公开(公告)号：US09354296B2

公开(公告)日：2016-05-31

申请号：US14282345

申请日：2014-05-20

Applicant: Verizon Patent and Licensing Inc.

Inventor： Gurpreet Ubhi ,  Ashok N. Srivastava ,  Douglas M. Pasko ,  Hani Batla ,  Igor Kantor

IPC: G01C23/00 ,  G01S5/00

CPC classification number: G08G5/0069 ,  B60L8/003 ,  B60L11/1805 ,  B60L11/1861 ,  B60L2200/10 ,  B60L2200/40 ,  B60L2240/12 ,  B60L2240/26 ,  B60L2240/622 ,  B60L2240/66 ,  B60L2240/662 ,  B60L2240/70 ,  B60L2250/12 ,  B60L2250/16 ,  B60L2260/32 ,  B60L2260/42 ,  B64C39/024 ,  B64C2201/042 ,  B64C2201/122 ,  B64C2201/128 ,  B64C2201/14 ,  G01C21/20 ,  G01S5/0027 ,  G01S2205/005 ,  G05D1/101 ,  G06Q10/06 ,  G06Q50/30 ,  G08G5/0013 ,  G08G5/0034 ,  G08G5/0039 ,  G08G5/0043 ,  G08G5/0056 ,  G08G5/006 ,  G08G5/0086 ,  G08G5/0091 ,  H04B7/18506 ,  Y02T10/7005 ,  Y02T10/7044 ,  Y02T10/705 ,  Y02T10/7083 ,  Y02T10/7291 ,  Y02T90/16 ,  Y02T90/162

Abstract: A device receives a request for a flight path from a first location to a second location in a region, and calculates the flight path based on the request and based on one or more of weather information, air traffic information, obstacle information, regulatory information, or historical information associated with the region. The device determines required capabilities for the flight path based on the request, and selects, from multiple UAVs, a particular UAV based on the required capabilities for the flight path and based on a ranking of the multiple UAVs. The device generates flight path instructions for the flight path, and provides the flight path instructions to the particular UAV to permit the particular UAV to travel from the first location to the second location via the flight path.

Abstract translation: 设备接收从区域中的第一位置到第二位置的飞行路径的请求，并且基于该请求并且基于天气信息，空中交通信息，障碍物信息，管理信息， 或与该地区相关的历史信息。 该设备基于该请求确定飞行路径的所需能力，并且基于飞行路径的所需能力并且基于多个UAV的排名从多个UAV中选择特定UAV。 该设备生成飞行路径的飞行路径指令，并且向特定UAV提供飞行路线指令，以允许特定UAV经由飞行路径从第一位置行进到第二位置。

公开(公告)号：US20160096614A1

公开(公告)日：2016-04-07

申请号：US14944042

申请日：2015-11-17

Applicant: SZ DJI TECHNOLOGY CO., Ltd

Inventor： Tao Wang ,  Tao Zhao ,  Hao Du ,  Mingxi Wang

IPC: B64C1/06 ,  B64C27/08 ,  B64C39/02

CPC classification number: B64C1/063 ,  A63H27/12 ,  B64C1/00 ,  B64C1/061 ,  B64C25/32 ,  B64C27/08 ,  B64C39/024 ,  B64C39/028 ,  B64C2025/325 ,  B64C2201/024 ,  B64C2201/027 ,  B64C2201/042 ,  B64C2201/108 ,  B64C2201/127 ,  B64C2201/14 ,  B64C2201/146 ,  B64C2201/165 ,  B64D47/00 ,  B64D47/08 ,  G05D1/042

Abstract: Systems, devices, and methods for a transformable aerial vehicle are provided. In one aspect, a transformable aerial vehicle includes: a central body and at least two transformable frames assemblies respectively disposed on the central body, each of the at least two transformable frame assemblies having a proximal portion pivotally coupled to the central body and a distal portion; an actuation assembly mounted on the central body and configured to pivot the at least two frame assemblies to a plurality of different vertical angles relative to the central body; and a plurality of propulsion units mounted on the at least two transformable frame assemblies and operable to move the transformable aerial vehicle.

公开(公告)号：US20160083084A1

公开(公告)日：2016-03-24

申请号：US14954427

申请日：2015-11-30

Applicant: SZ DJI TECHNOLOGY CO., LTD

Inventor： Tao Wang ,  Tao Zhao ,  Shaojie Chen ,  Zhigang Ou

IPC: B64C27/08 ,  B64D43/00 ,  B64C39/02

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

Abstract: The present invention provides methods and apparatus for unmanned aerial vehicles (UAVs) with improved reliability. According to one aspect of the invention, interference experienced by onboard sensors from onboard electrical components is reduced. According to another aspect of the invention, user-configuration or assembly of electrical components is minimized to reduce user errors.

