公开(公告)号：WO2017125533A1

公开(公告)日：2017-07-27

申请号：PCT/EP2017/051155

申请日：2017-01-20

Applicant: PROX DYNAMICS AS

Inventor： MUREN, Petter ,  MARTON, Trygve Frederik ,  JOHNSRUD, Ivar ,  HAGH SANDBERG, Pål ,  MOENGEN, Christian ,  BJAARSTAD, Jo Eyvin

IPC: B64C27/32 ,  B64C27/48 ,  B64C27/00

CPC classification number: B64C27/48 ,  A63H27/12 ,  B64C27/322 ,  B64C2027/003 ,  B64C2201/024

Abstract: A torque dependent rotor assembly (1) with a spring system (100), the torque dependent rotor assembly (1) being designed to operate in resonance, where changes in applied torque on the rotor controls the blade pitch angle and ultimately the movements of a rotary wing aircraft. The stiffness of an associated spring member (14) is allowed to vary in response to the torque applied from a motor (31) to the rotor assembly (1).

Abstract translation: 具有弹簧系统（100）的扭矩相关转子组件（1），所述扭矩相关转子组件（1）被设计成共振地操作，其中所述转子上施加的扭矩的变化控制所述叶片 俯仰角以及最终旋翼飞机的运动。 允许相关的弹簧构件（14）的刚度响应于从马达（31）施加到转子组件（1）的扭矩而变化。

公开(公告)号：WO2016116478A1

公开(公告)日：2016-07-28

申请号：PCT/EP2016/051065

申请日：2016-01-20

Applicant: PROX DYNAMICS AS

Inventor： MUREN, Petter ,  MARTON, Trygve Frederik ,  JOHNSRUD, Ivar ,  HAGH SANDBERG, Pål

IPC: B64C27/51 ,  A63H27/00 ,  B64C27/58 ,  B64C27/72

CPC classification number: B64C27/72 ,  A63H27/12 ,  B64C27/51 ,  B64C27/58 ,  B64C2201/024 ,  Y02T50/34

Abstract: The present invention discloses a rotor control system where rapid changes in rotor torque are transferred into moment forces acting about the blade pitch axis of a rotor blade in a thrust-generating rotor, to ultimately control the movements of a rotary wing aircraft. The moment forces acting on the rotor blade are transferred through a carefully adjusted damping member in order to allow rapid changes in rotor torque to create cyclic changes in blade pitch angle, while slow or permanent changes are cancelled out and affects the rotational speed and the thrust generated by the rotor, without permanently affecting the blade pitch angle of individual rotor blades.

Abstract translation: 本发明公开了一种转子控制系统，其中转子转矩的快速变化被转移到在推力产生转子中作用在转子叶片的叶片俯仰轴线上的力矩中，以最终控制旋翼飞机的运动。 作用在转子叶片上的力矩通过仔细调节的阻尼构件传递，以便允许转子扭矩的快速变化，从而产生叶片俯仰角的循环变化，同时缓慢或永久性的变化被抵消并影响转速和推力 由转子产生，而不会永久影响各个转子叶片的叶片桨距角。

公开(公告)号：WO2011078684A3

公开(公告)日：2011-06-30

申请号：PCT/NO2010/000466

申请日：2010-12-15

Applicant: PROX DYNAMICS AS ,  MUREN, Petter

Inventor： MUREN, Petter

IPC: B64C27/605 ,  B64C27/68

Abstract: The present invention provides a rotor assembly for helicopter vehicles for providing an easy way of controlling pitch, roll and lift of the aircraft by respective servo actuators (8a, 8b, 8c). The rotor assembly has a rotor shaft (5a) and at least two rotor blades (la) coupled to a rotor head (2) which in turn is connected to the rotor shaft. The rotor assembly further comprises a non- rotating swash plate (7) through which centre the rotor shaft runs, being adjusted to tilt around its entire radial axis. A respective pitch hinge (2b) for each rotor blade connecting said respective rotor blade to the rotor head is provided, wherein a hinge axis which the pitch hinge rotates around is generally parallel to and is positioned in front of the longitudinal centre axis of the respective rotor blade in the rotational direction. A respective guide member (6) for each rotor blade is connected to an inner blade tip (16). The inner blade tip is positioned in front of the hinge axis in the rotational direction, and the guide member is adjusted to follow an upper surface of the non -rotating swash plate when the rotor assembly rotates. One or more forces, e.g. a magnetic (3,4) and/or an aerodynamic force, are applied on the rotor blades being sufficiently strong to create a valve effect on the pitch hinge pressing the guide members downwards against the non -rotating swash plate, whereby movements of the non-rotating swash plate are transferred to blade pitch movements of the rotor blades.

