Spooler for unmanned aerial vehicle system
In an aspect, in general, a spooling apparatus includes a filament feeding mechanism for deploying and retracting filament from the spooling apparatus to an aerial vehicle, an exit geometry sensor for sensing an exit geometry of the filament from the spooling apparatus, and a controller for controlling the feeding mechanism to feed and retract the filament based on the exit geometry.
1. A system comprising:
a mobile vehicle; and
a spooling apparatus mounted on the mobile vehicle and comprising:
a filament feeding mechanism for deploying and retracting a filament from the spooling apparatus to an aerial vehicle;
an exit geometry sensor for sensing an exit geometry of the filament from the spooling apparatus; and
a controller configured to control the filament feeding mechanism to feed and retract the filament based on the exit geometry.
2. The system of claim 1 , wherein the controller is configured maintain the exit geometry at a predefined geometry or within a predefined range of geometries when the mobile vehicle moves.
3. The system of claim 2 , wherein the controller is configured to control the filament feeding mechanism to feed and retract the filament based on the exit geometry when the aerial vehicle is controlled to follow movement of the mobile vehicle.
4. The system of claim 1 , wherein the exit geometry sensor comprises:
a tube coaxially surrounding a portion of the filament at a point where the filament exits the spooling apparatus; and
a position sensor coupled to the tube, for measuring an angular position of the tube;
wherein the controller is configured to maintain an exit angle of the filament from the spooling apparatus at a preset value or within a predefined range.
5. The system of claim 1 , wherein the spooling apparatus is configured to draw power from the mobile vehicle.
6. The system of claim 1 , wherein the aerial vehicle is collapsible.
7. The system of claim 1 , wherein the spooling apparatus is configured to receive global positioning system (GPS) coordinates of the aerial vehicle from the aerial vehicle.
8. The system of claim 1 , further comprising the aerial vehicle.
9. The system of claim 8 , wherein the aerial vehicle is unmanned.
10. A spooling apparatus comprising:
a filament feeding mechanism for deploying and retracting a filament from the spooling apparatus to an aerial vehicle;
an exit geometry sensor for sensing an exit geometry of the filament from the spooling apparatus; and
a controller configured to control the filament feeding mechanism to feed and retract the filament based on the exit geometry when the aerial vehicle is controlled to fly at a predefined position relative to the spooling apparatus.
11. The spooling apparatus of claim 10 , wherein the controller is configured to control the filament feeding mechanism to feed and retract the filament based on the exit geometry when the spooling apparatus moves.
12. The spooling apparatus of claim 11 , wherein the controller is configured to maintain an exit angle of the filament from the spooling apparatus at a preset value or within a predefined range when the aerial vehicle is controlled to follow the spooling apparatus as the spooling apparatus moves.
13. The system of claim 11 , wherein the exit geometry sensor comprises:
a tube coaxially surrounding a portion of the filament at a point where the filament exits the spooling apparatus; and
a position sensor coupled to the tube, for measuring an angular position of the tube.
14. A method comprising:
sensing an exit geometry of a filament from a spooling apparatus by an exit geometry sensor; and
deploying and retracting a filament from the spooling apparatus to an aerial vehicle based on the exit geometry under control of a controller, wherein the controller and the spooling apparatus are mounted on a mobile vehicle.
15. The method of claim 14 , wherein the mobile vehicle moves when the filament is deployed and retracted based on the exit geometry.
16. The method of claim 14 , wherein the aerial vehicle is controlled to follow movement of the mobile vehicle.
17. The method of claim 14 , wherein the spooling apparatus draws power from the mobile vehicle.
18. The method of claim 14 , wherein the aerial vehicle is collapsible.
19. The method of claim 14 , further comprising receiving, by the spooling apparatus, global positioning system (GPS) coordinates of the aerial vehicle from the aerial vehicle.
20. The method of claim 14 , wherein the exit geometry sensor comprises:
a tube coaxially surrounding a portion of the filament at a point where the filament exits the spooling apparatus; and
a position sensor coupled to the tube and measuring an angular position of the tube;
wherein the controller is configured to maintain an exit angle of the filament from the spooling apparatus at a preset value or within a predefined range.