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    CONTROLLED FLIGHT OF A MULTICOPTER EXPERIENCING A FAILURE AFFECTING AN EFFECTOR
    211.
    发明申请
    CONTROLLED FLIGHT OF A MULTICOPTER EXPERIENCING A FAILURE AFFECTING AN EFFECTOR 有权
    经营影响影响的故障的多功能人员的控制飞行

    公开(公告)号：US20160107751A1

    公开(公告)日：2016-04-21

    申请号：US14893874

    申请日：2014-06-05

    Applicant: ETH ZURICH

    Inventor： Raffaello D'ANDREA ,  Sergei LUPASHIN ,  Mark W. MUELLER ,  Markus WAIBEL

    IPC: B64C39/02 ,  B64D45/00 ,  B64C27/08

    CPC classification number: B64C13/24 ,  B64C27/08 ,  B64C27/20 ,  B64C27/32 ,  B64C39/024 ,  B64C2201/024 ,  B64C2201/027 ,  B64C2201/108 ,  B64C2201/127 ,  B64C2201/141 ,  B64C2201/146 ,  B64C2203/00 ,  B64D45/00 ,  G05D1/0072

    Abstract: According to a first aspect of the invention, there is provided a method for operating a multicopter experiencing a failure during flight, the multicopter comprising a body, and at least four effectors attached to the body, each operable to produce both a torque and a thrust force which can cause the multicopter to fly when not experiencing said failure. The method may comprise the step of identifying a failure wherein the failure affects the torque and/or thrust force produced by an effector, and in response to identifying a failure carrying out the following steps, (1) computing an estimate of the orientation of a primary axis of said body with respect to a predefined reference frame, wherein said primary axis is an axis about which said multicopter rotates when flying, (2) computing an estimate of the angular velocity of said multicopter, (3) controlling one or more of said at least four effectors based on said estimate of the orientation of the primary axis of said body with respect to said predefined reference frame and said estimate of the angular velocity of the multicopter. The step of controlling one or more of said at least four effectors may be performed such that (a) said one or more effectors collectively produce a torque along said primary axis and a torque perpendicular to said primary axis, wherein (i) the torque along said primary axis causes said multicopter to rotate about said primary axis, and (ii) the torque perpendicular to said primary axis causes said multicopter to move such that the orientation of said primary axis converges to a target orientation with respect to said predefined reference frame, and (b) such that said one or more effectors individually produce a thrust force along said primary axis.

    Abstract translation: 根据本发明的第一方面，提供了一种用于操作在飞行期间经历故障的多机器的方法，所述多机器包括主体，以及附接到所述主体的至少四个执行器，每个可操作以产生扭矩和推力 在不经历所述故障时可能导致多机器飞行的力。 该方法可以包括识别故障的步骤，其中故障影响由效应器产生的扭矩和/或推力，并且响应于识别执行以下步骤的故障，（1）计算一个 所述主体相对于预定义的参考框架的主轴线，其中所述主轴线是所述多机器在飞行时旋转的轴线，（2）计算所述多机器的角速度的估计，（3）控制一个或多个 基于所述身体的主轴的方向相对于所述预定参考框架的所述估计和所述多机器的角速度的估计，至少四个效应器。 可以执行控制所述至少四个效应器中的一个或多个的步骤，使得（a）所述一个或多个效应器共同地沿着所述主轴产生扭矩和垂直于所述主轴的扭矩，其中（i）沿着 所述主轴使所述多机器人围绕所述主轴线旋转，并且（ii）垂直于所述主轴线的转矩使得所述多机器人移动，使得所述主轴线的方向相对于所述预定参考系收敛到目标方位， 和（b）使得所述一个或多个效应器单独地沿着所述主轴产生推力。

    CONTACT CENTER DELIVERY IN-BUILDING HOMING SERVICE
    212.
    发明申请
    CONTACT CENTER DELIVERY IN-BUILDING HOMING SERVICE 有权

    公开(公告)号：US20160104098A1

    公开(公告)日：2016-04-14

    申请号：US14512666

    申请日：2014-10-13

    Applicant: Avaya Inc.

