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    Autonomous flight control device and autonomous flight control method for small size unmanned helicopter
    21.
    发明专利
    Autonomous flight control device and autonomous flight control method for small size unmanned helicopter 有权
    自动飞行控制装置和自动飞行控制方法，用于小型无人直升机

    公开(公告)号：JP2006312344A

    公开(公告)日：2006-11-16

    申请号：JP2005135106

    申请日：2005-05-06

    Applicant: Daigo Fujiwara ,  Kensaku Hanezawa ,  Hiroboo Kk ,  Kenzo Nonami ,  Shin Shin ,  ヒロボー株式会社 ,  健作 羽沢 ,  大悟 藤原 ,  振玉 辛 ,  健蔵 野波

    Inventor： NONAMI KENZO ,  SHIN SHIN ,  FUJIWARA DAIGO ,  HANEZAWA KENSAKU ,  MATSUZAKA KEITARO

    IPC: B64C13/20

    CPC classification number: G05D1/0858

    Abstract: PROBLEM TO BE SOLVED: To provide an autonomous flight control device and an autonomous flight control method for a small size unmanned helicopter capable of miniaturizing a helicopter body, and performing the autonomous flight control of the helicopter body along an arbitrary set track. SOLUTION: The autonomous flight control device 100 manufactured based on a model formula to indicate the dynamic characteristic of a helicopter body has a predictable feed-forward position control value acquisition unit 102 to compute the predictable feed-forward position control value based on a position control model in the model formula, and a position control value acquisition unit 103 to acquire the position control value by using the predictable feed-forward position control value. The control value of a servo motor to drive a rudder of the helicopter body based on the position control value is acquired, and the autonomous flight control of the helicopter body is performed along the set track. COPYRIGHT: (C)2007,JPO&INPIT

    Abstract translation: 要解决的问题：提供一种能够使直升机身体小型化的小型无人直升机的自主飞行控制装置和自主飞行控制方法，并且沿着任意设定的轨道执行直升机主体的自主飞行控制。 解决方案：基于用于指示直升机主体的动态特性的模型公式制造的自主飞行控制装置100具有可预测的前馈位置控制值获取单元102，用于基于可预测的前馈位置控制值 模型公式中的位置控制模型，以及通过使用可预测的前馈位置控制值来取得位置控制值的位置控制值取得部103。 获取基于位置控制值驱动直升机主体的方向舵的伺服电动机的控制值，并沿着设定的轨道进行直升机的自主飞行控制。 版权所有（C）2007，JPO＆INPIT

    Navigation system using image recognition
    22.
    发明专利
    Navigation system using image recognition 有权
    使用图像识别的导航系统

    公开(公告)号：JP2005115623A

    公开(公告)日：2005-04-28

    申请号：JP2003348452

    申请日：2003-10-07

    Applicant: Fuji Heavy Ind Ltd ,  富士重工業株式会社

    Inventor： YAMANE AKIHIRO

    IPC: B64D45/04 ,  G01C11/00 ,  G01C21/00 ,  G01C21/16 ,  G01C21/26 ,  G08G5/02

    CPC classification number: G01C11/00 ,  G01C21/005 ,  G01C21/165 ,  G05D1/0676 ,  G05D1/0858

    Abstract: PROBLEM TO BE SOLVED: To provide a navigation system which allows location information of an airframe to a prescribed target point, to be precisely and quickly acquired without using ground equipment or a DGPS for guide control.
    SOLUTION: A navigation system 10 using image recognition is provided with; a stereo camera 11 for acquiring image information of a target point A; an inertial sensor 12 for measuring an attitude angle and an acceleration of the airframe; an image processing part 13 for obtaining a distance to the target point A by stereo processing of the image information; an image position calculation part 14 for calculating a relative position of the machine body to the target point A on the basis of the obtained distance to the target point A and the attitude angle; and a navigation arithmetic part 15 for generating and outputting navigation information by using the attitude angle, the acceleration, and the relative position.
    COPYRIGHT: (C)2005,JPO&NCIPI

