公开(公告)号：EP3348955A1

公开(公告)日：2018-07-18

申请号：EP17183571.3

申请日：2010-09-09

Applicant: AeroVironment, Inc.

Inventor： MIRALLES, Carlos Thomas ,  PLUMB, Nick ,  TAO, Tony Shuo ,  OLSEN, Nathan

IPC: F42B15/01 ,  F41G7/00 ,  F41G9/00 ,  F41G7/22

CPC classification number: B64C13/28 ,  B64C3/44 ,  B64C3/50 ,  B64C3/56 ,  B64C5/12 ,  B64C9/02 ,  B64C9/08 ,  B64C9/18 ,  B64C11/00 ,  B64C13/18 ,  B64C39/024 ,  B64C2009/005 ,  B64C2201/021 ,  B64C2201/08 ,  B64C2201/102 ,  B64C2201/121 ,  B64C2201/14 ,  B64C2201/145 ,  B64C2201/146

Abstract: A system comprising an aerial vehicle or an unmanned aerial vehicle (UAV) (100,400,1000,1500) configured to control pitch, roll, and/or yaw via airfoils (141,142,1345,1346) having resiliently mounted trailing edges opposed by fuselage-house deflecting actuator horns (621,622). Embodiments include one or more rudder elements (1045,1046,1145,1146,1245,1345,1346,1445,1446,1545,1546) which may be rotatably attached and actuated by an effector member (1049,1149,1249,1349) disposed within the fuselage housing (1001) and extendible in part to engage the one or more rudder elements.

公开(公告)号：EP3177527A4

公开(公告)日：2017-11-01

申请号：EP15874386

申请日：2015-03-31

Applicant: SZ DJI TECHNOLOGY CO LTD

Inventor： GONG MING ,  DAI JIN ,  CUI HAO ,  WANG XIAODONG ,  HUANG HAN ,  WU JUN ,  FAN WEI ,  MA NING ,  RONG XINHUA ,  LIN XINGSEN

IPC: B64C39/00 ,  G05D1/10 ,  G06F21/62 ,  G08G5/00 ,  G08G5/04 ,  H04W4/02 ,  H04W12/06

CPC classification number: G08G5/0091 ,  B64C39/024 ,  B64C2201/14 ,  G05D1/101 ,  G06F21/6218 ,  G06F2221/2111 ,  G06F2221/2117 ,  G08G5/0008 ,  G08G5/0013 ,  G08G5/0026 ,  G08G5/0034 ,  G08G5/0039 ,  G08G5/0043 ,  G08G5/0052 ,  G08G5/0056 ,  G08G5/006 ,  G08G5/0069 ,  G08G5/0078 ,  G08G5/0082 ,  G08G5/0086 ,  H04W4/022 ,  H04W12/06

公开(公告)号：EP2763896B1

公开(公告)日：2017-09-20

申请号：EP13795150.5

申请日：2013-11-13

Applicant: SZ DJI Technology Co., Ltd.

Inventor： WANG, Tao ,  ZHAO, Tao ,  CHEN, Shaojie ,  OU, Zhigang

IPC: B64C39/02 ,  G01V3/16

CPC classification number: B64C27/08 ,  A63H27/12 ,  B64C1/30 ,  B64C25/06 ,  B64C25/32 ,  B64C27/00 ,  B64C27/54 ,  B64C39/024 ,  B64C2025/325 ,  B64C2201/024 ,  B64C2201/027 ,  B64C2201/042 ,  B64C2201/108 ,  B64C2201/12 ,  B64C2201/123 ,  B64C2201/127 ,  B64C2201/128 ,  B64C2201/14 ,  B64C2201/141 ,  B64C2201/20 ,  B64D31/14 ,  B64D43/00 ,  G01R33/0047 ,  G01V3/16 ,  G05D1/00 ,  Y10T29/49117

