IPC분류정보
국가/구분 |
United States(US) Patent
등록
|
국제특허분류(IPC7판) |
|
출원번호 |
US-0899363
(2013-05-21)
|
등록번호 |
US-9327816
(2016-05-03)
|
발명자
/ 주소 |
- Mathe, Johan
- Boyce, Jr., C. O. Lee
- Bonawitz, Keith Allen
|
출원인 / 주소 |
|
대리인 / 주소 |
McDonnell Boehnen Hulbert & Berghoff LLP
|
인용정보 |
피인용 횟수 :
5 인용 특허 :
7 |
초록
▼
This disclosure relates to the use of an optimal altitude controller for super pressure aerostatic balloon in connection with a balloon network. The aerostatic balloon includes a bladder containing a gas that is lighter than the air present in the environment of the balloon. Additionally, the aerost
This disclosure relates to the use of an optimal altitude controller for super pressure aerostatic balloon in connection with a balloon network. The aerostatic balloon includes a bladder containing a gas that is lighter than the air present in the environment of the balloon. Additionally, the aerostatic balloon includes an envelope filled with air. A mass-changing unit configured to selectively add or remove air may control the amount of air in the envelope. Further, the balloon has a communication module configured to transmit data relating to a current balloon state, and receives data relating to a desired balloon state. Additionally, the balloon includes a processor configured to control the mass-changing unit based on the desired balloon state. The mass-changing unit of the aerostatic balloon may be powered by a renewable energy source, such as solar power. The mass-changing unit adds or removes air with an impeller.
대표청구항
▼
1. A method for adjusting a variable-buoyancy vehicle state comprising: determining a target variable-buoyancy vehicle state for a variable-buoyancy vehicle in flight, wherein the target variable-buoyancy vehicle state includes at least one of a target mass, a target altitude and a target velocity;d
1. A method for adjusting a variable-buoyancy vehicle state comprising: determining a target variable-buoyancy vehicle state for a variable-buoyancy vehicle in flight, wherein the target variable-buoyancy vehicle state includes at least one of a target mass, a target altitude and a target velocity;determining a current variable-buoyancy vehicle state for the variable-buoyancy vehicle, wherein the current variable-buoyancy vehicle state includes a current mass, a current altitude and a current velocity;performing a state-change optimization to determine (1) a control policy configured to reduce power usage of the variable-buoyancy vehicle, and (2) a fill-rate control plan based on the control policy to move the variable-buoyancy vehicle from the current variable-buoyancy vehicle state to the target variable-buoyancy vehicle state, wherein the fill-rate control plan comprises a plurality of fill rates for a bladder of the variable-buoyancy vehicle and timing information indicating when each fill rate should be utilized by the variable-buoyancy vehicle; andcommunicating the fill-rate control plan to the variable-buoyancy vehicle. 2. The method of claim 1, wherein the variable-buoyancy vehicle state further includes a global location. 3. The method of claim 1, wherein communicating the fill-rate control plan further comprises communicating instructions for changing the variable-buoyancy vehicle state. 4. The method of claim 3, wherein the instructions for changing the variable-buoyancy vehicle state comprise instructions for operating an impeller. 5. The method of claim 4, wherein the impeller is powered by renewable energy. 6. The method of claim 1, wherein the communicating is performed wirelessly. 7. The method of claim 1, further comprising: determining a revised variable-buoyancy vehicle state for the variable-buoyancy vehicle, wherein the revised variable-buoyancy vehicle state includes a revised mass, a revised altitude and a revised velocity;performing a revised state-change optimization to determine a revised fill-rate control plan to move the variable-buoyancy vehicle from the revised variable-buoyancy vehicle state to the target variable-buoyancy vehicle state, wherein the revised fill-rate control plan comprises a plurality of fill rates for a bladder of the variable-buoyancy vehicle and timing information indicating when each fill rate should be utilized by the variable-buoyancy vehicle; andcommunicating the revised fill-rate control plan to the variable-buoyancy vehicle. 8. The method of claim 1, wherein the state-change optimization is performed based on a calculation including at least one of adding ambient air to or removing ambient air from the variable-buoyancy vehicle, wherein the adding ambient air to or removing ambient air adjusts the mass. 9. An aerostatic balloon comprising: an envelope configured to hold air;a bladder configured to hold lift gas, wherein the bladder is located within the envelope;a control unit configured to add or remove air from the envelope in order to change a mass of air in the envelope; anda processing unit configured to: determine a current balloon state for the balloon in flight, wherein the current balloon state includes a current mass, a current altitude and a current velocity;perform a state-change optimization to determine (1) a control policy configured to reduce power usage of the variable-buoyancy vehicle, and (2) a fill-rate control plan based on the control policy to move the balloon from the current balloon state to a target balloon state, wherein the fill-rate control plan comprises a plurality of fill rates for an envelope of the balloon and timing information indicating when each fill rate should be utilized by the balloon;wherein the control unit is further configured to adjust the mass of air in the envelope based on the fill-rate control plan. 10. The aerostatic balloon of claim 9, further comprising a communication module configured to: transmit data indicative of a current balloon state to the processing unit, wherein the processing unit is located at central control system; andsubsequently receive the fill-rate control plan that indicates at least one intermediate balloon state and a final balloon state. 11. The aerostatic balloon of claim 10, wherein the communication module is further configured to transmit and receive data wirelessly. 12. The aerostatic balloon of claim 10, wherein the communication module is further configured to transmit data relating to a current balloon state at periodic intervals. 13. The aerostatic balloon of claim 9, wherein the control unit is powered by a renewable energy source. 14. The aerostatic balloon of claim 13, wherein the renewable energy source is solar power. 15. The aerostatic balloon of claim 9, wherein the control unit further comprises an impeller configured to change the mass of the aerostatic balloon. 16. The aerostatic balloon of claim 9, wherein each balloon state comprises an altitude, a system mass, and a vertical velocity. 17. The aerostatic balloon of claim 16, wherein the current balloon state further comprises a global location. 18. The aerostatic balloon of claim 9, wherein the processor is further configured to determine both the at least one intermediate balloon state and the final balloon state. 19. The aerostatic balloon of claim 9, wherein the air is ambient air in the balloon environment. 20. The aerostatic balloon of claim 9, wherein the processor is configured to operate the control unit in one of a power-efficient mode, a time-efficient mode, and a damped-controlled mode. 21. An article of manufacture including a non-transitory computer-readable medium having stored thereon program instructions that, if executed by a processor in a balloon-control system, cause the balloon-control system to perform operations comprising: determining a target balloon state for a balloon, wherein the target balloon state includes at least one of a target mass, a target altitude and a target velocity;determining a current balloon state for the balloon in flight, wherein the current balloon state includes a current mass, a current altitude and a current velocity;perform a state-change optimization to determine (1) a control policy configured to reduce power usage of the variable-buoyancy vehicle, and (2) a fill-rate control plan based on the control policy to move the balloon from the current balloon state to the target balloon state, wherein the fill-rate control plan comprises a plurality of fill rates for a bladder of the balloon and timing information indicating when each fill rate should be utilized by the balloon; andcommunicating the fill-rate control plan to the balloon. 22. The article of manufacture of claim 21, wherein the balloon state further includes a global location. 23. The article of manufacture of claim 21, wherein communicating the fill-rate control plan further comprises communicating instructions for changing the balloon state. 24. The article of manufacture of claim 23, wherein the instructions for changing the balloon state comprise instructions for operating an impeller. 25. The article of manufacture of claim 24, wherein the impeller is powered by renewable energy. 26. The article of manufacture of claim 21, wherein the communicating is performed wirelessly.
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