volitant body; and
determine an angle between said volitant body and said reference point and an attitude of said volitant body using said tension in said tether and said acceleration of said volitant body.

### Claim 2 (depends on 1)

The arrangement of claim 1, wherein said mechanical arrangement is operationally connected to said one or more physical processors.

### Claim 3 (depends on 1)

The arrangement of claim 1, wherein said one or more physical processors are further configured to:
obtain information representative of at least one of (a) said attitude or (b) a position of said volitant body relative to said reference point; and
control said at least one actuator based on said information.

### Claim 4 (depends on 3)

The arrangement of claim 3, wherein said one or more physical processors are further configured to:
obtain information representative of mechanical forces applied to said mechanical arrangement; and
evaluate said information representative of mechanical forces to determine said information representative of at least one of (a) said attitude or (b) said position of said volitant body relative to said reference point.

### Claim 5 (depends on 4)

The arrangement of claim 4, wherein said one or more physical processors are mechanically connected to said volitant body.

### Claim 6 (depends on 4)

The arrangement of claim 4, further comprising:
a force sensor, said force sensor being configured to generate measurements for determining said mechanical forces, said force sensor being operationally connected to said one or more physical processors.

### Claim 7 (depends on 4)

The arrangement of claim 4, further comprising:
a sensor, said sensor being configure to generate measurements representative of at least one of said acceleration, said attitude, or a rotational rate of said volitant body, said sensor being operationally connected to said one or more physical processors.

### Claim 8 (depends on 4)

An arrangement of claim 4, further comprising:
a sensor, said sensor being configure to generate measurements representative of said position of said volitant body relative to said reference point, said sensor being operationally connected to said one or more physical processors.

### Claim 9 (depends on 3)

The arrangement of claim 3, further comprising:
a memory operationally connected to said one or more physical processors, said memory storing first information related to properties of said mechanical arrangement and second information related to properties of said volitant body; and
wherein said one or more physical processors are further configured to:
carrying out an evaluation using at least one of said first information or said second information; and
provide said information representative of at least one of (a) said attitude or (b) said position of said volitant body relative to said reference point.

### Claim 10 (depends on 1)

The arrangement of claim 1, further comprising:
one or both of an active safety means or a passive safety means.

### Claim 11

A method for operating an arrangement comprising a volitant body comprising at least one actuator, a mechanical arrangement comprising a tether for mechanically and operationally connecting said volitant body to a reference point remote from said volitant body, and one or more physical processors, said method comprising:
controlling said at least one actuator to make said volitant body fly remote from said reference point;
determining a tension in said tether using an acceleration of said volitant body; and
determining an angle between said volitant body and said reference point and an attitude of said volitant body using said tension in said tether and said acceleration of said volitant body.

### Claim 12 (depends on 11)

The method of claim 11, further comprising:
obtaining information representative of at least one of (a) said attitude or (b) a position of said volitant body relative to said reference point; and
controlling said at least one actuator based on said information.

### Claim 13 (depends on 12)

The method of claim 12, further comprising:
sensing mechanical forces applied to said mechanical arrangement;
determining information representative of said mechanical forces applied to said mechanical arrangement; and
determining said information representative of at least one of (a) said attitude or (b) said position of said volitant body relative to said reference point using said information representative of said mechanical forces.

### Claim 14 (depends on 12)

The method of claim 12, further comprising:
storing first information related to properties of said mechanical arrangement;
storing second information related to properties of said volitant body; and
performing an evaluation using at least one of said first information or said second information to determine said information representative of at least one of (a) said attitude or (b) said position of said volitant body relative to said reference point.

### Claim 15 (depends on 11)

The method of claim 11, further comprising:
sensing mechanical forces applied to said mechanical arrangement; and
evaluating said sensed mechanical forces to provide evaluation results; and
wherein said controlling said at least one actuator is carried out based on said evaluation results.

### Claim 16 (depends on 15)

The method of claim 15, wherein at least one of said evaluating or said controlling is based on a user interacting with said mechanical arrangement.

### Claim 17 (depends on 15)

The method of claim 15, wherein said sensing mechanical forces comprises sensing at least one of direction, magnitude, or time sequence of said mechanical forces.

### Claim 18 (depends on 15)

The method of claim 15, wherein said controlling said at least one actuator includes at least one of executing emergent maneuvers, executing active maneuvers, detecting continuous user input, or detecting parallel user input.

### Claim 19 (depends on 11)

The method of claim 11, further comprising:
communicating with said reference point by applying one or more forces to said mechanical arrangement, wherein said at least one actuator is controlled so that said volitant body applies said one or more forces to said mechanical arrangement.

### Claim 20 (depends on 11)

The method of claim 11, further comprising:
receiving information relating to at least one of direction, magnitude, or time sequence of forces applied to said mechanical arrangement; and
controlling said volitant body so that said volitant body performs a predefined maneuver, wherein said predefined maneuver is associated with said information relating to at least one of direction, magnitude, or time sequence of forces.

### Claim 21 (depends on 11)

The method of claim 11, further comprising:
using said mechanical arrangement to generate a communication channel between said volitant body and a user, wherein mechanical forces are applied to said mechanical arrangement across said communication channel.

### Claim 22 (depends on 11)

The method of claim 11, wherein said volitant body further comprises a camera, and the method further comprises capturing aerial images using said camera.