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    TRANSFORMABLE AERIAL VEHICLE
    104.
    发明公开
    TRANSFORMABLE AERIAL VEHICLE 审中-公开
    可转换的空中车辆

    公开(公告)号：EP3254964A1

    公开(公告)日：2017-12-13

    申请号：EP17174557.3

    申请日：2013-12-25

    Applicant: SZ DJI Technology Co., Ltd.

    Inventor： Zhao, Tao ,  Du, Hao ,  Wang, Mingxi ,  Wang, Tao

    IPC: B64C39/02 ,  B64C1/00 ,  B64C1/06 ,  B64C25/32 ,  B64C27/02 ,  B64C27/32 ,  B64C27/08 ,  B64D47/00 ,  B64D47/08 ,  A63H27/00 ,  G05D1/04

    CPC classification number: B64C39/024 ,  A63H27/12 ,  B64C1/00 ,  B64C1/061 ,  B64C1/063 ,  B64C25/32 ,  B64C27/08 ,  B64C39/028 ,  B64C2025/325 ,  B64C2201/024 ,  B64C2201/027 ,  B64C2201/042 ,  B64C2201/108 ,  B64C2201/127 ,  B64C2201/14 ,  B64C2201/146 ,  B64C2201/165 ,  B64D47/00 ,  B64D47/08 ,  G05D1/042

    Abstract: Discloses a transformable aerial vehicle (100) and a control method thereof. The transformable aerial vehicle (100) includes: a central body (10) and at least two transformable frame assemblies (20) respectively disposed on the central body (10), each of the least two transformable frame assemblies (20) having a proximal portion pivotally coupled to the central body (10) and a distal portion; an actuation assembly (13, 5) mounted on the central body (10) and configured to pivot the at least two transformable frame assemblies (20) to a plurality of different vertical angles relative to the central body (10); and a plurality of propulsion units (30) mounted on the at least two transformable frame assemblies (20) and operable to move the transformable aerial vehicle (100).

    Abstract translation: 披露了一种可变形的飞行器（100）及其控制方法。 可变形的飞行器（100）包括：中心体（10）和分别设置在中心体（10）上的至少两个可变形的框架组件（20），至少两个可变形的框架组件（20）中的每一个具有近端部分 枢转地联接到所述中心体（10）和远端部分; 致动组件（13,5），所述致动组件安装在所述中央主体（10）上并且构造成使所述至少两个可变形框架组件（20）相对于所述中央主体（10）枢转至多个不同的竖直角度; 以及安装在所述至少两个可变形框架组件（20）上并且可操作以移动所述可变形空中交通工具（100）的多个推进单元（30）。

    UAV CONSTRAINT IN OVERHEAD LINE INSPECTION
    105.
    发明公开
    UAV CONSTRAINT IN OVERHEAD LINE INSPECTION 审中-公开
    无人机 - HEMMUNG BEI FREILEITUNGSINSPEKTIONEN

    公开(公告)号：EP3152630A1

    公开(公告)日：2017-04-12

    申请号：EP15806519.3

    申请日：2015-06-09

    Applicant: Van Cruyningen, Izak ,  Van Wart, Robert

    Inventor： Van Cruyningen, Izak ,  Van Wart, Robert

    IPC: G05D1/02

    CPC classification number: B64C39/024 ,  B64C2201/107 ,  B64C2201/127 ,  B64C2201/14 ,  G01R29/0878 ,  G01R31/085 ,  G01R31/40 ,  G05D1/101 ,  H02G1/02

    Abstract: Figure 1 shows airframe 10 with electromagnetic field sensor 12, adjustable reference electromagnetic field strength 14, comparator 16, parachute 18, parachute trigger 19, and inspection camera 20 inspecting a transmission line corridor containing towers 40, 42, and 44, phase conductors 46, 48, and 50, and shield wires 52 and 54. Reference electromagnetic field strength 14 is adjusted before the flight to set the minimum electromagnetic field strength before parachute trigger 19 deploys parachute 18. The reference electromagnetic field strength 14 corresponds to a radius, and thus virtual tunnel 22, outside of which airframe 10 cannot fly without deploying parachute 18, regardless of the state of the autopilot, GPS signal, or radio link.

    Abstract translation: 图。 图1示出了具有电磁场传感器12，可调参考电磁场强度14，比较器16，降落伞18，降落伞触发器19和检查照相机20的机身10，其检查包含塔40,42和44的传输线走廊，相导体46,48 和50，以及屏蔽线52和54.在飞行之前调整参考电磁场强度14，以在降落伞触发器19部署降落伞18之前设置最小电磁场强度。参考电磁场强度14对应于半径，因此虚拟 无论自动驾驶员，GPS信号或无线电链路的状态如何，机身10外不能飞行而不部署降落伞18的隧道22。

    ASSISTED TAKEOFF
    107.
    发明公开
    ASSISTED TAKEOFF 有权
    辅助起飞

    公开(公告)号：EP2964526A1

    公开(公告)日：2016-01-13

    申请号：EP14887273.2

    申请日：2014-03-27

    Applicant: SZ DJI Technology Co., Ltd.

