Exploiting or avoiding air drag for an aerial vehicle
원문보기
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
G05D-001/08
G05D-001/02
B64C-039/02
G05D-001/00
B64C-027/00
출원번호
US-0991846
(2016-01-08)
등록번호
US-10012999
(2018-07-03)
발명자
/ 주소
Chandra, Ranveer
Kapoor, Ashish
Won, Jongho
출원인 / 주소
Microsoft Technology Licensing, LLC
대리인 / 주소
Fountainhead Law Group P.C.
인용정보
피인용 횟수 :
0인용 특허 :
3
초록▼
Methods and apparatus for avoiding or exploiting air drag on an aerial vehicle are disclosed. In embodiments, the methods and apparatus may be implemented in a controller and used to increase the energy efficiency of an aerial vehicle. In the embodiments, at least one parameter associated with a for
Methods and apparatus for avoiding or exploiting air drag on an aerial vehicle are disclosed. In embodiments, the methods and apparatus may be implemented in a controller and used to increase the energy efficiency of an aerial vehicle. In the embodiments, at least one parameter associated with a force on an aerial vehicle is determined. A yaw setting for the aerial vehicle is then determined that exploits or avoids air drag on the aerial vehicle for energy efficiency. The yaw setting may be referenced to a yaw based on directionality in the shape of the aerial vehicle. In other embodiments, a drag associated with a force on an aerial vehicle is determined. It is then determined if there is a selected component in the drag based on a desired maneuver of the aerial vehicle. A yaw setting is then determined based on whether the selected component is in the drag.
대표청구항▼
1. A controller for a rotary wing unmanned aerial vehicle having a plurality of rotary motors, the controller comprising: a processing unit and memory including code, which when executed controls the processing unit to:determine at least one parameter associated with force on the aerial vehicle as t
1. A controller for a rotary wing unmanned aerial vehicle having a plurality of rotary motors, the controller comprising: a processing unit and memory including code, which when executed controls the processing unit to:determine at least one parameter associated with force on the aerial vehicle as the controller controls the plurality of rotary motors to propel the aerial vehicle to move in a direction along a path;determine a setting for a yaw of the aerial vehicle based on the at least one parameter, wherein the yaw defines an angle between an axis running from a first portion to a second portion of the aerial vehicle and the direction of movement of the aerial vehicle along the path, wherein the first portion is a leading edge of movement of the aerial vehicle along the path; andset the yaw of the aerial vehicle based on the determined setting for the yaw, wherein the aerial vehicle is positioned according to the angle defined by the yaw by controlling the relative speeds of each of the plurality of rotary motors as the plurality of rotary motors propel the aerial vehicle to move in the direction along the path,wherein the setting of the yaw of the aerial vehicle is determined based on a force parameter such that air drag is used to advantageously assist moving the aerial vehicle along the path or inhibit moving the aerial vehicle along the path. 2. The controller of claim 1, wherein at least one parameter comprises a drag and the code is executable to control the processing unit to determine the setting for the yaw by causing the processing unit to: determine that the aerial vehicle is to move in the direction along the path; and,determine the setting for the yaw of the aerial vehicle taking into account the influence of the drag on the aerial vehicle while the plurality of rotary motors propel the aerial vehicle to move in the direction along the path. 3. The controller of claim 2, wherein at least one parameter comprises a drag, the setting for the yaw comprises a first setting for the yaw, and the code is executable to control the processing unit to further cause the processing unit to: determine that the aerial vehicle is to decelerate; and,determine a second setting for the yaw of the aerial vehicle taking into account the influence of the drag on the aerial vehicle while decelerating. 4. The controller of claim 1, wherein the at least one parameter comprises a drag and the code is executable to control the processing unit to determine the setting for the yaw of the aerial vehicle by causing the processing unit to: determine that a component is included in the drag; and,determine the setting for the yaw of the aerial vehicle based on the drag and the determination that the component is included in the drag. 5. The controller of claim 1, wherein the at least one parameter comprises a drag and the code is executable to control the processing unit to determine the setting for the yaw of the aerial vehicle by causing the processing unit to: determine a desired maneuver of the aerial vehicle;determine if there is a selected component in the drag based on the drag and the desired maneuver; and,determine the setting for the yaw of the aerial vehicle based on the drag and the determination of whether the selected component is in the drag. 6. The controller of claim 5, wherein the code is executable to control the processing unit to determine the setting for the yaw of the aerial vehicle based on the drag and the determination of whether the selected component is in the drag by controlling the processing unit to determine the setting for the yaw of the aerial vehicle parallel to the drag if the selected component is not in the drag. 7. The controller of claim 5, wherein the code is executable to control the processing unit to determine the setting for the yaw of the aerial vehicle based on the drag and the determination of whether the selected component is in the drag by controlling the processing unit to determine the setting for the yaw of the aerial vehicle perpendicular to a forward path of the aerial vehicle if the selected component is in the drag. 8. The controller of claim 1, wherein the code is executable to control the processing unit to determine the at least one parameter by causing the processing unit to: determine a deviation of the aerial vehicle from the path;determine a velocity of the aerial vehicle as the controller controls the plurality of rotary motors to propel the aerial vehicle to move in a direction along a path; and,determine a drag on the aerial vehicle based on the deviation and the velocity. 9. The controller of claim 1, the code is executable to control the processing unit to determine the at least one parameter by causing the processing unit to: turn off a global positioning satellite (GPS) lock and determine a drift of the aerial vehicle;determine a velocity of the aerial vehicle as the controller controls the plurality of rotary motors to propel the aerial vehicle to move in a direction along a path; and,determine a drag on the aerial vehicle based on the drift and the velocity. 