公开(公告)号：WO2016116478A1

公开(公告)日：2016-07-28

申请号：PCT/EP2016/051065

申请日：2016-01-20

Applicant: PROX DYNAMICS AS

Inventor： MUREN, Petter ,  MARTON, Trygve Frederik ,  JOHNSRUD, Ivar ,  HAGH SANDBERG, Pål

IPC: B64C27/51 ,  A63H27/00 ,  B64C27/58 ,  B64C27/72

CPC classification number: B64C27/72 ,  A63H27/12 ,  B64C27/51 ,  B64C27/58 ,  B64C2201/024 ,  Y02T50/34

Abstract: The present invention discloses a rotor control system where rapid changes in rotor torque are transferred into moment forces acting about the blade pitch axis of a rotor blade in a thrust-generating rotor, to ultimately control the movements of a rotary wing aircraft. The moment forces acting on the rotor blade are transferred through a carefully adjusted damping member in order to allow rapid changes in rotor torque to create cyclic changes in blade pitch angle, while slow or permanent changes are cancelled out and affects the rotational speed and the thrust generated by the rotor, without permanently affecting the blade pitch angle of individual rotor blades.

Abstract translation: 本发明公开了一种转子控制系统，其中转子转矩的快速变化被转移到在推力产生转子中作用在转子叶片的叶片俯仰轴线上的力矩中，以最终控制旋翼飞机的运动。 作用在转子叶片上的力矩通过仔细调节的阻尼构件传递，以便允许转子扭矩的快速变化，从而产生叶片俯仰角的循环变化，同时缓慢或永久性的变化被抵消并影响转速和推力 由转子产生，而不会永久影响各个转子叶片的叶片桨距角。

公开(公告)号：WO2011078684A3

公开(公告)日：2011-06-30

申请号：PCT/NO2010/000466

申请日：2010-12-15

Applicant: PROX DYNAMICS AS ,  MUREN, Petter

Inventor： MUREN, Petter

IPC: B64C27/605 ,  B64C27/68

Abstract: The present invention provides a rotor assembly for helicopter vehicles for providing an easy way of controlling pitch, roll and lift of the aircraft by respective servo actuators (8a, 8b, 8c). The rotor assembly has a rotor shaft (5a) and at least two rotor blades (la) coupled to a rotor head (2) which in turn is connected to the rotor shaft. The rotor assembly further comprises a non- rotating swash plate (7) through which centre the rotor shaft runs, being adjusted to tilt around its entire radial axis. A respective pitch hinge (2b) for each rotor blade connecting said respective rotor blade to the rotor head is provided, wherein a hinge axis which the pitch hinge rotates around is generally parallel to and is positioned in front of the longitudinal centre axis of the respective rotor blade in the rotational direction. A respective guide member (6) for each rotor blade is connected to an inner blade tip (16). The inner blade tip is positioned in front of the hinge axis in the rotational direction, and the guide member is adjusted to follow an upper surface of the non -rotating swash plate when the rotor assembly rotates. One or more forces, e.g. a magnetic (3,4) and/or an aerodynamic force, are applied on the rotor blades being sufficiently strong to create a valve effect on the pitch hinge pressing the guide members downwards against the non -rotating swash plate, whereby movements of the non-rotating swash plate are transferred to blade pitch movements of the rotor blades.

公开(公告)号：WO2011078684A2

公开(公告)日：2011-06-30

申请号：PCT/NO2010000466

申请日：2010-12-15

Applicant: PROX DYNAMICS AS ,  MUREN PETTER

Inventor： MUREN PETTER

CPC classification number: B64C27/605 ,  B64C27/68

Abstract: The present invention provides a rotor assembly for helicopter vehicles for providing an easy way of controlling pitch, roll and lift of the aircraft by respective servo actuators. The rotor assembly has a rotor shaft and at least two rotor blades coupled to a rotor head which in turn is connected to the rotor shaft. The rotor assembly further comprises a non-rotating swash plate through which centre the rotor shaft runs, being adjusted to tilt around its entire radial axis. A respective pitch hinge for each rotor blade connecting said respective rotor blade to the rotor head is provided, wherein a hinge axis which the pitch hinge rotates around is generally parallel to and is positioned in front of the longitudinal centre axis of the respective rotor blade in the rotational direction. A respective guide member for each rotor blade is connected to an inner blade tip. The inner blade tip is positioned in front of the hinge axis in the rotational direction, and the guide member is adjusted to follow an upper surface of the non-rotating swash plate when the rotor assembly rotates. One or more forces, e.g. a magnetic and/or an aerodynamic force, are applied on the rotor blades being sufficiently strong to create a valve effect on the pitch hinge pressing the guide members downwards against the non-rotating swash plate, whereby movements of the non-rotating swash plate are transferred to blade pitch movements of the rotor blades.

