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1. 发明申请

WO2017066662A1 PARACHUTE CONTROL SYSTEM FOR AN UNMANNED AERIAL VEHICLE 审中-公开
标题翻译：无人驾驶航空器的PARACHUTE控制系统
公开(公告)号：WO2017066662A1
公开(公告)日：2017-04-20
申请号：PCT/US2016/057171
申请日：2016-10-14
申请人： FLIRTEY HOLDINGS, INC.
发明人： FATHALLAH, Michel , SWEENEY, Matthew , BASS, Tom , BADDAM, Kranthi , FOGGIA, John R.
IPC分类号： B64D17/80 , B64C9/32 , B64C25/56 , B64C27/08 , B64D17/00
CPC分类号： B64D17/80 , B64C25/58 , B64C39/024 , B64C2201/108 , B64C2201/146 , B64C2201/185 , B64D17/70 , B64D45/00 , G05D1/0038 , G05D1/105
摘要： Disclosed is a technique for landing a drone using a parachute. The technique includes a parachute deployment system (PDS) that can deploy a parachute installed in a drone and land the drone safely. The parachute may be deployed automatically, e.g., in response to a variety of failures such as a free fall, or manually from a base unit operated by a remote user. For example, the PDS can determine the failure of the drone based on data obtained from an accelerometer, a gyroscope, a magnetometer and a barometer of the drone and automatically deploy the parachute if any failure is determined. In another example, the remote user can "kill" the drone, that is, cut off the power supply to the drone and deploy the parachute by activating an onboard "kill" switch from the base unit.
摘要翻译：公开了一种使用降落伞着陆无人机的技术。该技术包括一个降落伞部署系统（PDS），可以部署安装在无人机中的降落伞并安全降落该无人机。降落伞可以自动部署，例如响应于诸如自由落体之类的各种故障，或者由远程用户操作的基座单元手动地进行。例如，PDS可以根据从无人机的加速度计，陀螺仪，磁力计和气压计获得的数据确定无人机的故障，并在确定出现故障时自动部署降落伞。在另一个例子中，远程用户可以“杀死” 无人机，即，切断无人机的电源并通过激活机载“杀死”来部署降落伞。从基本单元切换。

2. 发明申请

WO2006076647B1 AUTOROTATION FLIGHT CONTROL SYSTEM 审中-公开
标题翻译：自动飞行控制系统
公开(公告)号：WO2006076647B1
公开(公告)日：2007-08-16
申请号：PCT/US2006001347
申请日：2006-01-13
申请人： SYSTEMS TECHNOLOGY INC , BACHELDER EDWARD N , LEE DONG-CHAN , APONSO BIMAL
发明人： BACHELDER EDWARD N , LEE DONG-CHAN , APONSO BIMAL
IPC分类号： B64C23/00
CPC分类号： G05D1/105 , G05D1/0858
摘要： The present invention provides computer implemented methodology that permits the safe landing and recovery of rotorcraft following engine failure. With this invention successful autorotations may be performed from well within the unsafe operating area of the height- velocity profile of a helicopter by employing the fast and robust real-time trajectory optimization algorithm that commands control motion through an intuitive pilot display, or directly in the case of autonomous rotorcraft. The algorithm generates optimal trajectories and control commands via the direct-collocation optimization method, solved using a nonlinear programming problem solver. The control inputs computed are collective pitch and aircraft pitch, which are easily tracked and manipulated by the pilot or converted to control actuator commands for automated operation during autorotation in the case of an autonomous rotorcraft. The formulation of the optimal control problem has been carefully tailored so the solutions resemble those of an expert pilot, accounting for the performance limitations of the rotorcraft and safety concerns.
摘要翻译：本发明提供计算机实现的方法，其允许在发动机故障之后安全着陆和恢复旋翼飞机。利用本发明，可以通过采用快速且鲁棒的实时轨迹优化算法，在直升机的高度 - 速度分布的不安全操作区域内完成成功的自动转换，其通过直观的飞行员显示来命令控制运动，或直接在直升机自主旋翼航空器案例该算法通过直接配置优化方法生成最优轨迹和控制命令，使用非线性规划问题求解器求解。所计算的控制输入是集体俯仰和飞行器俯仰，它们可以由飞行员轻松跟踪和操纵，或者在自主旋翼航空器的情况下转换成自动运行的控制执行器命令。精心设计的最优控制问题已经得到了精心的定制，因此解决方案与专家级飞行员的解决方案类似，涉及旋翼航空器的性能限制和安全性问题。