10. The controller of claim 1, wherein the code is executable to control the processing unit to determine the at least one parameter by causing the processing unit to: determine a wind direction and magnitude;determine a velocity of the aerial vehicle; as the controller controls the plurality of rotary motors to propel the aerial vehicle to move in a direction along a path and,determine a drag on the aerial vehicle based on the wind direction and magnitude, and the velocity. 11. An aerial vehicle comprising: a plurality of rotary motors;a processing unit providing control signals for the plurality of rotary motors; and memory including code, which when executed controls the processing unit to: determine at least one parameter associated with forces on the aerial vehicle as the processing unit controls the plurality of rotary motors to propel the aerial vehicle to move in a direction along a path;determine a setting for a yaw of the aerial vehicle based on the at least one parameter, wherein the yaw defines an angle between an axis running from a first portion to a second portion of the aerial vehicle and the direction of movement of the aerial vehicle along the path; and,set the yaw of the aerial vehicle based on the determined setting for the yaw, wherein the aerial vehicle is positioned according to the angle defined by the yaw, by controlling the relative speeds of each of the plurality of rotary motors as the plurality of rotary motors propel the aerial vehicle in the direction along the path,wherein the setting of the yaw of the aerial vehicle is determined based on a force parameter such that air drag is used to advantageously assist moving the aerial vehicle along the path or inhibit moving the aerial vehicle along the path. 12. The aerial vehicle of claim 11, wherein the code is executable to control the processing unit to determine the at least, one parameter by causing the processing unit to: receive data measured in an external environment of the aerial vehicle; and,determine at least one parameter associated with forces on the aerial vehicle based on the data. 13. The aerial vehicle of claim 11, wherein at least one parameter comprises a drag and the code is executable to control the processing unit to determine die setting for the yaw of the aerial vehicle by causing the processing unit to: determine that the aerial vehicle is to move in the direction along the path; and,determine the setting for the yaw of the aerial vehicle to reduce the influence of the drag on the aerial vehicle while the processing unit controls the plurality of rotary motors to propel the aerial vehicle to move in the direction along the path. 14. The aerial vehicle of claim 11, wherein at least one parameter comprises a drag and the code is executable to control the processing unit to determine the setting for the yaw of the aerial vehicle by causing the processing unit to: determine that the aerial vehicle is to move in the direction along the path; and,determine a yaw setting for the aerial vehicle to exploit the influence of the drag on the aerial vehicle while the processing unit controls the plurality of rotary motors to propel the aerial vehicle to moves in the direction along the path. 15. The aerial vehicle of claim 11, wherein at least one parameter comprises a drag, the setting for the yaw comprises a first setting for the yaw, and the code is executable to control the processing unit to further cause the processing unit to: determine that the aerial vehicle is to decelerate; and,determine a second-setting for the yaw of the aerial vehicle to exploit the influence of the drag on the aerial vehicle while decelerating. 16. The aerial vehicle of claim 11, wherein at least one parameter comprises a drag, the setting for the yaw comprises a first setting for the yaw, and the code is executable to control the processing unit to further cause the processing unit to: determine that the aerial vehicle is to accelerate; and,determine a second setting for the yaw of the aerial vehicle to reduce the influence of the drag on the aerial vehicle while accelerating. 17. A computer readable medium comprising instructions stored thereon, that when executed on a processor perform the steps of: determining at least one parameter associated with forces on an aerial vehicle as the processor controls a plurality of rotary motors to propel the aerial vehicle to move in a direction along a path;determining a setting for a yaw of the aerial vehicle based on the at least one parameter, wherein the yaw defines an angle between an axis running from a first portion to a second portion of the aerial vehicle and the direction of movement of the aerial vehicle along the path; andinitiating setting of the yaw of the aerial vehicle based on the determined setting for the yaw, wherein the aerial vehicle is positioned according to the angle defined by the yaw by controlling the relative speeds of each of the plurality of rotary motors as the plurality of rotary motors propel the aerial vehicle to move in the direction along the path,wherein the setting of the yaw of the aerial vehicle is determined based on a force parameter such that air drag is used to advantageously assist moving the aerial vehicle along the path or inhibit moving the aerial vehicle along the path. 18. The computer readable medium of claim 17, wherein the at least one parameter comprises a drag and the instructions, when executed on the processor, further perform the steps of: determining that the aerial vehicle is to move in the direction along the path; and,determining the setting for the yaw of the aerial vehicle taking into account the influence of the drag on the aerial vehicle while the processor controls the plurality of rotary motors to propel the aerial vehicle to move in the direction along the path. 19. The computer readable medium of claim 17, wherein the at least one parameter comprises a drag, the setting for the yaw comprises a first setting for the yaw, and the instructions, when executed on the processor, further perform the steps of: determining that the aerial vehicle is to decelerate; and,determining a second setting for the yaw of the aerial vehicle taking into account the influence of the drag on the aerial vehicle while decelerating. 20. The computer readable medium of claim 17, wherein the instructions, when executed on the processor, further perform the steps of: receiving data measured in an external environment of the aerial vehicle; and,determining at least one parameter associated with forces on the aerial vehicle based on the data.
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