公开(公告)号：US20170364093A1

公开(公告)日：2017-12-21

申请号：US15628541

申请日：2017-06-20

Applicant: PARROT DRONES

Inventor： Marc Mari Mari ,  Gauthier Lavagen ,  Yoni Benatar

IPC: G05D1/08 ,  G05D1/02 ,  B64C13/16 ,  B64C27/26

CPC classification number: G05D1/0825 ,  B64C13/16 ,  B64C27/26 ,  B64C39/024 ,  B64C2201/088 ,  B64C2201/104 ,  B64C2201/108 ,  B64C2201/14 ,  B64C2201/165 ,  G05D1/0202 ,  G05D1/0808 ,  G05D1/085 ,  G05D1/0858

Abstract: A method for dynamically controlling the attitude of a rotary-wing drone. The method includes dynamically controlling the attitude of the drone when the drone is flying using lift of each of four wings of the drone, by controlling the attitude of the drone by sending differentiated commands to one or more propulsion units of the drone so as to rotate the drone about a roll axis and/or pitch axis and/or heading axis of the drone from a current angular position to a final angular position, the axes being defined in the reference point of the drone.

公开(公告)号：US20170371352A1

公开(公告)日：2017-12-28

申请号：US15635138

申请日：2017-06-27

Applicant: PARROT DRONES

Inventor： Marc Mari Mari ,  Yoni BENATAR

IPC: G05D1/08 ,  B64C29/02 ,  B64C39/02

CPC classification number: G05D1/0858 ,  B64C29/02 ,  B64C39/024 ,  B64C2201/042 ,  B64C2201/104 ,  B64C2201/108

Abstract: A method for dynamically converting the attitude of a rotary-wing drone that includes a body including an electronic board controlling the piloting of the drone and four link arms forming lift-producing wings, each arm including a rigidly connected propulsion unit. The method includes executing, on reception of an instruction allowing a conversion between flight using the rotary wings and flight using the lift of the wings, the conversion being defined by a pitch angle to be achieved θref, of a repeated sequence of steps until the pitch angle θref is achieved, including estimating the current pitch angle θest of the drone, determining an angular trajectory depending on the pitch angle to be achieved θref, and sending one or more differentiated commands based upon the angular trajectory and the current estimated pitch angle θest to one or more propulsion units such that the drone is rotated about the pitch axis.