公开(公告)号：US09242714B2

公开(公告)日：2016-01-26

申请号：US14565119

申请日：2014-12-09

Applicant: SZ DJI TECHNOLOGY CO., Ltd

Inventor： Tao Wang ,  Tao Zhao ,  Hao Du ,  Mingxi Wang

IPC: B64C27/00 ,  B64C1/06 ,  B64C27/08 ,  B64C39/02 ,  G05D1/04

CPC classification number: B64C1/063 ,  A63H27/12 ,  B64C1/00 ,  B64C1/061 ,  B64C25/32 ,  B64C27/08 ,  B64C39/024 ,  B64C39/028 ,  B64C2025/325 ,  B64C2201/024 ,  B64C2201/027 ,  B64C2201/042 ,  B64C2201/108 ,  B64C2201/127 ,  B64C2201/14 ,  B64C2201/146 ,  B64C2201/165 ,  B64D47/00 ,  B64D47/08 ,  G05D1/042

Abstract: Systems, devices, and methods for a transformable aerial vehicle are provided. In one aspect, a transformable aerial vehicle includes: a central body and at least two transformable frames assemblies respectively disposed on the central body, each of the at least two transformable frame assemblies having a proximal portion pivotally coupled to the central body and a distal portion; an actuation assembly mounted on the central body and configured to pivot the at least two frame assemblies to a plurality of different vertical angles relative to the central body; and a plurality of propulsion units mounted on the at least two transformable frame assemblies and operable to move the transformable aerial vehicle.

公开(公告)号：US20160009370A1

公开(公告)日：2016-01-14

申请号：US14636019

申请日：2015-03-02

Applicant: AEROVIRONMENT, INC.

Inventor： Tony Shuo Tao ,  Nathan Olson ,  Carlos Thomas Miralles ,  Robert Nickerson Plumb

IPC: B64C3/56 ,  B64C5/12 ,  B64C9/02 ,  B64C39/02 ,  B64C9/18

CPC classification number: B64C3/56 ,  B64C3/44 ,  B64C3/50 ,  B64C5/12 ,  B64C9/02 ,  B64C9/08 ,  B64C9/18 ,  B64C11/00 ,  B64C13/18 ,  B64C13/34 ,  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) configured to control pitch, roll, and/or yaw via airfoils having resiliently mounted trailing edges opposed by fuselage-house deflecting actuator horns. Embodiments include one or more rudder elements which may be rotatably attached and actuated by an effector member disposed within the fuselage housing and extendible in part to engage the one or more rudder elements.

公开(公告)号：US09221536B2

公开(公告)日：2015-12-29

申请号：US14515357

申请日：2014-10-15

Applicant: SZ DJI Technology Co., Ltd

Inventor： Tao Wang ,  Tao Zhao ,  Shaojie Chen ,  Zhigang Ou

IPC: B64C27/00 ,  B64C27/08 ,  B64C39/02 ,  B64D43/00 ,  G05D1/00 ,  B64C25/06 ,  B64C25/32

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

Abstract: The present invention provides methods and apparatus for unmanned aerial vehicles (UAVs) with improved reliability. According to one aspect of the invention, interference experienced by onboard sensors from onboard electrical components is reduced. According to another aspect of the invention, user-configuration or assembly of electrical components is minimized to reduce user errors.

公开(公告)号：US20150331426A1

公开(公告)日：2015-11-19

申请号：US14811448

申请日：2015-07-28

Applicant: SZ DJI TECHNOLOGY CO., LTD

Inventor： Jun Shi ,  Xu Yang Pan

IPC: G05D1/04 ,  B64C39/02 ,  G05B11/42 ,  B64C29/00

CPC classification number: G05D1/042 ,  B64C27/00 ,  B64C29/00 ,  B64C39/024 ,  B64C2201/024 ,  B64C2201/108 ,  B64C2201/14 ,  B64D31/06 ,  G05B11/42 ,  G05D1/0669

Abstract: Systems, methods, and devices are provided for assisted takeoff of an aerial vehicle. The aerial vehicle may takeoff using a first control scheme and switch to a second control scheme for normal flight when a takeoff threshold is met. The first control scheme optionally does not use integral control while the second control scheme may use integral control. The aerial vehicle may determine that a takeoff threshold is met, based on an output to a motor of the aerial vehicle and/or an acceleration of the aerial vehicle.

Abstract translation: 提供系统，方法和装置用于飞行器的辅助起飞。 当满足起飞阈值时，航空器可以使用第一控制方案起飞并切换到用于正常飞行的第二控制方案。 第一控制方案可选地不使用积分控制，而第二控制方案可以使用积分控制。 飞行器可以基于对飞行器的马达的输出和/或飞行器的加速度来确定满足起飞阈值。

公开(公告)号：US09146557B1

公开(公告)日：2015-09-29

申请号：US14260096

申请日：2014-04-23

Applicant: KING FAHD UNIVERSITY OF PETROLEUM AND MINERALS

Inventor： Ghufran Ahmed ,  Sami El Ferik

IPC: B64C19/00 ,  B64C17/00 ,  B64B1/20 ,  G05D1/08 ,  G05D1/10 ,  G05D1/00 ,  B64D9/00 ,  B64C39/02 ,  B64D1/22

CPC classification number: G05D1/10 ,  B64C17/00 ,  B64C19/00 ,  B64C39/024 ,  B64C2201/00 ,  B64C2201/024 ,  B64C2201/128 ,  B64C2201/14 ,  B64D1/22 ,  G05B13/04 ,  G05D1/08 ,  G05D1/0808 ,  G05D1/0816 ,  G05D1/0825 ,  G05D1/085 ,  G05D1/0858 ,  G05D1/101

