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    CONTROLLED FLIGHT OF A MULTICOPTER EXPERIENCING A FAILURE AFFECTING AN EFFECTOR
    1.
    发明申请
    CONTROLLED FLIGHT OF A MULTICOPTER EXPERIENCING A FAILURE AFFECTING AN EFFECTOR 审中-公开

    公开(公告)号：US20180155009A1

    公开(公告)日：2018-06-07

    申请号：US15833385

    申请日：2017-12-06

    申请人： ETH Zurich

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

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

    CPC分类号： 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

    摘要： 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.

    Wireless communication system for game play with multiple remote-control flying craft
    4.
    发明授权
    Wireless communication system for game play with multiple remote-control flying craft 有权
    无线通信系统，用于多个遥控飞行器的游戏玩法

    公开(公告)号：US09011250B2

    公开(公告)日：2015-04-21

    申请号：US13843490

    申请日：2013-03-15

    申请人： QFO Labs, Inc.

    发明人： John Paul Condon ,  James Edward Fairman ,  Bradley Dean Pedersen

    IPC分类号： A63H3/00 ,  A63H30/04 ,  A63H27/00 ,  A63H17/32 ,  A63H17/00 ,  A63F13/00 ,  F21V23/04 ,  F41G1/36 ,  F21L4/02 ,  A63H33/26

    CPC分类号： A63F13/235 ,  A63F13/00 ,  A63F13/245 ,  A63F13/837 ,  A63H13/00 ,  A63H17/00 ,  A63H17/32 ,  A63H27/00 ,  A63H27/12 ,  A63H30/04 ,  A63H33/26 ,  A63H2200/00 ,  B64C2201/027 ,  B64C2201/042 ,  B64C2201/146 ,  B64C2203/00 ,  F21L4/027 ,  F21V23/0435 ,  F41G1/36 ,  G05D1/0033

    摘要： A gaming system for enabling three-dimensional game play of remote-control craft controlled by a controller, each craft including a communication system with both radio frequency (RF) and infrared (IR) capabilities. The system can include a plurality of hovering remote-control flying craft each controlled by a handheld controller, and further may include at least one additional game accessory elements, such as a puck, a ground station or a gun. Each pairing of craft and controllers communicate via an RF protocol that transmits at least control communications between the controller and the craft based on pair identification information in an RF communication protocol. The craft and game-accessory elements also communicate via at least an IR protocol that communicates game-play information. Selectable pairs of craft and controllers may be assigned to different teams for playing multiplayer team games based on team identification information in the RF communication protocol.

    摘要翻译： 一种用于实现由控制器控制的遥控飞行器的三维游戏的游戏系统，每个飞行器包括具有射频（RF）和红外（IR）功能的通信系统。 该系统可以包括多个由手持控制器控制的悬停的遥控飞行器，并且还可以包括至少一个额外的游戏附件，例如冰球，地面站或枪。 每一对工艺和控制器通过RF协议进行通信，射频协议基于RF通信协议中的对识别信息至少发送控制器和飞行器之间的控制通信。 工艺和游戏附件元素还通过至少一个传达游戏信息的IR协议进行通信。 可以根据RF通信协议中的团队识别信息将可选择的工艺和控制器对分配给不同的团队来玩多人团队游戏。

    Portable cockpit yoke assembly for mounting on a radio controlled transmitter used with a model airplane
    5.
    发明授权
    Portable cockpit yoke assembly for mounting on a radio controlled transmitter used with a model airplane 有权
    便携式驾驶舱轭组件，用于安装在与模型飞机一起使用的无线电控制发射器上

    公开(公告)号：US08740665B1

    公开(公告)日：2014-06-03

    申请号：US13466577

    申请日：2012-05-08

    申请人： Richard A. Bowers

    发明人： Richard A. Bowers

    IPC分类号： A63H27/00

    CPC分类号： B64C13/04 ,  A63H30/04 ,  B64C2203/00 ,  G05G1/10

    摘要： A cockpit yoke assembly adapted for mounting on top of a RC transmitter for controlling the operation of a model airplane. The yoke assembly includes a first control arm with a throttle knob. The first control arm is attached to a first ball and socket linkage adapted for attachment a first joystick on the transmitter. A rudder control lever is attached to the first control arm. The yoke assembly includes a second control arm with an elevator knob. The second control arm is attached to a second ball and socket linkage adapted for attachment to a second joystick on the transmitter. An aileron control lever is attached to the second control arm. The first and second ball and socket linkage are used for moving the first and second joysticks fore or aft and left or right during the operation of the model airplane.