公开(公告)号：WO2013139509A1

公开(公告)日：2013-09-26

申请号：PCT/EP2013/051485

申请日：2013-01-25

Applicant: PROX DYNAMICS AS

Inventor： PAULSEN, Dag Henning ,  MUREN, Petter

IPC: G05D1/00

CPC classification number: B64C19/00 ,  G05D1/0038

Abstract: The embodiments herein disclose a method and a remote control for controlling and monitoring surrounding areas of an Unmanned Aerial Vehicle (UAV) by an operator with a remote control comprising a flight display. The embodiments disclose combining the image captured by a UAV camera with a transparently overlaid positional and navigation map providing a perceptual view enabling the operator to have a complete overall view of the situation. Observation images overlaid by positional and navigation information in the way described has shown surprising and advantageous effects.

Abstract translation: 本文的实施例公开了一种用于由包括飞行显示器的遥控器的操作者控制和监视无人驾驶飞行器（UAV）的周围区域的方法和遥控器。 这些实施例公开了将由UAV摄像机捕获的图像与透明地重叠的位置和导航地图组合，从而提供感知视图，使得操作者能够对情况进行完整的整体观察。 通过位置和导航信息覆盖的观察图像以所描述的方式显示出令人惊奇和有利的效果。

公开(公告)号：WO2017125489A1

公开(公告)日：2017-07-27

申请号：PCT/EP2017/051076

申请日：2017-01-19

Applicant: PROX DYNAMICS AS

Inventor： MUREN, Petter ,  MARTON, Trygve Frederik ,  JOHNSRUD, Ivar ,  HAGH SANDBERG, Pål ,  MOENGEN, Christian ,  BJAARSTAD, Jo Eyvin

IPC: B64C27/32 ,  B64C27/48 ,  B64C27/00

CPC classification number: B64C27/48 ,  A63H27/12 ,  B64C27/322 ,  B64C2027/003 ,  B64C2201/024

Abstract: A torque dependent and resonant operating thrust-generating rotor assembly (10, 11), comprising a cyclic pitch control system for controlling tilting moments about a longitudinal rotor blade axis (15) of one or more rotor blades (12a, 12b) in order to control the pitch angle of these rotor blades (12a, 12b) and thereby also the horizontal movements of a helicopter vehicle or a rotary wing aircraft. A rotor torque assembly (10) of the rotor assembly (10, 11) is further adjusted to operate in resonance, thereby providing a resonant gain effecting a rotational offset in relation to changes in torque generated by a motor.

Abstract translation: （10,11），其包括用于控制围绕一个或多个转子叶片（15）的纵向转子叶片轴线（15）的倾斜力矩的周期性倾斜控制系统， （12a，12b），以便控制这些转子叶片（12a，12b）的倾斜角并且由此也控制直升机飞行器或旋翼飞行器的水平运动。 转子组件（10,11）的转子扭矩组件（10）被进一步调节以共振工作，从而提供相对于马达产生的扭矩变化产生旋转偏移的共振增益。

公开(公告)号：WO2016150987A1

公开(公告)日：2016-09-29

申请号：PCT/EP2016/056311

申请日：2016-03-23

Applicant: PROX DYNAMICS AS

Inventor： FALK-PETTERSEN, Erik ,  RØER THORSEN, Ola ,  MUREN, Petter

IPC: G05D1/00

CPC classification number: G05D1/0094 ,  B64C39/024 ,  B64C2201/108 ,  B64C2201/127 ,  B64C2201/141 ,  B64C2201/146 ,  G05D1/0016 ,  G05D1/0038 ,  G05D1/101 ,  G06F3/033 ,  H04N5/23203 ,  H04N5/23216 ,  H04N5/23293 ,  H04N5/33

Abstract: The presented embodiments relates to a path-based flight maneuvering system and a method for providing easier operation control and enhanced operation capability of unmanned aerial vehicles and their associated features. The embodiments further entails a method for maneuvering an aircraft by means of a positioning device, a camera and a display displaying an image captured by the camera including a cursor projected on the image in the display.

Abstract translation: 所提出的实施例涉及基于路径的飞行操纵系统和用于提供无人机及其相关特征的更容易的操作控制和增强的操作能力的方法。 这些实施例进一步涉及一种通过定位装置，相机和显示器显示由相机捕捉的图像的机器来操纵飞行器的方法，包括投影在显示器上的图像上的光标。

公开(公告)号：WO2012130790A2

公开(公告)日：2012-10-04

申请号：PCT/EP2012/055298

申请日：2012-03-26

Applicant: PROX DYNAMICS AS ,  MUREN, Petter

Inventor： MUREN, Petter

IPC: B64C39/02

CPC classification number: B64C39/024 ,  A63H27/12 ,  B64C39/028 ,  B64C2201/024 ,  B64C2201/127 ,  B64C2201/201 ,  B64C2201/203 ,  B64C2203/00 ,  B64D47/08

Abstract: The embodiments herein disclose a personal UAV kit for storing, preparing and remote control of micro UAVs. The UAV kit includes a base unit, a control unit and at least one UAV. The UAVs can typically be a winged aircraft with foldable wings or a helicopter with a two-bladed or foldable rotor. The base unit comprises UAV compartments for housing at least one UAV, a bay for storing the control unit, batteries and electronic components for charging, communication, control and processing and storing of data. In addition, the system includes an eye near display device for viewing system information and sensor data, typically live video, transmitted from the UAV.

