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    CONTROLLED FLIGHT OF A MULTICOPTER EXPERIENCING A FAILURE AFFECTING AN EFFECTOR
    46.
    发明申请
    CONTROLLED FLIGHT OF A MULTICOPTER EXPERIENCING A FAILURE AFFECTING AN EFFECTOR 审中-公开

    公开(公告)号：US20180155009A1

    公开(公告)日：2018-06-07

    申请号：US15833385

    申请日：2017-12-06

    Applicant: ETH Zurich

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

    IPC: B64C13/24 ,  B64C27/20 ,  B64C27/32 ,  B64C39/02 ,  B64C27/08 ,  B64D45/00

    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.

    MODULAR ARMS ON A ROTOR-BASED REMOTE VEHICLE
    49.
    发明申请
    MODULAR ARMS ON A ROTOR-BASED REMOTE VEHICLE 审中-公开

    公开(公告)号：US20180141660A1

    公开(公告)日：2018-05-24

    申请号：US15873429

    申请日：2018-01-17

    Applicant: TEAL DRONES, INC.

    Inventor： George Michael Matus

    IPC: B64C39/02

    CPC classification number: B64C39/024 ,  B64C2201/027 ,  B64C2201/042 ,  B64C2201/108 ,  B64C2201/141 ,  B64C2201/145 ,  B64C2211/00

    Abstract: A rotor-based remote flying vehicle platform includes a vehicle body. The vehicle body includes a processing unit that receives positional sensor data and provides flight controls based upon the received positional sensor data. The vehicle body also includes a first frame connection interface that is configured to interface with a plurality of different arm types. The first frame connection interface comprises a physical connection and an electronic connection. Additionally, the rotor-based remote flying vehicle platform includes a first arm, of a rotor-based remote flying vehicle platform, that is selectively connectable to the vehicle body through the first frame connection interface. The first arm comprises a first arm connection interface that is selectively connectable to the first frame connection interface. Additionally, the first arm comprises a first motor mounted to the first arm.

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