3. 发明申请

WO2006076647A2 AUTOROTATION FLIGHT CONTROL SYSTEM 审中-公开
标题翻译：自动飞行控制系统
公开(公告)号：WO2006076647A2
公开(公告)日：2006-07-20
申请号：PCT/US2006001347
申请日：2006-01-13
申请人： SYSTEMS TECHNOLOGY INC , BACHELDER EDWARD N , LEE DONG-CHAN , APONSO BIMAL
发明人： BACHELDER EDWARD N , LEE DONG-CHAN , APONSO BIMAL
IPC分类号： G01C23/00
CPC分类号： G05D1/105 , G05D1/0858
摘要： The present invention provides computer implemented methodology that permits the safe landing and recovery of rotorcraft following engine failure. With this invention successful autorotations may be performed from well within the unsafe operating area of the height- velocity profile of a helicopter by employing the fast and robust real-time trajectory optimization algorithm that commands control motion through an intuitive pilot display, or directly in the case of autonomous rotorcraft. The algorithm generates optimal trajectories and control commands via the direct-collocation optimization method, solved using a nonlinear programming problem solver. The control inputs computed are collective pitch and aircraft pitch, which are easily tracked and manipulated by the pilot or converted to control actuator commands for automated operation during autorotation in the case of an autonomous rotorcraft. The formulation of the optimal control problem has been carefully tailored so the solutions resemble those of an expert pilot, accounting for the performance limitations of the rotorcraft and safety concerns.
摘要翻译：本发明提供计算机实现的方法，其允许在发动机故障之后安全着陆和恢复旋翼飞机。利用本发明，可以通过采用快速且鲁棒的实时轨迹优化算法，在直升机的高度 - 速度分布的不安全操作区域内完成成功的自动转换，其通过直观的飞行员显示来命令控制运动，或直接在直升机自主旋翼航空器案例该算法通过直接配置优化方法生成最优轨迹和控制命令，使用非线性规划问题求解器求解。计算出的控制输入是集体俯仰和飞行器俯仰，它们可以由飞行员轻松跟踪和操纵，或者在自主旋翼航空器的情况下转换为自动运行的控制执行器命令。精心设计的最优控制问题已经得到了精心的定制，因此解决方案与专家级飞行员的解决方案相类似，涉及旋翼航空器的性能限制和安全性问题。

4. 发明申请

WO2017037434A1 A VEHICLE COMPRISING AN ENGINE RESTART SYSTEM 审中-公开
标题翻译：包含发动机重启系统的车辆
公开(公告)号：WO2017037434A1
公开(公告)日：2017-03-09
申请号：PCT/GB2016/052658
申请日：2016-08-26
申请人： BAE SYSTEMS PLC
发明人： WOODHOUSE, Gordon, Charles , BOSTON, Luke, Michael
IPC分类号： B64D31/06 , B64D45/04 , G05D1/10
CPC分类号： B64D31/06 , B64D45/04 , G05D1/105 , Y02T50/54
摘要： A vehicle (100) comprising: an engine (102); a system for starting the engine (102); a fault detection module (120); an electrical power source (110); and a controller (116, 122). The controller (116, 122) is configured to, responsive to the fault detection module (120) detecting a fault occurring with the engine (102): determine a window in which to attempt to start the engine (102); control the electrical power source (110) to provide electrical power to the system for starting the engine (102); and control the system for starting the engine (102) to attempt to start the engine (102) using the supplied electrical power only during the determined window.
摘要翻译：一种车辆（100），包括：发动机（102）; 用于启动发动机（102）的系统; 故障检测模块（120）; 电源（110）; 和控制器（116,122）。控制器（116,122）被配置为响应故障检测模块（120）检测与发动机（102）发生的故障：确定尝试启动发动机（102）的窗口; 控制电源（110）以向系统提供电力以启动发动机（102）; 并且控制用于启动发动机（102）的系统以仅在确定的窗口期间使用所提供的电力来尝试启动发动机（102）。

