SYSTEM AND METHOD FOR CONTROL OF QUADROTOR AIR VEHICLES WITH TILTABLE ROTORS
    221.
    发明申请
    SYSTEM AND METHOD FOR CONTROL OF QUADROTOR AIR VEHICLES WITH TILTABLE ROTORS 审中-公开
    用倾斜转子控制四方空中车辆的系统和方法

    公开(公告)号:US20160023755A1

    公开(公告)日:2016-01-28

    申请号:US14269322

    申请日:2014-05-05

    Abstract: A system and method of controlling quadrotor air vehicles (QRAV) that may include an additional two degrees of freedom for each of the four propellers of the QRAV. Each of the four rotors may be allowed to rotate (tilt) around two local axes selected from the x-axis (roll), y-axis (pitch), and z-axis (yaw). Control of the quadrotor including the additional two degrees of freedom allows thrust of each rotor to be direct in any direction of a semi-sphere. As a result, total control inputs of the QRAV may be increased to twelve, enabling smooth control to achieve superior and precise maneuverability. Additionally, the system and method is fault tolerant and capable of handling failures of any of the rotors. Commands to the propellers may be fully decoupled and achieved independently thereby giving pilots better control to execute difficult maneuvers.

    Abstract translation: 控制四旋翼飞行器(QRAV)的系统和方法,其可以包括QRAV的四个推进器中的每一个的额外的两个自由度。 可以允许四个转子中的每一个围绕从x轴(滚动),y轴(间距)和z轴(偏航)中选择的两个局部轴线旋转(倾斜)。 包括额外的两个自由度的四旋转器的控制允许每个转子的推力直接在半球的任何方向上。 因此,QRAV的总控制输入可以增加到十二个,从而实现平稳的控制以实现优越和精确的机动性。 此外,系统和方法是容错的,能够处理任何转子的故障。 螺旋桨的命令可以完全解耦并独立实现,从而使飞行员更好地控制执行困难的操纵。

    AIRCRAFT WITH INTEGRATED SINGLE SENSOR
    222.
    发明申请
    AIRCRAFT WITH INTEGRATED SINGLE SENSOR 有权
    具有集成单传感器的飞机

    公开(公告)号:US20150344135A1

    公开(公告)日:2015-12-03

    申请号:US14722921

    申请日:2015-05-27

    Inventor: Mark R. Alber

    Abstract: An aircraft is provided and includes a single sensor and wings extending outwardly in opposite directions from a fuselage. Each wing includes a main section, an engine section supported on the main section and tail surfaces extending transversely relative to the main section. The single sensor is mountable to one of the tail surfaces with a field of view (FOV) representable as a spherical wedge having a dihedral angle exceeding 180°.

    Abstract translation: 设有飞机并且包括单个传感器和从机身向相反方向向外延伸的翼。 每个翼包括主部分,支撑在主部分上的发动机部分和相对于主部分横向延伸的尾部表面。 单个传感器可安装到一个尾部表面,其视场(FOV)可表示为具有超过180°的二面角的球形楔形物。

    High Performance VTOL Aircraft
    223.
    发明申请
    High Performance VTOL Aircraft 审中-公开
    高性能VTOL飞机

    公开(公告)号:US20150344134A1

    公开(公告)日:2015-12-03

    申请号:US14730056

    申请日:2015-06-03

    Abstract: The present disclosure relates to a high performance Vertical Takeoff and Landing (VTOL) aircraft for executing hovering flight, forward flight, and transitioning between the two in a stable and efficient manner. The VTOL aircraft provides a highly stable, controllable and efficient VTOL aircraft. The preferred comprises: (1) a pusher propeller configuration with strategic placement which maximizes the effective use of thrust, (2) four propellers which allow for the highly-controllable and mechanically simple control methods used in multirotor aircraft, (3) electric motors which create mechanically simple, lightweight and reliable operation, (4) and a tandem wing configuration which is stable, controllable and efficient in both hovering and forward flight. The VTOL aircraft is capable of full runway, short runway or vertical takeoffs or landings, having unobstructed forward view for camera and sensor placement; and providing a compact, mechanically simple and low-maintenance VTOL aircraft design.