Abstract translation: 本发明提供一种用于直升机车辆的转子组件，用于提供通过相应的伺服致动器控制飞行器的俯仰，滚动和升降的简单方法。 转子组件具有转子轴和耦合到转子头的至少两个转子叶片，转子头部又连接到转子轴。 转子组件还包括非旋转斜盘，转子轴的中心通过该旋转斜盘被调节成围绕其整个径向轴线倾斜。 提供了将各个转子叶片连接到转子头部的每个转子叶片的相应的俯仰铰链，其中，俯仰铰链围绕的铰链轴线大致平行于并位于相应转子叶片的纵向中心轴线的前方 旋转方向。 每个转子叶片的相应引导构件连接到内刀片尖端。 内叶片尖端沿旋转方向位于铰链轴线的前方，并且当转子组件旋转时，引导构件被调节为跟随非旋转斜盘的上表面。 一个或多个力，例如 磁力和/或空气动力被施加到转子叶片上足够强以在俯仰铰链上产生阀效应，将引导构件向下压靠在非旋转斜盘上，由此非旋转斜盘的运动是 转移到转子叶片的桨叶运动。

公开(公告)号：WO2013139509A1

公开(公告)日：2013-09-26

申请号：PCT/EP2013/051485

申请日：2013-01-25

Applicant: PROX DYNAMICS AS

Inventor： PAULSEN, Dag Henning ,  MUREN, Petter

IPC: G05D1/00

CPC classification number: B64C19/00 ,  G05D1/0038

Abstract: The embodiments herein disclose a method and a remote control for controlling and monitoring surrounding areas of an Unmanned Aerial Vehicle (UAV) by an operator with a remote control comprising a flight display. The embodiments disclose combining the image captured by a UAV camera with a transparently overlaid positional and navigation map providing a perceptual view enabling the operator to have a complete overall view of the situation. Observation images overlaid by positional and navigation information in the way described has shown surprising and advantageous effects.

Abstract translation: 本文的实施例公开了一种用于由包括飞行显示器的遥控器的操作者控制和监视无人驾驶飞行器（UAV）的周围区域的方法和遥控器。 这些实施例公开了将由UAV摄像机捕获的图像与透明地重叠的位置和导航地图组合，从而提供感知视图，使得操作者能够对情况进行完整的整体观察。 通过位置和导航信息覆盖的观察图像以所描述的方式显示出令人惊奇和有利的效果。

公开(公告)号：WO2012130790A3

公开(公告)日：2013-01-03

申请号：PCT/EP2012055298

申请日：2012-03-26

Applicant: PROX DYNAMICS AS ,  MUREN PETTER

Inventor： MUREN PETTER

IPC: B64C39/02 ,  A63H27/10

CPC classification number: B64C39/024 ,  A63H27/12 ,  B64C39/028 ,  B64C2201/024 ,  B64C2201/127 ,  B64C2201/201 ,  B64C2201/203 ,  B64C2203/00 ,  B64D47/08

Abstract: The embodiments herein disclose a personal UAV kit for storing, preparing and remote control of micro UAVs (40). The UAV kit includes a base unit (10), a control unit (30) and at least one UAV. The UAVs can typically be a winged aircraft with foldable wings or a helicopter with a two-bladed or foldable rotor. The base unit comprises UAV compartments for housing at least one UAV, bay (14) for storing the control unit, batteries and electronic components for charging, communication, control and processing and storing of data. In addition, the system includes an eye near display device for viewing system information and sensor data, typically live video, transmitted from the UAV.