Abstract: The adaptive control method for an unmanned vehicle with a slung load utilizes a feedback linearization controller (FLC) to perform vertical take off, hovering and landing of an unmanned aerial vehicle with a slung load, such as a quadrotor drone or the like. The controller includes a double loop architecture, where the overall controller includes an inner loop having an inner controller which is responsible for controlling the attitude angles and the altitude, and an outer loop having an outer controller responsible for providing the inner loop inner controller with the desired angle values. States, such as including roll, pitch, yaw and/or altitude, are selected as outputs and the feedback linearization technique is used.

Abstract translation: 具有悬挂载荷的无人驾驶车辆的自适应控制方法利用反馈线性化控制器（FLC）来执行具有诸如四旋翼无人机等的悬挂载荷的无人驾驶飞行器的垂直起飞，悬停和着陆。 该控制器包括一个双回路结构，其中总体控制器包括一个具有负责控制姿态角度和高度的内部控制器的内部回路，以及一个外部控制器，该外部控制器负责向内部循环内部控制器提供 所需的角度值。 选择诸如滚动，俯仰，偏航和/或高度的状态作为输出，并且使用反馈线性化技术。

公开(公告)号：US20150160658A1

公开(公告)日：2015-06-11

申请号：US14310307

申请日：2014-06-20

Applicant: BCB INTERNATIONAL LTD. ,  TORQUING GROUP LTD.

Inventor： Ivan Reedman ,  Barry Davies

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

CPC classification number: B64C39/024 ,  B64C19/00 ,  B64C39/028 ,  B64C2201/00 ,  B64C2201/14 ,  B64C2201/141 ,  B64C2230/00 ,  B64C2230/02 ,  G01S15/06 ,  G01S15/88 ,  G01S15/89 ,  G01S15/8913 ,  G01S15/8929 ,  G01S15/8993 ,  G01S15/93 ,  G05D1/0088 ,  G05D1/0202 ,  G05D1/101 ,  G05D1/102 ,  Y10S367/909

Abstract: A micro unmanned aerial vehicle or drone (“UAV”) 10 is remotely controlled through an HMI, although this remote control is supplemented by and selectively suppressed by an on-board controller. The controller operates to control the generation of a sonar bubble that generally encapsulates the UAV. The sonar bubble, which may be ultrasonic in nature, is produced by a multiplicity of sonar lobes generated by specific sonar emitters associated with each axis of movement for the UAV. The emitters produce individual and beamformed sonar lobes that partially overlap to provide stereo or bioptic data in the form of individual echo responses detected by axis-specific sonar detectors. In this way, the on-board controller is able to interpret and then generate 3-D spatial imaging of the physical environment in which the UAV is currently moving or positioned. The controller is therefore able to plot relative and absolute movement of the UAV through the 3-D space by recording measurements from on-board gyroscopes, magnetometers and accelerometers. Data from the sonar bubble can therefore both proactively prevent collisions with objects by imposing a corrective instruction to rotors and other flight control system and can also assess and compensate for sensor drift.

公开(公告)号：US20150105946A1

公开(公告)日：2015-04-16

申请号：US14397761

申请日：2013-04-30

Applicant: The Trustees of The University of Pennsylvania

Inventor： Vijay Kumar ,  Aleksandr Kushleyev ,  Daniel Mellinger

IPC: G05D1/10 ,  B64C39/02 ,  G08G5/04

CPC classification number: G05D1/104 ,  B64C39/024 ,  B64C2201/14 ,  G08G5/04

Abstract: A system and method is described for controlling flight trajectories of at least two flying vehicles towards goal positions. The system includes at least two flying vehicles with onboard inertial measurement units for determining and updating orientation, angular velocities, position and linear velocities of the at least two flying vehicles, a motion capture system to detect current position and velocity of each of the at least two flying vehicles, and a base controller in communication with the motion capture system and in communication with the plurality of flying vehicles. The base controller calculates for each of the flying vehicles, at predetermined intervals of time, optimum trajectory paths using piece-wise smooth polynomial functions, applying weighting factors, and enforcing overlap constraints.

Abstract translation: 描述了用于控制至少两个飞行车辆朝向目标位置的飞行轨迹的系统和方法。 该系统包括至少两个飞行车辆，其具有用于确定和更新至少两个飞行车辆的定向，角速度，位置和线速度的船载惯性测量单元，用于检测至少两个飞行器中的每一个的当前位置和速度的运动捕捉系统 两个飞行车辆，以及与运动捕捉系统通信并与多个飞行车辆通信的基地控制器。 基本控制器以预定的时间间隔计算每个飞行车辆，使用分段平滑多项式函数的最佳轨迹路径，应用加权因子以及执行重叠约束。