    Abstract translation: 本公开涉及一种用于以稳定和有效的方式执行悬停飞行,前进飞行和两者之间的转换的高性能垂直起飞和着陆(VTOL)飞机。 垂直起降飞机提供高度稳定,可控和有效的垂直起降飞机。 优选的方案包括:(1)具有战略位置的推进式推进器结构,其最大限度地有效地利用推力,(2)四个螺旋桨,其允许在多转子飞行器中使用的高度可控和机械上简单的控制方法,(3)电动机 创造机械简单,轻便和可靠的操作,(4)和串联式机翼配置,在徘徊和向前飞行中都是稳定,可控和高效的。 垂直起落架飞机能够全程跑道,短跑道或垂直起飞或着陆,具有无障碍的前视摄像头和传感器放置; 并提供紧凑,机械简单和低维护的垂直起降飞机设计。

    Vertical take-off and landing aircraft
    224.
    发明授权
    Vertical take-off and landing aircraft 有权
    垂直起降飞机

    公开(公告)号:US09120560B1

    公开(公告)日:2015-09-01

    申请号:US13648706

    申请日:2012-10-10

    Abstract: A vertical take-off and landing aircraft includes a fixed wing airframe having opposed left and right wings extending from left and right sides, respectively, of a fuselage having opposed leading and trailing extremities and an empennage located behind the trailing extremity. Four fixed, open and horizontal, vertical take-off and landing (VTOL) thrust rotors are mounted to the airframe in a quadrotor pattern for providing vertical lift to the aircraft, and a vertical, forward thrust rotor is mounted to the trailing extremity of the fuselage between the trailing extremity of the fuselage and the empennage for providing forward thrust to the aircraft. The four VTOL thrust rotors are coplanar being and operating in a common plane that is parallel relative to, and being level with, top surfaces of the left and right wings in and around a region of each of the four VTOL thrust rotors.

    Abstract translation: 垂直起飞和着陆飞机包括具有相对的左翼和右翼的相对的左翼和右翼的固定翼机身,其分别具有相对的前端和后端的机身的左侧和右侧以及位于尾端后面的尾翼。 四个固定的,开放的和水平的,垂直起飞和着陆(VTOL)推力转子以四旋转模式安装在机身上,用于向飞行器提供垂直升力,并且垂直的向前的推力转子安装到 机身尾部之间的机身与向前推进飞机的尾翼之间的机身。 四个VTOL推力转子是共面的,并且在共同的平面中工作,该公共平面相对于左翼和右翼的顶表面平行并且与左翼和右翼的顶表面平行,并且在四个竖井推力转子中的每一个的区域内和周围。

    REMOTELY OR AUTONOMOUSLY PILOTED REDUCED SIZE AIRCRAFT WITH VERTICAL TAKE-OFF AND LANDING CAPABILITIES
    225.
    发明申请
    REMOTELY OR AUTONOMOUSLY PILOTED REDUCED SIZE AIRCRAFT WITH VERTICAL TAKE-OFF AND LANDING CAPABILITIES 审中-公开
    远程或自动直升机减少尺寸的飞机具有垂直起落架能力

    公开(公告)号:US20150225079A1

    公开(公告)日:2015-08-13

    申请号:US14054080

    申请日:2013-10-15

    Abstract: An aircraft having a vertical take-off and landing (“VTOL”) propulsion system aircraft, smaller than a standard manned aircraft and remotely or autonomously piloted. The aircraft comprises a symmetrical airfoil shape for the center body section that consists of ribs and spars maintaining an open area in the center. Situated within the open area of the center of the aircraft resides a duct system consisting of a ducted fan and five outlet vents. The main outlet vent functions as the exhaust exiting the aft portion of the aircraft, with the remaining four ducts used for the VTOL capabilities exiting the underside of the aircraft. The aircraft can have a range of wingspan, which can be scaled to satisfy needs and requirements, with a blended wing body that incorporates the inlet and duct system.