    摘要翻译： 驾驶舱轭组件，适于安装在RC发射器的顶部，用于控制模型飞机的操作。 轭组件包括具有节流旋钮的第一控制臂。 第一控制臂附接到适于将第一操纵杆附接在发射器上的第一球窝连接件。 舵控制杆连接到第一控制臂。 轭组件包括具有升降器旋钮的第二控制臂。 第二控制臂附接到适于附接到发射器上的第二操纵杆的第二球窝连杆。 副翼控制杆附接到第二控制臂。 第一和第二球窝联动装置用于在模型飞机的操作期间前后左右移动第一和第二操纵杆。

    SIDED PERFORMANCE COAXIAL VERTICAL TAKEOFF AND LANDING (VTOL) UAV AND PITCH STABILITY TECHNIQUE USING OBLIQUE ACTIVE TILTING (OAT)
    6.
    发明申请
    SIDED PERFORMANCE COAXIAL VERTICAL TAKEOFF AND LANDING (VTOL) UAV AND PITCH STABILITY TECHNIQUE USING OBLIQUE ACTIVE TILTING (OAT) 有权
    侧面性能同轴垂直起落架（垂直起落架）无人机和俯仰稳定性技术使用有源倾斜（OAT）

    公开(公告)号：US20130105620A1

    公开(公告)日：2013-05-02

    申请号：US13285206

    申请日：2011-10-31

    申请人： Hamzeh Mahmoud Abde Qader Alzu'bi ,  Imad Abd Allateef ,  Yahya Zweiri ,  Basim Alkhateeb ,  Yahya Taha Ayed Al-Majali

    发明人： Hamzeh Mahmoud Abde Qader Alzu'bi ,  Imad Abd Allateef ,  Yahya Zweiri ,  Basim Alkhateeb ,  Yahya Taha Ayed Al-Majali

    IPC分类号： B64C29/00 ,  B64C27/10

    CPC分类号： B64C27/20 ,  B64C2201/027 ,  B64C2201/042 ,  B64C2203/00

    摘要： A system for increasing the thrust and power capabilities of a side by side vertical takeoff and landing vehicle and to optimize the coaxial rotor performance. The system including a first coaxial rotor spaced from an aircraft body and a second coaxial rotor spaced from the aircraft body and opposite the first coaxial rotor. The first coaxial rotor having a first top propeller aligned with a first bottom propeller along a first rotational axis. The second coaxial rotor having a second top propeller aligned with a second bottom propeller along a second rotational axis. A gyroscopic moment to maintain pitch stability is controlled by modulating the first and second top propellers having a different angular speed or different torque from the first and second bottom propellers and tilting the first and second coaxial rotors towards the central axis with a common tilt angle and a common tilt rate.

    摘要翻译： 一种用于增加并排垂直起降和降落车辆的推力和功率能力的系统，并优化同轴转子性能。 该系统包括与飞行器主体间隔开的第一同轴转子和与飞行器主体间隔开并与第一同轴转子相对的第二同轴转子。 第一同轴转子具有沿着第一旋转轴线与第一底部螺旋桨对准的第一顶部螺旋桨。 第二同轴转子具有沿着第二旋转轴线与第二底部螺旋桨对准的第二顶部螺旋桨。 通过调节具有与第一和第二底部螺旋桨不同的角速度或不同扭矩的第一和第二顶部螺旋桨，并以第一和第二底部推进器调节第一和第二同轴转子朝着中心轴线以共同的倾斜角度来控制维持俯仰稳定性的陀螺力矩，并且 共同的倾斜率。

    METHOD FOR REALIZING OR IMPROVING OBSTACLE AVOIDANCE FUNCTIONALITY OF FLYING DEVICE AND FLYING DEVICE USING THE SAME
    7.
    发明申请
    METHOD FOR REALIZING OR IMPROVING OBSTACLE AVOIDANCE FUNCTIONALITY OF FLYING DEVICE AND FLYING DEVICE USING THE SAME 审中-公开

    公开(公告)号：US20180128923A1

    公开(公告)日：2018-05-10

    申请号：US15681244

    申请日：2017-08-18

    申请人： HON HAI PRECISION INDUSTRY CO., LTD.