5. 发明申请

WO2016059835A1 情報処理装置、情報処理方法およびプログラム审中-公开
标题翻译：信息处理设备，信息处理方法和程序
公开(公告)号：WO2016059835A1
公开(公告)日：2016-04-21
申请号：PCT/JP2015/068753
申请日：2015-06-30
申请人：ソニー株式会社
发明人：奈良部　忠邦
IPC分类号： H04N5/225 , A63H27/10 , B64B1/26 , B64B1/58 , B64D47/08 , G03B15/00 , G03B37/00 , G05D1/10
CPC分类号： G01W1/08 , A63H2027/1066 , B64B1/26 , B64B1/58 , B64D47/08 , G03B15/006 , G03B37/00 , G05D1/0094 , G05D1/102 , G05D1/105 , H04N5/2257 , H04N2005/2255
摘要：　面白味のある画像を記録する。　情報処理装置は、撮像部および制御部を具備する情報処理装置である。この撮像部は、空気よりも軽い気体を利用して空中を移動する飛行体に設置され、被写体を撮像して画像データを生成するものである。また、制御部は、飛行体に関する情報および飛行体の周囲の情報のうちの少なくとも１つの情報に基づいて、飛行体の移動を制御するとともに、撮像部により生成された画像データを記録する制御を行うものである。
摘要翻译：本发明记录有趣的图像。信息处理装置设置有成像单元和控制单元。成像单元安装在使用比空气轻的气体移动通过空气的飞行器中，对被摄体进行成像，并生成图像数据。此外，控制单元基于关于飞行车辆的信息和/或关于飞行器的周围环境的信息来控制飞行器的移动，并且执行用于记录由成像单元生成的图像数据的控制。

6. 发明申请

WO2013106279A1 RELATIVE POSITIONING OF BALLOONS WITH ALTITUDE CONTROL AND WIND DATA 审中-公开
标题翻译：具有高度控制和风力数据的气球的相对定位
公开(公告)号：WO2013106279A1
公开(公告)日：2013-07-18
申请号：PCT/US2013/020531
申请日：2013-01-07
申请人： GOOGLE INC. , DEVAUL, Richard, Wayne , TELLER, Eric , BIFFLE, Clifford, L. , WEAVER, Josh , PIPONI, Dan
发明人： DEVAUL, Richard, Wayne , TELLER, Eric , BIFFLE, Clifford, L. , WEAVER, Josh , PIPONI, Dan
IPC分类号： G05D1/10 , G05D3/12
CPC分类号： B64B1/40 , B64B1/44 , G05D1/104 , G05D1/105 , H04B7/18504
摘要： The positions of balloons in a communication network of balloons, such as a mesh network of high-altitude balloons, may be adjusted relative to one another in order to try to maintain a desired network topology. In one approach, the position of each balloon may be adjusted relative to one or more neighbor balloons. For example, the locations of a target balloon and one or more neighbor balloons may be determined. A desired movement of the target balloon may then be determined based on the locations of the one or more neighbor balloons relative to the location of the target balloon. The target balloon may be controlled based on the desired movement. In some embodiments, the altitude of the target balloon may be controlled in order to expose the target balloon to ambient winds that are capable of producing the desired movement of the target balloon.
摘要翻译：可以相对于彼此来调整气球通信网络中的气球的位置，例如高空气球的网状网络，以便尝试维持期望的网络拓扑。在一种方法中，可以相对于一个或多个相邻气球来调节每个球囊的位置。例如，可以确定目标气球和一个或多个相邻气球的位置。然后可以基于一个或多个相邻气球相对于目标气球的位置的位置来确定目标气球的期望运动。可以基于期望的运动来控制目标气球。在一些实施例中，可以控制目标气球的高度，以便将目标气球暴露于能够产生目标气球的期望运动的环境风中。