    Inventor： Valentine C. Matula ,  David Skiba ,  George Erhart

    IPC: G06Q10/08 ,  G01C21/00 ,  G05D1/10 ,  G05D1/00

    CPC classification number: G06Q10/083 ,  B64C39/024 ,  B64C2201/128 ,  B64C2201/141 ,  G01C21/00 ,  G05D1/101 ,  G06Q30/0635 ,  H04H20/53 ,  H04L41/22 ,  H04L61/6022 ,  H04L61/6081 ,  H04W4/043

    Abstract: The delivery of goods to a customer comprises a substantial portion of human activity. To correct address errors and/or to more precisely locate delivery locations, systems are provided to assist human, human operated vehicle, or autonomous vehicles to locate a delivery point. Often the location of a delivery point is inaccurate or imprecise. GPS and other coordinate systems often fail or are imprecise without an unobstructed view of the sky. Even with coordinates available, the delivery point may be different from the coordinates or, more commonly, coordinates that are different from some standard point within a postal address associated with the coordinates. Providing a delivery system that utilizes a broadcasted identifier, such as an identifier associated with the order of the item, the delivery of the item may be made proximate to the source of the broadcasted identifier or further refined using the broadcasted identifier as a reference.

    Evaluating aileron deflection while an unmanned aerial vehicle is in flight
    214.
    发明授权
    Evaluating aileron deflection while an unmanned aerial vehicle is in flight 有权
    无人机在飞行中评估副翼偏转

    公开(公告)号：US09284043B2

    公开(公告)日：2016-03-15

    申请号：US14086370

    申请日：2013-11-21

    Applicant: AAI Corporation

    Inventor： James M. Barbour

    IPC: B64C13/16 ,  B64D45/00 ,  G05D1/00

    CPC classification number: B64C13/16 ,  B64C2201/141 ,  G05D1/0055

    Abstract: A technique is directed to operating a UAV. The technique involves launching (or guiding) the UAV into flight. The technique further involves performing a series of aileron (or other control surface) deflection evaluations while the UAV is in flight. The technique further involves performing a UAV remedial operation in response to the series of aileron deflection evaluations indicating abnormal aileron behavior, e.g., the UAV can send a warning message to a ground control station (GCS), land the UAV at a target location, deploy a chute, and so on. Such operation enables detection of an unexpected change in the UAV's center of gravity, e.g., due to a blocked fuel bladder connection, icing on one side of the UAV, mechanical failure of an aileron, etc.

    Abstract translation: 一种技术是针对操作无人机。 该技术涉及到（或引导）无人机飞行。 该技术还涉及在UAV飞行中执行一系列副翼（或其他控制面）偏转评估。 该技术进一步涉及响应于指示异常副翼行为的一系列副翼偏转评估来执行UAV补救操作，例如，UAV可以向地面控制站（GCS）发送警告消息，将UAV落在目标位置，部署 一个滑槽等等。 这样的操作能够检测UAV的重心中的意想不到的变化，例如由于燃料气囊连接阻塞，UAV的一侧结冰，副翼的机械故障等。

    Aircraft avoidance method and drone provided with a system for implementing said method
    215.
    发明授权
    Aircraft avoidance method and drone provided with a system for implementing said method 有权
    提供了具有用于实现所述方法的系统的飞机回避方法和无人机

    公开(公告)号：US09257051B2

    公开(公告)日：2016-02-09

    申请号：US14398663

    申请日：2013-04-24

    Applicant: SAGEM DEFENSE SECURITE

    Inventor： Julien Farjon

    IPC: G01C22/00 ,  G01S3/02 ,  G08G5/04 ,  G01S13/93 ,  G01S13/92 ,  G08G5/00 ,  G05D1/02 ,  B64C39/02

    CPC classification number: G08G5/045 ,  B64C39/024 ,  B64C2201/141 ,  G01S13/92 ,  G01S13/9303 ,  G05D1/0202 ,  G08G5/0008 ,  G08G5/0069

    Abstract: A method enabling an aerial drone not having a TCAS system to avoid an intruder aircraft, the method including the steps of acquiring the position of the intruder aircraft in order to determine the distance between the aerial drone and the intruder aircraft, measuring the angular speed of the intruder aircraft in a horizontal plane, and determining whether the intruder aircraft is fitted with a TCAS system, and, if so, receiving a resolution advisory transmitted by the TCAS of the intruder aircraft and following a previously-determined avoidance path. The invention also provides a drone fitted with a system implementing the method.

