公开(公告)号：US11161623B2

公开(公告)日：2021-11-02

申请号：US16821601

申请日：2020-03-17

Applicant: Kitty Hawk Corporation

Inventor： Alexander David Selwa ,  Mark Johnson Cutler

IPC: B64D45/00 ,  G07C5/08 ,  G07C5/00 ,  G05D1/08

Abstract: A flight-time variable associated with an aircraft is determined including by determining the flight-time variable while the aircraft is flying. It is determined whether the aircraft is airworthy based at least in part on the flight-time variable. In response to determining that the aircraft is not airworthy, the aircraft is automatically landed.

公开(公告)号：US10822113B2

公开(公告)日：2020-11-03

申请号：US16126950

申请日：2018-09-10

Applicant: Kitty Hawk Corporation

Inventor： Mark Johnson Cutler

IPC: B64D45/00 ,  G01C21/16 ,  B64C13/16 ,  B64F5/60

Abstract: Sensor data is received from an inertial measurement unit on a vehicle. An observed attitude and an observed attitude rate of the vehicle are determined based on the sensor data. Using a model associated with a vehicle failure mode, an expected attitude and an expected attitude rate of the vehicle are determined. A malfunctioning rotor is determined based on the observed attitude, the observed attitude rate, the expected attitude, and the expected attitude rate. In response to identifying the malfunctioning rotor, a responsive action is performed, including by updating a geometry matrix so that at least one non-malfunctioning rotor in the plurality of rotors compensates for the malfunctioning rotor.

公开(公告)号：US10649468B2

公开(公告)日：2020-05-12

申请号：US16379621

申请日：2019-04-09

Applicant: Kitty Hawk Corporation

Inventor： Mark Johnson Cutler ,  Alexander David Selwa

IPC: B64C39/02 ,  G05D1/06 ,  G05D1/04 ,  B64C29/00 ,  G05D1/00

Abstract: Autonomous flight is performed in an open loop mode over a first range of altitudes, wherein a plurality altitude-related data from a plurality of altitude-related sensors is ignored while performing the autonomous flight in the open loop mode. The autonomous flight is performed in a closed loop mode over a second range of altitudes, wherein: the plurality of altitude-related data from the plurality of altitude-related sensors is used while performing the autonomous flight in the closed loop mode, and the first range of altitudes is a non-overlapping, lower range of altitudes compared to the second range of altitudes.

公开(公告)号：US10526079B1

公开(公告)日：2020-01-07

申请号：US16191888

申请日：2018-11-15

Applicant: Kitty Hawk Corporation

Inventor： Todd Reichert ,  Cameron Robertson ,  Mark Johnson Cutler

IPC: B64C27/08 ,  B64C25/54 ,  B64C27/00

Abstract: An inner middle rotor is rotated while an inner front rotor, an inner back rotor, and an outer rotor are not rotated. The inner middle rotor is surrounded by the inner front rotor, the inner back rotor, the outer rotor, and a fuselage. After rotating the inner middle rotor while not rotating the inner front rotor, the inner back rotor, and the outer rotor, the inner middle rotor, the inner front rotor, the inner back rotor, and the outer rotor are simultaneously rotated.

公开(公告)号：US10427782B2

公开(公告)日：2019-10-01

申请号：US16107518

申请日：2018-08-21

Applicant: Kitty Hawk Corporation

Inventor： Todd Reichert ,  Cameron Robertson ,  Mark Johnson Cutler

IPC: B64C27/08 ,  B64C25/54 ,  B64C27/20 ,  B64C27/00

Abstract: A vertical takeoff and flying at a constant altitude are performed using an aircraft. The aircraft includes a fuselage, a left arm (attached to the fuselage), a right arm (attached to the fuselage), a left float (attached to the left arm), a right float (attached to the right arm), and a plurality of rotors. The plurality of rotors includes a left inner rotor and a right inner rotor (attached at a fixed angle to a top surface of the left float and the right float, respectively) and a left outer rotor and a right outer rotor (attached at a fixed angle to a top surface of the distal end of the left arm and the right arm, respectively).