7. 发明申请

WO03053777A9 STEERABLE PARACHUTE CONTROL SYSTEM AND METHOD 审中-公开
标题翻译：可控旁路控制系统及方法
公开(公告)号：WO03053777A9
公开(公告)日：2004-02-19
申请号：PCT/US0239121
申请日：2002-12-09
申请人： ATAIR AEROSPACE INC
发明人： PRESTON DANIEL
IPC分类号： B64D1/14 , B64D17/02 , B64D17/04 , B64D17/08 , B64D17/34 , B64D17/38 , B64D17/54
CPC分类号： F42B10/56 , B64D1/08 , B64D1/14 , B64D17/025 , B64D17/04 , B64D17/08 , B64D17/34 , B64D17/38 , B64D17/54 , B64D17/74 , F42B4/28 , F42B10/58 , G05D1/105
摘要： An autonomous guided parachute system for cargo drops that divides the requirements of guidance and soft landing into separate parachutes. Said invention includes a high wing-loaded ram air parachute for guidance, a larger round parachute for soft landing, a harness/container system, flight computer, position sensors and actuation system. The system is dropped from an airplane, a predetermined period of drogue fall ensures a stable position prior to deploying the guidance parachute. The flight controller determines a heading to intersect with an area substantially above the desired target and controls the guidance parachute via pneumatic actuators connected to the parachutes steering lines to fly on that heading. At a minimum altitude prior to the systems impact with the ground the flight computer transitions the system from the fast high performance guidance parachute to a larger landing parachute by releasing the guidance parachute to static line extract and deploy the landing parachute. If the system reaches a position substantially above target area prior to the parachute transition altitude flight computer controls the system into a spiral dive or other rapid altitude dropping maneuver until the transition altitude is reached. Once transitioned to the landing parachute the system descends for a brief period unguided under the landing parachute until touchdown.
摘要翻译：货舱的自主引导降落伞系统，将引导和软着陆的要求分为单独的降落伞。所述发明包括用于引导的高机翼加载式冲压空气降落伞，用于软着陆的较大圆形降落伞，线束/容器系统，飞行计算机，位置传感器和致动系统。该系统从飞机上掉下来，在部署导向降落伞之前，预定的锥套下降时间确保了稳定的位置。飞行控制器确定与基本上高于期望目标的区域相交的航向，并通过连接到降落伞转向线的气动执行器在该航向上飞行来控制引导降落伞。在系统撞击地面之前的最低高度，飞行计算机将系统从快速高性能指导降落伞转换到较大的降落伞，通过将引导降落伞释放到静态线路提取并部署着陆降落伞。如果系统在降落伞过渡高度飞行计算机之前达到大致高于目标区域的位置，则控制系统进入螺旋潜水或其他快速高度降落机动，直到达到过渡高度。一旦过渡到着陆降落伞，该系统在登陆降落伞之前的短暂时间内下降直到达阵。

8. 发明申请

WO03053777A2 STEERABLE PARACHUTE CONTROL SYSTEM AND METHOD 审中-公开
标题翻译：稳定的分析控制系统和方法
公开(公告)号：WO03053777A2
公开(公告)日：2003-07-03
申请号：PCT/US0239121
申请日：2002-12-09
申请人： ATAIR AEROSPACE INC
发明人： PRESTON DANIEL
IPC分类号： B64D1/14 , B64D17/02 , B64D17/04 , B64D17/08 , B64D17/34 , B64D17/38 , B64D17/54 , B64D
CPC分类号： F42B10/56 , B64D1/08 , B64D1/14 , B64D17/025 , B64D17/04 , B64D17/08 , B64D17/34 , B64D17/38 , B64D17/54 , B64D17/74 , F42B4/28 , F42B10/58 , G05D1/105
摘要： An autonomous guided parachute system for cargo drops that divides the requirements of guidance and soft landing into separate parachutes. Said invention includes a high wing-loaded ram air parachute for guidance, a larger round parachute for soft landing, a harness/container system, flight computer, position sensors and actuation system. The system is dropped from an airplane, a predetermined period of drogue fall ensures a stable position prior to deploying the guidance parachute. The flight controller determines a heading to intersect with an area substantially above the desired target and controls the guidance parachute via pneumatic actuators connected to the parachutes steering lines to fly on that heading. At a minimum altitude prior to the systems impact with the ground the flight computer transitions the system from the fast high performance guidance parachute to a larger landing parachute by releasing the guidance parachute to static line extract and deploy the landing parachute. If the system reaches a position substantially above target area prior to the parachute transition altitude flight computer controls the system into a spiral dive or other rapid altitude dropping maneuver until the transition altitude is reached. Once transitioned to the landing parachute the system descends for a brief period unguided under the landing parachute until touchdown.
摘要翻译：用于货物液滴的自动引导式降落伞系统将引导和软着陆的要求划分为不同的降落伞。所述发明包括用于引导的高机翼载荷冲压空气降落伞，用于软着陆的较大圆形降落伞，吊带/容器系统，飞行计算机，位置传感器和致动系统。该系统从飞机上掉落，预定时间的降落确保了在部署导引降落伞之前的稳定位置。飞行控制器确定与基本在所需目标上方的区域相交的航向，并通过连接到降落伞转向线的气动致动器控制引导降落伞在该航向上飞行。在系统与地面碰撞之前的最低高度，飞行计算机通过将引导降落伞释放到静态线路提取并且部署降落降落伞，将系统从快速高性能引导降落伞转换到较大降落降落伞。如果在降落伞过渡高度飞行计算机之前系统达到远高于目标区域的位置，则控制系统进入螺旋式潜水或其他快速高度降落操作，直至达到过渡高度。一旦转换到着陆降落伞，系统下降一段时间，无人指挥着陆降落伞下直到着陆。