    Abstract translation: 一种使不具有TCAS系统的空中无人机避免入侵者飞机的方法，该方法包括以下步骤：获取入侵者飞机的位置，以便确定空中无人机与入侵者飞机之间的距离，测量飞行器的角速度 入侵者飞机处于水平面，并确定入侵者飞机是否装有TCAS系统，如果是，则接收TCAS向入侵者飞机传送的解决方案咨询服务，并遵循先前确定的回避路径。 本发明还提供了一种装有实施该方法的系统的无人机。

    INTEGRATED WAFER SCALE, HIGH DATA RATE, WIRELESS REPEATER PLACED ON FIXED OR MOBILE ELEVATED PLATFORMS
    216.
    发明申请
    INTEGRATED WAFER SCALE, HIGH DATA RATE, WIRELESS REPEATER PLACED ON FIXED OR MOBILE ELEVATED PLATFORMS 有权
    集成式WAFER SCALE，高数据速率，无缝重新安装在固定或移动平台上

    公开(公告)号：US20160036515A1

    公开(公告)日：2016-02-04

    申请号：US14795713

    申请日：2015-07-09

    Applicant: Farrokh Mohamadi

    Inventor： Farrokh Mohamadi

    IPC: H04B7/155 ,  H04W16/26 ,  H04W72/04 ,  H04W16/28

    CPC classification number: H04B7/1555 ,  B64C19/00 ,  B64C39/024 ,  B64C2201/122 ,  B64C2201/141 ,  B64C2201/146 ,  H04B7/18504 ,  H04B7/2606 ,  H04W16/00 ,  H04W16/26 ,  H04W16/28 ,  H04W72/046

    Abstract: Methods and systems are provided for relocatable repeaters for wireless communication links to locations that may present accessibility problems using, for example, small unmanned aerial systems (sUAS). An sUAS implemented as an easy-to-operate, small vertical take-off and landing (VTOL) aircraft with hovering capability for holding station position may provide an extended range, highly secure, high data rate, repeater system for extending the range of point-to-point wireless communication links (also referred to as “crosslinks”) in which repeater locations are easily relocatable with very fast set-up and relocating times. A repeater system using beam forming and power combining techniques enables a very high gain antenna array with very narrow beam width and superb pointing accuracy. The aircraft includes a control system enabling three-dimensional pointing and sustaining directivity of the beam independently of flight path of the aircraft.

    Abstract translation: 为可重定位中继器提供方法和系统，用于到可能使用例如小型无人空中系统（sUAS）呈现可及性问题的位置的无线通信链路。 作为一种易于操作的小型垂直起降飞机（VTOL）飞机实现的sUAS可以提供​​扩展范围，高度安全，高数据速率的中继器系统，用于扩展点的范围 点对点无线通信链路（也称为“交叉”），其中中继器位置可以以非常快的建立和重定位时间容易地重新定位。 使用波束形成和功率组合技术的中继器系统能够实现非常高的增益天线阵列，其具有非常窄的波束宽度和极好的指向精度。 该飞机包括一个控制系统，能够独立于飞行器飞行路径的三维指向和维持梁的方向性。

    SYSTEMS AND METHODS FOR TARGET TRACKING
    217.
    发明申请
    SYSTEMS AND METHODS FOR TARGET TRACKING 有权
    目标跟踪的系统和方法

    公开(公告)号：US20160031559A1

    公开(公告)日：2016-02-04

    申请号：US14845894

    申请日：2015-09-04

    Applicant: SZ DJI TECHNOLOGY CO., Ltd

    Inventor： Bo Zang

    IPC: B64C39/02 ,  G05D1/00

    CPC classification number: G05D1/0038 ,  B64C39/024 ,  B64C2201/027 ,  B64C2201/108 ,  B64C2201/123 ,  B64C2201/127 ,  B64C2201/141 ,  B64C2201/146 ,  B64D47/08 ,  G05D1/0011 ,  G05D1/0088 ,  G05D1/0094 ,  G05D1/101 ,  G05D1/12 ,  G06F3/04883 ,  G06K9/0063 ,  G06T7/70 ,  G08G5/0069

    Abstract: The present invention provides systems, methods, and devices related to target tracking by UAVs. The UAV may be configured to receive target information from a control terminal related to a target to be tracked by an imaging device coupled to the UAV. The target information may be used by the UAV to automatically track the target so as to maintain predetermined position and/or size of the target within one or more images captured by the imaging device. The control terminal may be configured to display images from the imaging device as well as allowing user input related to the target information.

    Abstract translation: 本发明提供了与UAV的目标跟踪相关的系统，方法和设备。 UAV可以被配置为从与UAV耦合的成像设备要跟踪的目标相关的控制终端接收目标信息。 UAV可以使用目标信息来自动跟踪目标，以便在由成像装置捕获的一个或多个图像内维持目标的预定位置和/或尺寸。 控制终端可以被配置为显示来自成像设备的图像，并且允许与目标信息相关的用户输入。

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