    Abstract translation: 要解决的问题：提供一种能够使机身的位置信息达到规定的目标点的导航系统，而不使用地面设备或用于引导控制的DGPS来精确而快速地获取。 提供使用图像识别的导航系统10; 用于获取目标点A的图像信息的立体相机11; 惯性传感器12，用于测量机身的姿态角和加速度; 图像处理部13，用于通过立体处理图像信息获得到目标点A的距离; 图像位置计算部分14，用于基于获得的到目标点A的距离和姿态角度来计算机体与目标点A的相对位置; 以及导航运算部15，用于通过使用姿态角，加速度和相对位置来生成和输出导航信息。 版权所有（C）2005，JPO＆NCIPI

    Drive control device of remote controller
    25.
    发明专利
    Drive control device of remote controller 有权
    远程控制器的驱动控制装置

    公开(公告)号：JP2012245906A

    公开(公告)日：2012-12-13

    申请号：JP2011119805

    申请日：2011-05-28

    Applicant: Futaba Corp ,  双葉電子工業株式会社

    Inventor： YAMAMOTO MITSUO

    IPC: B64C13/20 ,  A63H27/133 ,  B64C27/605

    CPC classification number: G05D1/0033 ,  G05D1/0858

    Abstract: PROBLEM TO BE SOLVED: To provide a drive control device of a model helicopter, capable of controlling roll and pitch without any influence of phase shift of a roll axis and a pitch axis, even when a body rotates around a yaw axis.SOLUTION: The drive control device includes a yaw axis angular velocity detecting means and a main rotor speed detecting means. A phase control means determines a phase shift amount of the roll axis and the pitch axis due to the rotation around the yaw axis, from the detection values thus obtained, and corrects a roll operation signal and a pitch operation signal to control roll and pitch.

    Abstract translation: 要解决的问题：即使当身体围绕偏转轴旋转时，提供一种模型直升机的驱动控制装置，能够控制滚动和俯仰而不影响侧倾轴和俯仰轴的相移。 解决方案：驱动控制装置包括偏航轴角速度检测装置和主转子速度检测装置。 相位控制装置根据由此获得的检测值确定由于偏转轴周围的旋转引起的侧倾轴和俯仰轴的相位偏移量，并且校正滚动操作信号和俯仰操作信号以控制滚动和俯仰。 版权所有（C）2013，JPO＆INPIT

    Method of piloting rotary wing drone having multiple rotors
    26.
    发明专利
    Method of piloting rotary wing drone having multiple rotors 有权
    具有多个转子的旋转刮刀的方法

    公开(公告)号：JP2012106721A

    公开(公告)日：2012-06-07

    申请号：JP2011201543

    申请日：2011-09-15

    Applicant: Parrot ,  パロット

    Inventor： CALLOU FRANCOIS

    IPC: B64C13/20 ,  B64C27/08

    CPC classification number: A63H27/12 ,  G05D1/0858

    Abstract: PROBLEM TO BE SOLVED: To provide a method of completely, automatically and optimally controlling a drone from a moving state to a hovering state.SOLUTION: This method comprises steps of: (a) measuring horizontal linear speed, tilt angles, and angular speeds at the initial instant; (b) setting stopping time value; (c) on the basis of initial measurements and set stopping time, parameterizing a predetermined predictive function that models optimum continuous decreasing variation of horizontal linear speed as a function of time; (d) applying set point values to a loop for controlling motors of the drone, which values correspond to target horizontal linear speed precalculated from said parameterized predictive function; and (e) once hovering state has been reached, activating a hovering flight control loop for maintaining the drone at speed and tilt angle that are zero relative to the ground.

    Abstract translation: 要解决的问题：提供一种完全，自动和最佳地将无人机从移动状态控制到悬停状态的方法。 解决方案：该方法包括以下步骤：（a）在初始时刻测量水平线速度，倾斜角度和角速度; （b）设定停止时间值; （c）基于初始测量和设定停止时间，对作为时间的函数的水平线速度的最佳连续减小变化建模的预定预测函数进行参数化; （d）将设定点值应用于控制无人机的电动机的循环，该值对应于从所述参数化预测功能预先计算的目标水平线速度; 和（e）一旦达到悬停状态，激活悬停的飞行控制回路，以保持无人机在相对于地面为零的速度和倾斜角度。 版权所有（C）2012，JPO＆INPIT

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