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101.发明申请公开(公告)号：US20210163138A1
公开(公告)日：2021-06-03
申请号：US17077386
申请日：2020-10-22
摘要： Aerial launch and/or recovery for unmanned aircraft, and associated systems and methods are described. A representative system includes a first, carrier aircraft having an airframe, a propulsion system carried by the airframe and positioned to support the carrier aircraft in hover, and a capture line carried by the carrier aircraft and deployable to hang from the carrier aircraft. The capture line is sized to releasably engage with a capture device of a second, carried aircraft. The system further includes a retrieval device positioned to support the carried aircraft for detachment from the capture line.
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公开(公告)号：US10981671B2
公开(公告)日：2021-04-20
申请号：US15787502
申请日：2017-10-18
申请人： Insitu, Inc.
摘要： Line capture devices for unmanned aircraft, and associated systems and methods are disclosed. A system in accordance with a particular embodiment includes a line capture device body having a line slot with an open end and a closed end. A retainer is positioned proximate to the line slot and has a rotor with a plurality of rotor arms positioned to extend at least partially across the line slot as the rotor rotates relative to the body. A joint rotatably couples the rotor to the body, and a ratchet device is operably coupled to the rotor to allow the rotor to rotate in a first direction and at least restrict the rotor arm from rotating in a second direction opposite the first. In other embodiments, the retainer can include other arrangements, for example, one or more wire-shaped elements.
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公开(公告)号：US10967987B2
公开(公告)日：2021-04-06
申请号：US16533251
申请日：2019-08-06
申请人： INSITU, INC.
发明人： Matthew Grubb
摘要： Locking line capture devices for unmanned aircraft are disclosed. An example line capture device is configured to be attached to a wing of an unmanned aerial vehicle (UAV). The example line capture device includes a body having a line capture slot. The line capture slot has an open end and a closed end. The example line capture device further includes a retainer having a first lobe, a second lobe, and a third lobe. The retainer is movable relative to the body between a first position in which the first and third lobes are positioned on opposite sides of the line capture slot and the second lobe is positioned over the line capture slot, and a second position in which the first and second lobes are positioned over the line capture slot and the third lobe is positioned clear of the line capture slot.
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公开(公告)号：US10798343B2
公开(公告)日：2020-10-06
申请号：US16408073
申请日：2019-05-09
申请人： Insitu, Inc.
IPC分类号： H04N7/18 , G06T11/60 , G05D1/00 , G01C11/00 , G06T11/00 , G06T17/05 , G06T19/00 , G01C11/02 , G01C11/36
摘要： A facility, comprising systems and methods, for providing enhanced situational awareness to captured image data is disclosed. The disclosed techniques are used in conjunction with image data, such as a real-time or near real-time image stream captured by a camera attached to an unmanned system, previously captured image data, rendered image data, etc. The facility enhances situational awareness by projecting overlays onto captured video data or “wrapping” captured image data with previously-captured and/or “synthetic world” information, such as satellite images, computer-generated images, wire models, textured surfaces, and so on. The facility also provides enhanced zoom techniques that allow a user to quickly zoom in on an object or area of interest using a combined optical and digital zoom technique. Additionally, the facility provides a digital lead indicator designed to reduce operator-induced oscillations in commanding an image capturing device.
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公开(公告)号：US10775809B2
公开(公告)日：2020-09-15
申请号：US15948980
申请日：2018-04-09
申请人： Insitu, Inc.
发明人： Rolf Rysdyk
摘要： Apparatus and methods for controlling an aircraft and/or a vehicle are described. A vehicle speed and direction are received. A wind-over-vehicle speed and direction of wind at the vehicle are measured. An aircraft ground speed and direction are received. An aircraft-relative-to-vehicle speed and an aircraft-relative-to-vehicle direction are calculated based on the aircraft ground speed and direction and the wind-over-vehicle speed and direction. A wind-over-vehicle envelope is calculated based on system design limits for retrieving the aircraft at the vehicle. The wind-over-vehicle envelope maps limits of wind-over-vehicle speeds over a range of directions that enable retrieval of the aircraft at the vehicle. The aircraft and/or the vehicle are controlled using the wind-over-vehicle envelope, the aircraft-relative-to-vehicle speed, and/or the aircraft-relative-to-vehicle direction.