公开(公告)号：US20190235524A1

公开(公告)日：2019-08-01

申请号：US16379621

申请日：2019-04-09

Applicant: Kitty Hawk Corporation

Inventor： Mark Johnson Cutler ,  Alexander David Selwa

IPC: G05D1/06 ,  G05D1/04 ,  B64C29/00 ,  G05D1/00

CPC classification number: G05D1/0669 ,  B64C29/0016 ,  B64C39/024 ,  B64C2201/141 ,  G05D1/0088 ,  G05D1/042 ,  G05D1/0676

Abstract: Autonomous flight is performed in an open loop mode over a first range of altitudes, wherein a plurality altitude-related data from a plurality of altitude-related sensors is ignored while performing the autonomous flight in the open loop mode. The autonomous flight is performed in a closed loop mode over a second range of altitudes, wherein: the plurality of altitude-related data from the plurality of altitude-related sensors is used while performing the autonomous flight in the closed loop mode, and the first range of altitudes is a non-overlapping, lower range of altitudes compared to the second range of altitudes.

公开(公告)号：US10273021B1

公开(公告)日：2019-04-30

申请号：US16016009

申请日：2018-06-22

Applicant: Kitty Hawk Corporation

Inventor： Alexander David Selwa ,  Mark Johnson Cutler

IPC: B64D45/00 ,  G07C5/00 ,  G07C5/08 ,  G05D1/08

Abstract: A flight-time variable associated with an aircraft is determined including by determining the flight-time variable while the aircraft is flying. It is determined whether the aircraft is airworthy based at least in part on the flight-time variable. In response to determining that the aircraft is not airworthy, the aircraft is automatically landed.

公开(公告)号：US10223925B2

公开(公告)日：2019-03-05

申请号：US15470660

申请日：2017-03-27

Applicant: Kitty Hawk Corporation

Inventor： Mark Johnson Cutler

IPC: G05D1/00 ,  G05D1/06 ,  G08G5/02 ,  B64C27/12 ,  B64C27/08 ,  B64D25/00 ,  G05D1/10 ,  B64C39/02 ,  B64D45/04 ,  G08G5/00 ,  B64D45/00

Abstract: An emergency landing procedure that includes a sequence of control settings is continuously generated. An aircraft is landed, including by using the sequence of control settings and a set of one or more inertial sensors to control an actuator.

公开(公告)号：US20190016450A1

公开(公告)日：2019-01-17

申请号：US16107518

申请日：2018-08-21

Applicant: Kitty Hawk Corporation

Inventor： Todd Reichert ,  Cameron Robertson ,  Mark Johnson Cutler

IPC: B64C27/08

CPC classification number: B64C27/08 ,  B64C25/54 ,  B64C27/001 ,  B64C27/20

Abstract: A vertical takeoff and flying at a constant altitude are performed using an aircraft. The aircraft includes a fuselage, a left arm (attached to the fuselage), a right arm (attached to the fuselage), a left float (attached to the left arm), a right float (attached to the right arm), and a plurality of rotors. The plurality of rotors includes a left inner rotor and a right inner rotor (attached at a fixed angle to a top surface of the left float and the right float, respectively) and a left outer rotor and a right outer rotor (attached at a fixed angle to a top surface of the distal end of the left arm and the right arm, respectively).

公开(公告)号：US10144504B1

公开(公告)日：2018-12-04

申请号：US15693804

申请日：2017-09-01

Applicant: Kitty Hawk Corporation

Inventor： Alexander David Selwa ,  Todd Reichert ,  Mark Johnson Cutler

IPC: B64C13/12 ,  B64C13/04 ,  B64C27/08 ,  G05D1/08 ,  G05D1/10 ,  G05G9/047

Abstract: Hand controls for an aircraft, including a single axis hand control which is configured to control movement of an aircraft along a vertical axis where the aircraft includes a plurality of rotors that are attached to the aircraft at a fixed position and the plurality of rotors rotate independently of one another. The hand controls further include a three axis hand control which is configured to control movement of the aircraft within a plane defined by a roll axis and a pitch axis, as well as about a yaw axis.