公开(公告)号：US20200262543A1

公开(公告)日：2020-08-20

申请号：US16742506

申请日：2020-01-14

Applicant: ETH Zurich

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

IPC: B64C13/24 ,  B64C27/20 ,  G05D1/00 ,  B64C39/02 ,  B64C27/08 ,  B64D45/00 ,  B64C27/32

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 tour 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.

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.

公开(公告)号：US20190283865A1

公开(公告)日：2019-09-19

申请号：US16390831

申请日：2019-04-22

Applicant: ETH Zurich

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

IPC: B64C13/24 ,  B64C27/20 ,  B64C39/02 ,  B64C27/08 ,  B64C27/32 ,  B64D45/00 ,  G05D1/00

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.

公开(公告)号：US20160152321A1

公开(公告)日：2016-06-02

申请号：US14893851

申请日：2014-06-05

Applicant: ETH ZURICH

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

IPC: B64C13/24 ,  B64C27/32 ,  B64C27/08 ,  B64C39/02

Abstract: According to a first aspect of the invention, there is provided a volitant vehicle comprising, a body (112), a control unit being configured to compute an estimate of the orientation of a primary axis (130) of said body with respect to a predefined reference frame, wherein said primary axis is an axis about which said vehicle rotates when flying; and at least one propeller (104) attacked to the body, wherein each of said at least one propeller has an axis of rotation (110) which is fixed with respect to said body, is configured to simultaneously produce a thrust force and a torque, said thrust force having a component along the primary axis, said torque having a component along the primary axis constructively contributing to the vehicle rotating about said primary axis, said torque having a component perpendicular to the primary axis, and all of said at least one propeller rotate with the same handedness about their respective thrust forces.

Abstract translation: 根据本发明的第一方面，提供了一种挥发性载体，其包括：主体（112），控制单元，被配置为计算相对于预定义的所述主体的所述主体的主轴（130）的取向的估计 参考框架，其中所述主轴线是所述车辆在飞行时转动的轴线; 和至少一个螺旋桨（104）撞击到所述主体，其中所述至少一个螺旋桨中的每一个具有相对于所述主体固定的旋转轴线（110），构造成同时产生推力和扭矩， 所述推力具有沿着主轴的分量，所述扭矩具有沿着主轴的分量，其构造地有助于车辆围绕所述主轴旋转，所述扭矩具有垂直于主轴的分量，并且所有所述至少一个螺旋桨 以相应的推力相同的方式旋转。

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。