Abstract translation: 本文的实施方案公开了用于存储，准备和远程控制微型无人机（40）的个人UAV套件。 UAV套件包括基本单元（10），控制单元（30）和至少一个UAV。 无人机通常可以是具有可折叠翼的有翼飞机或具有双叶片或可折叠转子的直升机。 基座单元包括用于容纳至少一个UAV的UAV隔间，用于存储控制单元的舱（14），用于对数据进行充电，通信，控制和处理和存储的电池和电子组件。 此外，该系统包括用于观看系统信息的眼睛附近，以及从UAV发送的通常是实时视频的传感器数据。

公开(公告)号：WO2017125533A1

公开(公告)日：2017-07-27

申请号：PCT/EP2017/051155

申请日：2017-01-20

Applicant: PROX DYNAMICS AS

Inventor： MUREN, Petter ,  MARTON, Trygve Frederik ,  JOHNSRUD, Ivar ,  HAGH SANDBERG, Pål ,  MOENGEN, Christian ,  BJAARSTAD, Jo Eyvin

IPC: B64C27/32 ,  B64C27/48 ,  B64C27/00

CPC classification number: B64C27/48 ,  A63H27/12 ,  B64C27/322 ,  B64C2027/003 ,  B64C2201/024

Abstract: A torque dependent rotor assembly (1) with a spring system (100), the torque dependent rotor assembly (1) being designed to operate in resonance, where changes in applied torque on the rotor controls the blade pitch angle and ultimately the movements of a rotary wing aircraft. The stiffness of an associated spring member (14) is allowed to vary in response to the torque applied from a motor (31) to the rotor assembly (1).

Abstract translation: 具有弹簧系统（100）的扭矩相关转子组件（1），所述扭矩相关转子组件（1）被设计成共振地操作，其中所述转子上施加的扭矩的变化控制所述叶片 俯仰角以及最终旋翼飞机的运动。 允许相关的弹簧构件（14）的刚度响应于从马达（31）施加到转子组件（1）的扭矩而变化。

公开(公告)号：WO2016131847A9

公开(公告)日：2017-03-30

申请号：PCT/EP2016053302

申请日：2016-02-17

Applicant: PROX DYNAMICS AS

Inventor： MELBY JORUNN HELENE ,  SYVERTSEN JØRGEN ,  MUREN PETTER ,  JOHANSEN TOM-IVAR

IPC: G01C11/06 ,  G01C5/00 ,  G06T7/00

CPC classification number: G01C11/06 ,  G01C5/005 ,  G06T7/579 ,  G06T2207/10032

Abstract: The present invention relates to a system and a method for measuring and determining the depth, offset and translation in relation to one or several features in the field of view of an image sensor equipped UAV. The UAV comprises at least an autopilot system capable of estimating rotation and translation, processing means, height measuring means and one or more imaging sensor means. Given the estimated translation provided by the autopilot system, the objective of the present invention is achieved by the following method; capturing an image, initiating a change in altitude, capturing a second image, comparing the images and the change in height provided by the sensor to produce a scale factor or depth. If depth is estimated, then calculating the scale factor from the depth, and calculating the actual translation with the resulting scale factor.

Abstract translation: 本发明涉及一种用于测量和确定与装备图像传感器的UAV的视野中的一个或多个特征相关的深度，偏移和平移的系统和方法。 无人机至少包括能够估计旋转和平移的自动驾驶系统，处理装置，高度测量装置和一个或多个成像传感器装置。 给定由自动驾驶仪系统提供的估计翻译，本发明的目的通过以下方法实现： 拍摄图像，启动高度变化，捕获第二图像，比较图像和由传感器提供的高度变化以产生比例因子或深度。 如果估计深度，则从深度计算比例因子，并用所得比例因子计算实际平移。

公开(公告)号：WO2011058447A2

公开(公告)日：2011-05-19

申请号：PCT/IB2010003176

申请日：2010-11-15

Applicant: PROX DYNAMICS AS ,  MUREN PETTER

Inventor： MUREN PETTER

CPC classification number: B64C27/605 ,  A63H27/12 ,  B64C27/625

Abstract: The present invention provides a rotor assembly for helicopter vehicles for stabilizing the aircraft and thus providing an easy way of controlling pitch and roll of the aircraft by respectively associated magnetic actuators. The rotor assembly comprises a rotor with two flexible rotor blades coupled to a rotor head which in turn is rotationally coupled to the rotor shaft, a rotating swash plate through which centre the rotor shaft runs, with at least three fly bars extending from and being distributed around said centre provided with a weight element on respective outer tips. The swash plate is further being rotationally coupled to and synchronized with the rotor shaft and adjusted to tilt in all directions relative to a plane perpendicular to the rotor shaft, wherein the rotor head is hinged to the rotor shaft in one direction so that the rotor head and the rotor blades jointly are able to tilt around their concurrent longitudinal axis, but not around their traversal axis. The rotating swash plate is also coupled to the rotor head by two tilt links being hinged to both the rotating swash plate and the rotor head, one at each side of the longitudinal axis of the rotor head, providing synchronized tilt movements between the rotor head and the rotating swash plate around the longitudinal axis of the rotor head.