公开(公告)号：EP3062066A1

公开(公告)日：2016-08-31

申请号：EP15156719.5

申请日：2015-02-26

Applicant: Hexagon Technology Center GmbH

Inventor： Metzler, Bernhard ,  Siercks, Knut ,  Van Der Zwan, Elmar Vincent

IPC: G01C15/00 ,  B64C39/02 ,  G05D1/00 ,  G06T17/10

CPC classification number: G06T7/75 ,  B64C39/02 ,  B64C39/024 ,  B64C2201/12 ,  B64C2201/14 ,  G01C15/00 ,  G05D1/00 ,  G05D1/0094 ,  G06T7/593 ,  G06T17/05 ,  G06T2207/10021 ,  G06T2207/10028 ,  G06T2207/10032 ,  G06T2207/30181

Abstract: Method for providing information about an object (5) using an unmanned aerial vehicle with a data acquisition unit, comprising determining positional data with reference to the object (5), the positional data being referenced to a measuring coordinate system, providing a digital template (11) regarding the object (5), the template (11) at least partly representing the object (5) in coarse manner, and referencing the template (11) with the positional data so that the template (11) corresponds as to its spatial parameters to the object in the measuring coordinate system. Moreover, a spatial position of at least one data acquisition point (12) or section is related to the object (5) is derived based on at least the positional data and/or the template (11), the unmanned aerial vehicle is controlled in a manner such that it approaches the at least one data acquisition point (12) or section and object information is acquired as to at least a part of the object (5) according to the at least one data acquisition point (12) or section by triggering the data acquisition unit depending on fulfilling a defined distance criterion, the distance criterion defining a spatial relation between an actual position of the unmanned aerial vehicle and the at least one data acquisition point (12) or section.

Abstract translation: 用于使用具有数据获取单元的无人驾驶飞行器提供关于物体（5）的信息的方法，包括：参考对象（5）确定位置数据，所述位置数据参考测量坐标系，提供数字模板（ 关于对象（5）的模板（11），粗略地至少部分地表示对象（5）的模板（11），并且使用位置数据引用模板（11），使得模板（11）对应于其空间 参数到测量坐标系中的对象。 此外，基于至少位置数据和/或模板（11）导出至少一个数据采集点（12）或部分与物体（5）相关的空间位置，无人驾驶飞行器被控制在 使得其接近所述至少一个数据采集点（12）或部分的方式，并且根据所述至少一个数据采集点（12）或部分按照所述至少一个数据采集点（12）或部分获取对象（5）的至少一部分的对象信息 触发数据采集单元取决于确定的定义的距离标准，所述距离标准定义所述无人驾驶飞行器的实际位置与所述至少一个数据采集点（12）或部分之间的空间关系。

公开(公告)号：EP3039381A2

公开(公告)日：2016-07-06

申请号：EP14843217.2

申请日：2014-08-29

Applicant: Insitu, Inc. (a Subsidiary Of The Boeing Company) ,  University of Washington

Inventor： ARBEIT, Amy C. ,  LUM, Christopher W.

IPC: G01C23/00 ,  G01C21/20 ,  G08G5/00

CPC classification number: G08G5/0069 ,  B64C39/024 ,  B64C2201/127 ,  B64C2201/14 ,  G01C21/20 ,  G01C23/00 ,  G05D1/0094 ,  G05D1/0202 ,  G08G5/0013 ,  G08G5/0021 ,  G08G5/0026 ,  G08G5/0034 ,  G08G5/0039 ,  G08G5/006

Abstract: A method of planning a flight path for a search can include receiving, by a control system, an indication of a search area boundary; receiving, by the control system, an indication of a selected search pattern; determining, by the control system, a flight path based on the search area boundary and the selected search pattern; and transmitting one or more indications of the flight path to an unmanned aerial vehicle.