    发明人： MAO-KUO HSU

    IPC分类号： G01S17/93 ,  B64C39/02

    CPC分类号： G01S17/93 ,  B64C39/024 ,  B64C2201/141 ,  B64C2201/146 ,  B64C2203/00 ,  G01S13/9303 ,  G01S15/93

    摘要： This disclosure relates to a method for realizing obstacle avoidance functionality of a flying device. The method includes: providing a flying device without obstacle avoidance functionality, wherein the flying device includes a flying body and a remote controller; the flying body includes a wireless receiving module, a flying controlling module and an actuator; and second, installing a sensor and a micro controlling module; the wireless receiving module only send a first flying order that is from the remote controller, to the micro controlling module; the sensor only send an obstacle information to the micro controlling module; and the micro controlling module calculates the first flying order and the obstacle information to obtain a second flying order, and sends the second flying order to the flying controlling module; and the flying controlling module controls the flying body to fly according to the second flying order.

    Remote control system and method and usage related to such a system
    8.
    发明授权
    Remote control system and method and usage related to such a system 有权
    遥控系统及与此类系统相关的方法和用法

    公开(公告)号：US09529358B2

    公开(公告)日：2016-12-27

    申请号：US14441016

    申请日：2013-11-01

    申请人： KVASER AB

    发明人： Lars-Berno Fredriksson

    IPC分类号： A63H30/04 ,  H04L12/40 ,  B64C39/00 ,  G05D1/00 ,  B64C39/02

    CPC分类号： G05D1/0016 ,  A63H30/04 ,  B64C39/024 ,  B64C2201/146 ,  B64C2203/00

    摘要： The invention relates to a remote control system (195) comprising mobile units (190, 1102, 1105), and a by control means (106, 110) provided controller unit for these. Said units are equipped with a function performing means (161) and transferring means (207, 270) that generates information signals (301) respectively transmits the same. Signal processing means (261, 268) and their exerting function (314) for controlling the functions of the respective mobile unit are placed respectively takes place only in the current mobile device. In accordance with the proposed use in connection with the present invention object, a controller area network type of system is constructed with a distributed and integrated network structure (1751). Only signal processing means (1753) and their function exertion means (1754) for controlling of a mobile unit, which is positioned in the actual unit, is used for its control. According to the method establishes a structure of a controller area network type with modular units (1753′), nodes (1753) and a communication protocol (501) for the node communication. All messages transmitted by the nodes are received by the modular units (1754, 1792). A information comparison (1755, 176) is used to select respective message or part thereof.

    摘要翻译： 本发明涉及包括移动单元（190,1102,1105）的远程控制系统（195），以及由这些控制装置（106,110）提供的控制单元。 所述单元配备有产生信息信号（301）的功能执行装置（161）和传送装置（207,270），分别传送它们。 信号处理装置（261,268）及其用于控制​​各个移动单元的功能的作用功能（314）分别仅在当前的移动装置中进行。 根据本发明目的的提出的使用，系统的控制器区域网络类型由分布式和集成的网络结构构成（1751）。 仅用于控制位于实际单元中的移动单元的信号处理装置（1753）及其功能消耗装置（1754）用于其控制。 根据该方法建立了具有用于节点通信的模块单元（1753'），节点（1753）和通信协议（501）的控制器区域网络类型的结构。 由节点发送的所有消息都由模块单元（1754,1792）接收。 信息比较（1755,176）用于选择相应的消息或其一部分。

    CONTROLLED FLIGHT OF A MULTICOPTER EXPERIENCING A FAILURE AFFECTING AN EFFECTOR
    10.
    发明申请
    CONTROLLED FLIGHT OF A MULTICOPTER EXPERIENCING A FAILURE AFFECTING AN EFFECTOR 有权
    经营影响影响的故障的多功能人员的控制飞行

    公开(公告)号：US20160107751A1

    公开(公告)日：2016-04-21

    申请号：US14893874

    申请日：2014-06-05

    申请人： ETH ZURICH

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

    IPC分类号： B64C39/02 ,  B64D45/00 ,  B64C27/08

    CPC分类号： 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

    摘要： 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.

    摘要翻译： 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。