    Abstract translation: 具有垂直起飞和着陆(“VTOL”)推进系统飞机的飞机,小于标准载人飞机,远程或自主驾驶。 该飞行器包括对称的翼型形状,用于中心体部分,其由在中心保持开放区域的肋和翼梁组成。 位于飞机中心开放区域内的管道系统由管道风扇和五个出风孔组成。 主出口排气口作为离开飞机尾部的排气口,剩余的四个管道用于从飞机底面离开的垂直起降能力。 飞机可以具有一系列的翼展,其可以通过混合的翼体结合入口和管道系统而被缩放以满足需要和要求。

    Method and apparatus for automated launch, retrieval, and servicing of a hovering aircraft
    226.
    发明授权
    Method and apparatus for automated launch, retrieval, and servicing of a hovering aircraft 有权
    用于自动启动,检索和维护悬停飞机的方法和设备

    公开(公告)号:US09004402B2

    公开(公告)日:2015-04-14

    申请号:US14034097

    申请日:2013-09-23

    Abstract: An aircraft capable of thrust-borne flight can be automatically retrieved, serviced, and launched. In one embodiment, for retrieval, the aircraft drops a tether and pulls the tether at low relative speed into contact with a horizontal guide. The tether is pulled across the guide until the guide is captured b an end effector. The tether length is adjusted as necessary, and the aircraft swings on the guide to hang in an inverted position. Translation of the tether along the guide then brings the aircraft to a docking carriage, in which the aircraft parks for servicing. For launch, the carriage is swung upright, the end effector is released from the guide, and the aircraft thrusts into free flight. A full ground-handling cycle can thus be accomplished automatically with a simple, economical apparatus. It can be used with low risk of damage and requires moderate accuracy in manual or automatic flight control.

    Abstract translation: 可以自动检索,维修和启动能够推力飞行的飞机。 在一个实施例中,为了检索,飞行器降低系绳并且以相对较低的速度将系绳拉动以与水平引导件接触。 将系绳拉过引导件,直到引导件被捕获为末端执行器。 系绳长度根据需要进行调整,飞机在导轨上摆动,悬挂在倒立的位置。 沿着导轨翻转系绳,然后将飞机带到对接车厢,飞机停在其中,以便维修。 对于发射,托架正直摆动,末端执行器从引导件释放,飞机起飞进入自由飞行。 因此,可以使用简单,经济的装置自动完成完整的地面处理循环。 它可以在低风险的情况下使用,并且在手动或自动飞行控制中要求中等精度。

    REMOTELY CONTROLLED MICRO/NANOSCALE AERIAL VEHICLE COMPRISING A SYSTEM FOR TRAVELING ON THE GROUND, VERTICAL TAKEOFF, AND LANDING
    227.
    发明申请
    REMOTELY CONTROLLED MICRO/NANOSCALE AERIAL VEHICLE COMPRISING A SYSTEM FOR TRAVELING ON THE GROUND, VERTICAL TAKEOFF, AND LANDING 有权
    远程控制的微型/纳米级空中客车包含在地面,垂直起落和行驶的行驶系统

    公开(公告)号:US20140319266A1

    公开(公告)日:2014-10-30

    申请号:US14008707

    申请日:2012-03-27

    Abstract: A microscale radio-controlled aerial micro-drone vehicle, having a fixed wing (as opposed to a rotary wing) having a propulsion device the vehicle including wheels for traveling on the ground, which are attached to the side ends of a section of the wing. The rotational axis Y1 of the wheels being located in front of the center of gravity of the micro-drone, the center of gravity of the micro-drone being located in front of the aerodynamic center of the micro-drone. The rotational axis Y1 of the wheels being aligned with the thrust axis of the propulsion device and the wheels are sized such that the radius D/2 thereof is greater than the distance between the rotational axis Y1 of the wheels and the trailing edge of the wing.