公开(公告)号：EP2831685A1

公开(公告)日：2015-02-04

申请号：EP13715385.4

申请日：2013-03-27

Applicant: Parrot

Inventor： CALLOU, François ,  FOINET, Gilles

IPC: G05D1/02 ,  G01P5/00

CPC classification number: G05D1/0011 ,  B64C27/08 ,  B64C39/024 ,  B64C2201/024 ,  B64C2201/14 ,  B64C2201/141 ,  B64C2201/146 ,  G05D1/0204

Abstract: The attitude and speed of the drone are controlled by angular commands applied to a control loop (120) for controlling the engines of the drone according to the pitch and roll axes. A dynamic model of the drone, including, in particular, a Kalman predictive filter, represents the horizontal speed components of the drone on the basis of the drone mass and drag coefficients, the Euler angles of the drone relative to an absolute terrestrial reference, and the rotation of same about a vertical axis. The acceleration of the drone along the three axes and the relative speed of same in relation to the ground are measured and applied to the model as to estimate (128) the horizontal speed components of the cross wind. This estimation can be used to generate corrective commands (126) that are combined with the angular commands applied to the control loop of the drone in terms of pitch and roll.

公开(公告)号：EP2787319A1

公开(公告)日：2014-10-08

申请号：EP13162632.7

申请日：2013-04-05

Applicant: Leica Geosystems AG

Inventor： Wagner, Rüdiger J. ,  Naderhirn, Michael

IPC: G01C11/02 ,  B64D47/08 ,  G03B15/00 ,  B64C39/02

CPC classification number: G06T7/0024 ,  B64C39/024 ,  B64C2201/123 ,  B64C2201/127 ,  B64C2201/14 ,  B64D47/08 ,  G01C11/02 ,  G03B15/006 ,  G03B17/38 ,  G03B37/02 ,  G06T7/30 ,  G06T2207/10032 ,  G08G5/003 ,  H04N5/232 ,  H04N5/23222 ,  H04N7/183

Abstract: Verfahren zur Luftbilderfassung mit einem unbemannten und steuerbaren Fluggerät mit Kamera, insbesondere Drohne, während einer Flugbewegung des Fluggeräts mit einem fortlaufenden Bestimmen einer Kameraposition und einer Ausrichtung einer optischen Kameraachse und einem Erfassen einer Luftbildsserie. Für jedes Luftbild (21a-b) der Luftbildserie wird das Erfassen des jeweiligen Luftbilds (21a-b) ausgelöst beim Durchfliegen eines jeweiligen Bildauslösebereichs (33) mit dem Fluggerät, wobei die Lage des jeweiligen Bildauslösebereichs (33) zumindest durch jeweils eine dem jeweiligen Bildauslösebereich (33) zugeordnete Auslöseposition in einem Flugplan bestimmt ist, und ausgelöst in Abhängigkeit von der Ausrichtung der Kameraachse beim Durchfliegen des jeweiligen Bildauslösebereichs (33) hinsichtlich einem Erfüllen einer definierten Maximal-Winkelabweichung bezüglich einer vorbestimmten Raumausrichtung.

Abstract translation: 用于通过无人驾驶的和可控的飞行器的手段空间图像捕获方法包括将所述飞机的飞行操纵期间照相机，更特别的是无人驾驶飞机，包括一个光学相机轴的照相机位置和对准的持续确定性采矿和一系列的获取 航拍图像。 用于所述空间图像系列的每个空间图像，所述respectivement空间图像的捕获是通过与所述飞机respectivement图像触发区域飞行，worin说respectivement图像触发区的位置至少在每种情况下通过一个触发器被确定性开采触发 位置分配给所述respectivement图像触发区域和触发受相机轴线的对准。当通过所述respectivement图像触发区域飞行，对于满足规定的，最大相对于预定空间对准角度偏差。

公开(公告)号：EP2752643A1

公开(公告)日：2014-07-09

申请号：EP11871565.5

申请日：2011-09-15

Applicant: SZ DJI Technology Co., Ltd.

Inventor： WANG, Tao ,  ZHAO, Tao

IPC: G01C21/18

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.