Abstract translation: 本文的实施例公开了用于存储，准备和远程控制微型无人机的个人UAV套件。 UAV套件包括基本单元，控制单元和至少一个UAV。 无人机通常可以是具有可折叠翼的有翼飞机或具有双叶片或可折叠转子的直升机。 基座单元包括用于容纳至少一个UAV的UAV隔间，用于存储控制单元的舱，用于对数据进行充电，通信，控制和处理和存储的电池和电子组件。 此外，该系统包括用于观看系统信息的眼睛附近，以及从UAV发送的通常是实时视频的传感器数据。

公开(公告)号：WO2010114387A1

公开(公告)日：2010-10-07

申请号：PCT/NO2010/000122

申请日：2010-03-24

Applicant: PROX DYNAMICS AS ,  MUREN, Petter ,  SANDBERG, Pål

Inventor： MUREN, Petter ,  SANDBERG, Pål

IPC: B64C27/59 ,  A63H27/127

CPC classification number: A63H27/12

Abstract: The present invention discloses a rotor assembly that enables a rotor to be magnetically mounted on a rotor shaft. The thrust from the rotor is transmitted to the shaft by magnets, while mechanical members transfer torque from the shaft to the rotor. If the rotor blades hit an obstacle the magnetic forces will no longer be able to hold the rotor in place and it will disconnect from the shaft.

Abstract translation: 本发明公开了一种转子组件，其能够使转子磁性地安装在转子轴上。 来自转子的推力通过磁体传递到轴，而机械构件将扭矩从轴传递到转子。 如果转子叶片碰到障碍物，磁力将不再能够将转子保持在适当位置，并且它将与轴断开。

公开(公告)号：WO2016131847A1

公开(公告)日：2016-08-25

申请号：PCT/EP2016/053302

申请日：2016-02-17

Applicant: PROX DYNAMICS AS

Inventor： MELBY, Jorunn Helene ,  SYVERTSEN, Jørgen ,  MUREN, Petter ,  JOHANSEN, Tom-Ivar

IPC: G01C11/06 ,  G06T7/00 ,  G01C5/00

CPC classification number: G01C11/06 ,  B64C39/024 ,  B64C2201/141 ,  G01C5/005 ,  G01S11/12 ,  G05D1/042 ,  G05D1/046 ,  G06T7/579 ,  G06T7/70 ,  G06T2207/10032 ,  H04N5/2253

Abstract: The present invention relates to a system and a method for measuring and determining the depth, offset and translation in relation to one or several features in the field of view of an image sensor equipped UAV. The UAV comprises at least an autopilot system capable of estimating rotation and translation, processing means, height measuring means and one or more imaging sensor means. Given the estimated translation provided by the autopilot system, the objective of the present invention is achieved by the following method; capturing an image, initiating a change in altitude, capturing a second image, comparing the images and the change in height provided by the sensor to produce a scale factor or depth. If depth is estimated, then calculating the scale factor from the depth, and calculating the actual translation with the resulting scale factor.

Abstract translation: 本发明涉及一种用于测量和确定与装备图像传感器的UAV的视野中的一个或多个特征相关的深度，偏移和平移的系统和方法。 无人机至少包括能够估计旋转和平移的自动驾驶系统，处理装置，高度测量装置和一个或多个成像传感器装置。 给定由自动驾驶仪系统提供的估计翻译，本发明的目的通过以下方法实现： 拍摄图像，启动高度变化，捕获第二图像，比较图像和由传感器提供的高度变化以产生比例因子或深度。 如果估计深度，则从深度计算比例因子，并用所得比例因子计算实际平移。

公开(公告)号：WO2013174559A1

公开(公告)日：2013-11-28

申请号：PCT/EP2013/057026

申请日：2013-04-03

Applicant: PROX DYNAMICS AS

Inventor： HALL, Alexander Philip ,  MARTON, Trygve Frederik ,  MUREN, Petter

IPC: G05D1/10

CPC classification number: G05D1/0204 ,  G05D1/101

Abstract: Local wind fields can be predicted if both the airspeed and the ground speed of the helicopter are known. An aircraft that uses an inertial navigation unit, autopilot and estimator allows a measure of ground speed to be known with good certainty. The embodiments herein extends this system to allow an estimate of the local wind field to be found without actively using an airspeed sensor, but instead combining the measurements of an accelerometer and a drag force model and a model of controlled aerodynamics of the aircraft to estimate the airspeed, which again can be used to estimate the local wind speed.

Abstract translation: 如果直升机的空速和地面速度都已知，则可以预测局部风场。 使用惯性导航单元，自动驾驶仪和估计器的飞机可以很好地确定地面速度的测量。 这里的实施例扩展了该系统以允许在不主动使用空速传感器的情况下找到局部风场的估计，而是组合加速度计和拖曳力模型的测量以及飞行器的受控空气动力学模型以估计 空速，再次可以用来估计当地的风速。