    Abstract translation: 具有具有推进装置的固定翼(相对于旋转翼)的微型无线电遥控的空中微型无人驾驶车辆,该车辆包括用于在地面上行驶的车轮,其附接到翼的一部分的侧端 。 车轮的旋转轴线Y1位于微型无人驾驶飞机重心的前方,微型无人机的重心位于微型无人机的空气动力学中心的前方。 车轮的旋转轴线Y1与推进装置的推力轴线对准,车轮的尺寸使其半径D / 2大于车轮的旋转轴线Y1和机翼的后缘之间的距离 。

    METHOD AND APPARATUS FOR AUTOMATED LAUNCH, RETRIEVAL, AND SERVICING OF A HOVERING AIRCRAFT
    228.
    发明申请
    METHOD AND APPARATUS FOR AUTOMATED LAUNCH, RETRIEVAL, AND SERVICING OF A HOVERING AIRCRAFT 有权
    自动发射,检索和维修飞机的方法和装置

    公开(公告)号:US20140054415A1

    公开(公告)日:2014-02-27

    申请号:US14034097

    申请日:2013-09-23

    Abstract: An aircraft capable of thrust-borne flight can be automatically retrieved, serviced, and launched. In one embodiment, for retrieval, the aircraft drops a tether and pulls the tether at low relative speed into contact with a horizontal guide. The tether is pulled across the guide until the guide is captured b an end effector. The tether length is adjusted as necessary, and the aircraft swings on the guide to hang in an inverted position. Translation of the tether along the guide then brings the aircraft to a docking carriage, in which the aircraft parks for servicing. For launch, the carriage is swung upright, the end effector is released from the guide, and the aircraft thrusts into free flight. A full ground-handling cycle can thus be accomplished automatically with a simple, economical apparatus. It can be used with low risk of damage and requires moderate accuracy in manual or automatic flight control.

    Abstract translation: 可以自动检索,维修和启动能够推力飞行的飞机。 在一个实施例中,为了检索,飞行器降低系绳并且以相对较低的速度将系绳拉动以与水平引导件接触。 将系绳拉过引导件,直到引导件被捕获为末端执行器。 系绳长度根据需要进行调整,飞机在导轨上摆动,悬挂在倒立的位置。 沿着导轨翻转系绳,然后将飞机带到对接车厢,飞机停在其中,以便维修。 对于发射,托架正直摆动,末端执行器从引导件释放,飞机起飞进入自由飞行。 因此,可以使用简单,经济的装置自动完成完整的地面处理循环。 它可以在低风险的情况下使用,并且在手动或自动飞行控制中要求中等精度。

    METHOD OF PILOTING A MULTIPLE ROTOR ROTARY-WING DRONE TO FOLLOW A CURVILINEAR TURN
    230.
    发明申请
    METHOD OF PILOTING A MULTIPLE ROTOR ROTARY-WING DRONE TO FOLLOW A CURVILINEAR TURN 有权
    将多个转子旋转刮刀打到下面的方法

    公开(公告)号:US20120232718A1

    公开(公告)日:2012-09-13

    申请号:US13410229

    申请日:2012-03-01

    Abstract: The respective motors of the drone (10) can be controlled to rotate at different speeds in order to pilot the drone both in attitude and speed. A remote control appliance produces a command to turn along a curvilinear path, this command comprising a left or right turning direction parameter and a parameter that defines the radius of curvature of the turn. The drone receives said command and acquires instantaneous measurements of linear velocity components, of angles of inclination, and of angular speeds of the drone. On the basis of the received command and the acquired measurements, setpoint values are generated for a control loop for controlling motors of the drone, these setpoint values controlling horizontal linear speed and inclination of the drone relative to a frame of reference associated with the ground so as to cause the drone to follow curvilinear path (C) at predetermined tangential speed (u).

    Abstract translation: 无人机(10)的各个电机可以被控制为以不同的速度旋转,以便以姿态和速度引导无人机。 远程控制装置产生沿着曲线路径转动的命令,该命令包括左转或右转转方向参数和限定转弯曲率半径的参数。 无人机接收到所述命令,并获得无人机的线速度分量,倾角和角速度的瞬时测量值。 根据接收到的命令和采集的测量结果,产生用于控制无人机的电动机的控制回路的设定值,这些设定值控制无人机相对于与地面相关的参考系的水平线速度和倾角,因此 以使无人机以预定切向速度(u)跟随曲线路径(C)。

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