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1. 发明专利

JP2013010499A Method of dynamically controlling attitude of drone in order to execute flip type maneuver automatically 有权
标题翻译：动态自动控制刮板式自动执行方法
公开(公告)号：JP2013010499A
公开(公告)日：2013-01-17
申请号：JP2012144920
申请日：2012-06-28
申请人： Parrot , パロット
发明人： CALLOU FRANCOIS , RISCHMULLER MICHAEL
IPC分类号： B64C13/20 , B64C27/08
CPC分类号： G05D1/0858 , A63H27/12
摘要： PROBLEM TO BE SOLVED: To provide a method of controlling a drone in order to flip through a complete turn around its roll axis or pitch axis.SOLUTION: The control method comprises the steps of: (a) controlling respective motors of the drone simultaneously to impart a prior upward vertical thrust impulse to the drone; (b) applying different and non-servo-controlled commands to the respective motors to produce rotation of the drone around the axis of rotation of the flip, from an initial angular position to a predetermined intermediate angular position; and then (c) applying individual servo control to the respective motors to a reference target trajectory, to finish off the rotation of the drone through one complete turn around the axis of rotation, progressively from the intermediate angular position with a non-zero angular velocity to a final angular position with a zero angular velocity.
摘要翻译：要解决的问题：提供一种控制无人机的方法，以便围绕其滚动轴线或俯仰轴线完全翻转。解决方案：控制方法包括以下步骤：（a）同时控制无人机的各个电动机，以向无人机提供先前的向上垂直推力冲击; （b）将不同的和非伺服控制的命令应用于相应的电动机，以使无人机围绕翻盖的旋转轴线从初始角位置旋转到预定的中间角位置; 然后（c）将单独的伺服控制应用于各个电动机到参考目标轨迹，以从零中角度位置逐渐地以非零角速度逐渐地完成无人机的旋转，从而完成围绕旋转轴线的一整圈的旋转到零角速度的最终角位置。版权所有（C）2013，JPO＆INPIT

2. 发明专利

JP2013139256A Method for piloting rotary wing drone to photographing by onboard camera while minimizing disturbing movement 有权
标题翻译：通过板载摄像机在旋转运动中最小化拍摄旋转滚轮以拍摄照片的方法
公开(公告)号：JP2013139256A
公开(公告)日：2013-07-18
申请号：JP2013000221
申请日：2013-01-04
申请人： Parrot , パロット
发明人： RISCHMULLER MICHAEL , CALLOU FRANCOIS
IPC分类号： B64C13/20 , B64C39/02 , B64D47/08 , G05D1/00 , H04N5/225 , H04N5/232
CPC分类号： G05D1/0038 , A63H27/12 , A63H30/04 , G05D1/0094 , H04N5/23216 , H04N5/23245 , H04N5/23248
摘要： PROBLEM TO BE SOLVED: To provide a stabilization technique that allows to produce a video image sequence with the least possible adverse movements reflected in the image.SOLUTION: A drone 10 comprises an onboard video camera 14 picking up a sequence of images to be transmitted to a remote controller. A user selects a shooting mode such as forward or sideways, panoramic or boom plane, tracking, defining a trajectory to be transmitted to the drone. Corresponding setpoint values are generated and applied to a processing subsystem for controlling the motors of the drone. Once the drone is stabilized on a predetermined trajectory 38, shooting by the video camera 14 is started and the trajectory is stabilized by an open loop control, thereby avoiding oscillation inherent in servo control with feedback loop.
摘要翻译：要解决的问题：提供一种稳定技术，其允许产生具有反映在图像中的最小可能的不利移动的视频图像序列。解决方案：无人机10包括车载摄像机14，拾取要发送的图像序列遥控器。用户选择诸如向前或侧向，全景或起重臂平面的拍摄模式，跟踪，定义要发送到无人机的轨迹。生成相应的设定值并将其应用于用于控制无人机的电动机的处理子系统。一旦无人机在预定轨迹38上稳定，则开始摄像机14的拍摄，并且通过开环控制来稳定轨迹，从而避免具有反馈回路的伺服控制固有的振荡。

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