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    METHOD FOR REALIZING OR IMPROVING OBSTACLE AVOIDANCE FUNCTIONALITY OF FLYING DEVICE AND FLYING DEVICE USING THE SAME
    2.
    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
    3.
    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
    5.
    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。

    UAV kit
    8.
    发明授权
    UAV kit 有权
    无人机套件

    公开(公告)号：US09038938B2

    公开(公告)日：2015-05-26

    申请号：US14003406

    申请日：2012-03-26

    申请人： Petter Muren ,  Trygve Frederik Marton ,  Geir Morten Mellem ,  Dag Henning Paulsen

    发明人： Petter Muren ,  Trygve Frederik Marton ,  Geir Morten Mellem ,  Dag Henning Paulsen

    IPC分类号： B64C39/02 ,  A63H27/00 ,  B64D47/08

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

    摘要： The embodiments herein disclose a personal UAV kit for storing, preparing and remote control of micro UAVs (40). The UAV kit includes a base unit (10), a control unit (30) 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, bay (14) 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.

    摘要翻译： 本文的实施方案公开了用于存储，准备和远程控制微型无人机（40）的个人UAV套件。 UAV套件包括基本单元（10），控制单元（30）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（14），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。

    Manually pivoting wings on a toy airplane
    9.
    发明授权
    Manually pivoting wings on a toy airplane 失效
    在玩具飞机上手动旋转翅膀

    公开(公告)号：US08764506B2

    公开(公告)日：2014-07-01

    申请号：US13283737

    申请日：2011-10-28

    申请人： Jon Vanderbeek ,  Ryan Kratz

    发明人： Jon Vanderbeek ,  Ryan Kratz

    IPC分类号： A63H27/00

    CPC分类号： A63H27/007 ,  A63H27/14 ,  B64C2203/00

    摘要： An embodiment of the invention includes a flying vehicle having a fuselage, a pair of wings, the ability to manually apply a force against a portion of the wings causing the leading edge of each wing to sweep outwardly, the ability to mechanically holding the wings in a predetermined swept position, and the ability to bias the wings towards an initial inwardly swept position. A launcher rod with a rubber band is used to launch the vehicle.

    摘要翻译： 本发明的一个实施例包括具有机身，一对机翼的飞行车辆，能够手动地将力抵靠在翼的一部分上，使得每个机翼的前缘向外扫掠，将机翼保持在机械上的能力 预定的扫掠位置，以及将翼朝向初始向内扫掠位置偏置的能力。 用橡皮筋的发射杆用于发射车辆。