Abstract translation: 本公开涉及一种用于无人飞行器的惯性测量单元，其包括壳体组件，感测组件和减振器。 振动阻尼器包括第一减震垫; 并且感测组件包括用于连接第一电路板和第二电路板的第一电路板，第二电路板和柔性信号线。 惯性传感器固定在第二电路板上，第一电路板固定在壳体组件上。 惯性测量单元还包括一个重量块，并且第二电路板，重量块，第一振动衰减垫和第一电路板依次结合在一起，然后装配到壳体组件中。 在本公开中，包括需要高振动性能的惯性传感器等的部件集成在第二电路板上，并且通过设置第一减振垫，惯性传感器所遭受的振动被衰减到低于30 那些遭受震动衰减垫之前遭受的损失。 这大大降低了无人驾驶飞机的操作振动频率对惯性传感器的影响，提高了惯性传感器的测量稳定性。

公开(公告)号：EP2475575A2

公开(公告)日：2012-07-18

申请号：EP10833732.0

申请日：2010-09-09

Applicant: AeroVironment, Inc.

Inventor： MIRALLES, Carlos, Thomas ,  PLUMB, Nick ,  TAU, Shuo ,  OLSEN, Nathan

IPC: B64C9/34 ,  B64C13/18 ,  B64C3/38 ,  B64C13/28

CPC classification number: B64C13/28 ,  B64C3/44 ,  B64C3/50 ,  B64C3/56 ,  B64C5/12 ,  B64C9/02 ,  B64C9/08 ,  B64C9/18 ,  B64C11/00 ,  B64C13/18 ,  B64C39/024 ,  B64C2009/005 ,  B64C2201/021 ,  B64C2201/08 ,  B64C2201/102 ,  B64C2201/121 ,  B64C2201/14 ,  B64C2201/145 ,  B64C2201/146

Abstract: A system comprising an aerial vehicle or an unmanned aerial vehicle (UAV) (100, 400, 1000, 1500) configured to control pitch, roll, and/or yaw via airfoils (141, 142, 1345, 1346) having resiliently mounted trailing edges opposed by fuselage-house deflecting actuator horns (621, 622). Embodiments include one or more rudder elements (1045, 1046, 1145, 1146, 1245, 1345, 1346, 1445, 1446, 1545, 1546) which may be rotatably attached and actuated by an effector member (1049, 1149, 1249, 1349) disposed within the fuselage housing (1001) and extendible in part to engage the one or more rudder elements.

Abstract translation: 一种包括飞行器或无人驾驶飞行器（UAV）的系统，其被配置为经由具有弹性安装的后缘的机翼来控制俯仰，滚动和/或偏航，所述后翼与机身偏转致动器喇叭相对。 实施例包括一个或多个方向舵元件，其可以由设置在机身壳体内的效应器构件可旋转地附接和致动，并且部分地可部分地接合一个或多个舵元件。

公开(公告)号：EP3386853A1

公开(公告)日：2018-10-17

申请号：EP16872517.4

申请日：2016-12-07

Applicant: Ideaforge Technology Pvt. Ltd.

Inventor： BHAT, Ashish

IPC: B64C27/00 ,  B64C17/00 ,  G05D1/08

CPC classification number: B64C39/024 ,  B64C17/00 ,  B64C27/10 ,  B64C2201/027 ,  B64C2201/108 ,  B64C2201/14

Abstract: The present disclosure provides a multi-rotor Aerial Vehicle comprising at least five arms. Pairs of coaxial contra rotating rotors/propellers are configured on each arm defining a polygon. In the event of failure of any one of the rotors/propellers, a control system incorporating an autopilot, shuts off corresponding contra rotating rotor/propeller of the pair to maintain yaw stability thereby rendering the corresponding arm non-functional; and adjusts throttles of the coaxial contra rotating rotors/propellers of remaining functional arms to maintain tilt and lift stability of the Aerial Vehicle.