Abstract translation: 本发明提供一种用于直升机车辆的转子组件，用于稳定飞行器，从而提供了一种通过分别相关联的磁致动器来控制飞行器的俯仰和滚动的简单方法。 转子组件包括具有两个柔性转子叶片的转子，该转子叶片连接到转子头部，该转子头部旋转地联接到转子轴上，转动轴的中心位于旋转斜盘上，至少三根从其分布的飞杆 围绕所述中心在相应的外部尖端上设置有重量元件。 旋转斜盘进一步旋转地联接到转子轴并与转子轴同步，并且被调节成相对于垂直于转子轴的平面在所有方向上倾斜，其中转子头在一个方向上铰接到转子轴，使得转子头 并且转子叶片能够共同地围绕其并行纵向轴线倾斜，但不能绕其横向轴线倾斜。 旋转的斜盘还通过两个倾斜连接件联接到转子头部，两个倾斜连杆铰接到转动旋转斜盘和转子头部，转子头部的纵向轴线的每一侧都有一个，提供转子头部和 旋转斜盘围绕转子头的纵向轴线。

公开(公告)号：US08886368B2

公开(公告)日：2014-11-11

申请号：US13749782

申请日：2013-01-25

Applicant: Prox Dynamics AS

Inventor： Petter Muren ,  Dag Henning Paulsen

IPC: B64C19/00 ,  G05D1/00 ,  G06F3/0484

CPC classification number: B64C19/00 ,  G05D1/0016 ,  G05D1/0038 ,  G06F3/04842

Abstract: The present invention discloses a control stick for controlling an UAV formed by a bar with buttons on the bar head and a GUI displaying airplane like icons providing feedback of current steering control status of a UAV.

Abstract translation: 本发明公开了一种控制杆，用于控制由条形杆上的杆形成的UAV，以及显示飞机的GUI，其提供对UAV的当前转向控制状态的反馈的图标。

公开(公告)号：WO2016131847A1

公开(公告)日：2016-08-25

申请号：PCT/EP2016/053302

申请日：2016-02-17

Applicant: PROX DYNAMICS AS

Inventor： MELBY, Jorunn Helene ,  SYVERTSEN, Jørgen ,  MUREN, Petter ,  JOHANSEN, Tom-Ivar

IPC: G01C11/06 ,  G06T7/00 ,  G01C5/00

CPC classification number: G01C11/06 ,  B64C39/024 ,  B64C2201/141 ,  G01C5/005 ,  G01S11/12 ,  G05D1/042 ,  G05D1/046 ,  G06T7/579 ,  G06T7/70 ,  G06T2207/10032 ,  H04N5/2253

Abstract: The present invention relates to a system and a method for measuring and determining the depth, offset and translation in relation to one or several features in the field of view of an image sensor equipped UAV. The UAV comprises at least an autopilot system capable of estimating rotation and translation, processing means, height measuring means and one or more imaging sensor means. Given the estimated translation provided by the autopilot system, the objective of the present invention is achieved by the following method; capturing an image, initiating a change in altitude, capturing a second image, comparing the images and the change in height provided by the sensor to produce a scale factor or depth. If depth is estimated, then calculating the scale factor from the depth, and calculating the actual translation with the resulting scale factor.

Abstract translation: 本发明涉及一种用于测量和确定与装备图像传感器的UAV的视野中的一个或多个特征相关的深度，偏移和平移的系统和方法。 无人机至少包括能够估计旋转和平移的自动驾驶系统，处理装置，高度测量装置和一个或多个成像传感器装置。 给定由自动驾驶仪系统提供的估计翻译，本发明的目的通过以下方法实现： 拍摄图像，启动高度变化，捕获第二图像，比较图像和由传感器提供的高度变化以产生比例因子或深度。 如果估计深度，则从深度计算比例因子，并用所得比例因子计算实际平移。