    Inventor： SHI, Jun ,  PAN, Xu yang

    IPC: B64C39/02 ,  B64C13/20 ,  B64C29/00

    CPC classification number: G05D1/042 ,  B64C27/00 ,  B64C29/00 ,  B64C39/024 ,  B64C2201/024 ,  B64C2201/108 ,  B64C2201/14 ,  B64D31/06 ,  G05B11/42 ,  G05D1/0669

    Abstract: Systems，methods，and devices are provided for assisted takeoff of an aerial vehicle．The aerial vehicle may takeoff using a first control scheme and switch to a second control scheme for normal flight when a takeoff threshold is met．The first control scheme optionally does not use Integral control while the second control scheme may use integral control．The aerial vehicle may determine that a takeoff threshold is met (228,230)，based on an out put to a motor of the aerial vehicle and／or an acceleration of the aerial vehicle.

    Abstract translation: 系统，方法和设备被提供用于辅助起飞航空飞行器。当起飞阈值被满足时，飞行器可以使用第一控制方案起飞并切换到用于正常飞行的第二控制方案。第一控制方案可选地不执行 使用积分控制，而第二控制方案可以使用积分控制。飞行器可以基于对飞行器的发动机的输出和/或飞行器的加速度来确定满足起飞阈值（228,230）。

    INERTIAL MEASUREMENT UNIT OF UNMANNED AIRCRAFT
    108.
    发明公开
    INERTIAL MEASUREMENT UNIT OF UNMANNED AIRCRAFT 审中-公开
    无人机的惯性测量单元

    公开(公告)号：EP2752643A4

    公开(公告)日：2015-04-29

    申请号：EP11871565

    申请日：2011-09-15

    Applicant: SZ DJI TECHNOLOGY CO LTD

    Inventor： WANG TAO ,  ZHAO TAO

    IPC: G01C21/18 ,  G01C19/16 ,  G01C19/5628 ,  G01C19/5663 ,  G01C19/5769 ,  G01C19/5783

    CPC classification number: G01P1/003 ,  B64C2201/14 ,  B64D45/00 ,  F16F7/104 ,  F16F15/00 ,  G01C19/16 ,  G01C19/56 ,  G01C19/5628 ,  G01C19/5663 ,  G01C19/5769 ,  G01C19/5783 ,  G01C21/16 ,  G01C25/00 ,  G01P1/023 ,  G01P15/08 ,  G01P15/0802

    Abstract: The present disclosure relates to an inertia measurement unit for an unmanned aircraft, which comprises a housing assembly, a sensing assembly and a vibration damper. The vibration damper comprises a first vibration-attenuation cushion; and the sensing assembly comprises a first circuit board, a second circuit board and a flexible signal line for connecting the first circuit board and the second circuit board. An inertia sensor is fixed on the second circuit board, and the first circuit board is fixed on the housing assembly. The inertia measurement unit further comprises a weight block, and the second circuit board, the weight block, the first vibration-attenuation cushion and the first circuit board are bonded together in sequence into one piece and then fitted into the housing assembly. In the present disclosure, components including the inertia sensor and so on that require a high vibration performance are integrated on the second circuit board, and by disposing the first vibration-attenuation cushion, vibrations suffered by the inertia sensor are attenuated to below 30% of those suffered before the vibration-attenuation cushion is disposed. This greatly reduces the influence of the operational vibration frequency of the unmanned aircraft on the inertia sensor and improves the measurement stability of the inertia sensor.

    Unmanned air vehicle fault tolerant flight control system and method
    109.
    发明公开
    Unmanned air vehicle fault tolerant flight control system and method 审中-公开
    Unbemanntes Luftfahrzeug mit fehlertolerantem Flugsteuerungssystem und -Verfahren

    公开(公告)号：EP2594484A2

    公开(公告)日：2013-05-22

    申请号：EP12184149.8

    申请日：2012-09-12

    Applicant: Honeywell International Inc.

    Inventor： Hamke, Eric Ehrhardt ,  Trujillo, Matthew ,  Enns, Dale

    IPC: B64C39/02 ,  G05D1/00

    CPC classification number: B64C39/024 ,  B64C2201/108 ,  B64C2201/14 ,  G05D1/0055 ,  G05D1/0858

    Abstract: Methods and apparatus are provided for controlling an unmanned air vehicle (UAV) that includes a plurality of independently controllable control vanes. Control vane position commands are supplied that will move each of the control vanes to a position that will cause the UAV to implement a commanded maneuver. Inoperability of one of the control vanes is sensed, and the position of the inoperable control vane is determined. New control vane position commands are determined, based on the determined position of the inoperable control vane, which will also cause the UAV to implement the commanded maneuver.

    Abstract translation: 提供了用于控制包括多个可独立控制的控制叶片的无人驾驶飞行器（UAV）的方法和装置。 提供控制叶片位置命令，其将每个控制叶片移动到将使UAV执行命令的操纵的位置。 检测到其中一个控制叶片的不能操作，并确定不可操作的控制叶片的位置。 基于不可操作的控制叶片的确定位置确定新的控制叶片位置命令，这也将使无人机实现命令的操纵。

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