9. 发明申请

WO2015101978A1 AUTONOMOUS EMERGENCY DESCENDING AND LANDING OF AIRCRAFTS 审中-公开
标题翻译：航空器自动降落和着陆
公开(公告)号：WO2015101978A1
公开(公告)日：2015-07-09
申请号：PCT/IL2014/051126
申请日：2014-12-25
申请人： ISRAEL AEROSPACE INDUSTRIES LTD.
发明人： ROZENBERG, Ohad
IPC分类号： B64C13/16
CPC分类号： B64C13/16 , B64C39/024 , B64C2201/141 , G05D1/105 , G08G5/0056 , G08G5/0069 , G08G5/025
摘要： The presently disclosed subject matter includes, inter alia, a system, a method and a computer program product of autonomous descent of an aircraft (e.g. UAV), with a non-operating engine, from a current position to a desired position in the sky. The disclosed subject matter can be used for example for enabling a UAV with a non-operating engine to glide from a point of engine failure detection through an exit point of a descending spiral to a landing window. Once the landing window has been reached, the aircraft can execute an autonomous landing procedure and land at a selected landing site notwithstanding engine failure, and also a possible uplink communication failure.
摘要翻译：目前公开的主题尤其包括从当前位置到天空中的期望位置的飞机（例如UAV）的自主下降与非操作引擎的系统，方法和计算机程序产品。所公开的主题可以用于例如使得具有非操作引擎的UAV能够从发动机故障检测点通过下降螺旋的出口点向着陆窗口滑动。一旦达到着陆窗口，飞机可以执行自主着陆程序，并且在发动机故障的情况下落在选定的着陆点，并且还可能出现上行链路通信故障。

10. 发明申请

WO2015012969A2 SYSTEMS AND METHODS FOR USING COMPUTER VISION FOR PARAFOIL FLIGHT CONTROL 审中-公开
标题翻译：使用计算机视觉进行PARAFOIL飞行控制的系统和方法
公开(公告)号：WO2015012969A2
公开(公告)日：2015-01-29
申请号：PCT/US2014042210
申请日：2014-06-13
申请人： LOGOS TECHNOLOGIES INC , PULLAM WADE , BAKER PATRICK , FIELDS DAVE , BURNS BRADLEY , AMOUZOU SLLETE , SCHULZ BRYAN , ENGIER JIM
发明人： PULLAM WADE , BAKER PATRICK , FIELDS DAVE , BURNS BRADLEY , AMOUZOU SLLETE , SCHULZ BRYAN , ENGIER JIM
IPC分类号： B64D17/00
CPC分类号： B64D17/34 , B64D17/025 , G05D1/105 , G06K9/00791
摘要： Disclosed herein are systems and methods for using computer vision for parafoil flight control. According to an aspect, a method includes capturing an image of a parafoil including multiple indicator points distributed thereon. The method further includes determining positioning of the indicator points based on the captured image. The method further includes determining a condition of the parafoil based on the positioning of the indicator points. The method further includes controlling flight inputs based on the condition of the parafoil.
摘要翻译：本文公开了用于使用计算机视觉进行parafoil飞行控制的系统和方法。根据一个方面，一种方法包括捕获包括分布在其上的多个指示点的parafoil的图像。该方法还包括基于所捕获的图像确定指示点的定位。所述方法还包括基于所述指示点的位置来确定所述翼菌碱的状况。该方法还包括基于该参数条件来控制飞行输入。

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