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公开(公告)号：US10657832B2
公开(公告)日：2020-05-19
申请号：US16352675
申请日：2019-03-13
申请人： Insitu, Inc.
发明人： Rolf Rysdyk
摘要： A system and method for navigating a vehicle comprising an image sensor in the absence of global positioning information is disclosed. In one embodiment, the method comprises accepting a user-selected target of an image produced by the imaging sensor, determining a difference between an optic flow due only to motion of the vehicle and the selected target of the image, determining a vehicle guidance command at least in part according to the difference between the optic flow of the selected target due to motion of the vehicle and the selected target of the image, and an estimate of a ground speed of the vehicle Vg, and commanding the vehicle at least in part according to the vehicle guidance command. Another embodiment is evidenced by an apparatus having a processor and a communicatively coupled memory storing processor instructions for performing the foregoing operations.
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公开(公告)号：US10479473B2
公开(公告)日：2019-11-19
申请号：US15198953
申请日：2016-06-30
申请人： Insitu, Inc
摘要： A reusable frangible joint includes a first part having a hemispherical convex surface, and a second part defined by a reversely identical mating hemispherical concave surface. The convex and concave surfaces of the joint are secured and held together in compression until a predetermined applied load causes the joint to fail. The joint includes at least one replaceable fastener that rigidly secures and holds the respective concave and convex surfaces together. The fastener, designed to be the only part of the joint configured to fail, is sheared apart under the predetermined load, which results in separation of the concave and convex parts from one another irrespective of from which direction or to which part the impact load is applied. The failed fastener can then be replaced, wherein the frangible joint becomes immediately reusable, as having incurred no other damage by the impact load.
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公开(公告)号：US10399674B2
公开(公告)日：2019-09-03
申请号：US14801479
申请日：2015-07-16
申请人： Insitu, Inc.
发明人： Wayne Goodrich
摘要： Systems and methods for countering an unmanned air vehicle are disclosed. Representative methods include directing an interceptor UAV toward a target UAV, and directing the interceptor UAV back to ground along a controlled flight path, for example, in response to an instruction not to engage with the target UAV, and/or in response to an unsuccessful engagement. Another representative method includes disabling the target UAV by deploying a disabling element (e.g., a net) from the interceptor UAV to contact the target UAV. Representative systems include a target acquisition system, a launch control system, and an engagement system carried by the interceptor UAV. In particular embodiments, the interceptor UAV can have a generally cylindrical fuselage, one or more fins carried by the fuselage, counter-rotating propellers carried by the fuselage, and a disabling system that is configured to disable the target UAV.
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公开(公告)号：US10242581B2
公开(公告)日：2019-03-26
申请号：US15290840
申请日：2016-10-11
申请人： Insitu, Inc.
发明人： Rolf Rysdyk
摘要： A system and method for navigating a vehicle comprising an image sensor in the absence of global positioning information is disclosed. In one embodiment, the method comprises accepting a user-selected target of an image produced by the imaging sensor, determining a difference between an optic flow due only to motion of the vehicle and the selected target of the image, determining a vehicle guidance command at least in part according to the difference between the optic flow of the selected target due to motion of the vehicle and the selected target of the image, and an estimate of a ground speed of the vehicle Vg, and commanding the vehicle at least in part according to the vehicle guidance command. Another embodiment is evidenced by an apparatus having a processor and a communicatively coupled memory storing processor instructions for performing the foregoing operations.
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公开(公告)号：US20180281924A1
公开(公告)日：2018-10-04
申请号：US15473908
申请日：2017-03-30
摘要： An aircraft includes a fuselage having a longitudinal axis, a wing assembly, and a fuselage positioning mechanism operatively connecting the fuselage to the wing assembly. The fuselage positioning mechanism is operable to move the fuselage relative to the wing assembly in a longitudinal direction parallel to the longitudinal axis between a fuselage maximum forward position and a fuselage maximum aft position. When the aircraft for flight, a position of a center of gravity of the aircraft relative to a center of lift is determined. The fuselage can be moved relative to the wing assembly to bring the center of gravity within an allowable range of distances from the center of lift to balance the aircraft for flight. The fuselage positioning mechanism can be automated to allow adjustment of the fuselage position during the flight of the aircraft.
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