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91. 发明公开

EP4056471A1 VTOL AIRCRAFT 审中-公开
公开(公告)号：EP4056471A1
公开(公告)日：2022-09-14
申请号：EP21161173.6
申请日：2021-03-08
申请人： Volocopter GmbH
发明人： STOBBE, Martin , RAJPUT, Krishna Pal , MORES, Sebastian
IPC分类号： B64C39/12 , B64C29/00 , B64C3/16
摘要： We propose a VTOL aircraft (1), comprising:
a fuselage (2) for transporting passengers and/or load;
a front wing (3) attached to the fuselage (2);
a rear wing (4) attached to the fuselage (2), behind the front wing (3) in a direction of forward flight (FF);
a right connecting beam (5a) and a left connecting beam (5b), which connecting beams (5a, 5b) structurally connect the front wing (3) and the rear wing (4), which connecting beams (5a, 5b) are spaced apart from the fuselage (2); and at least two lifting units (M1-M6) on each one of the connecting beams (5a, 5b), which lifting units (M1-M6) each comprise at least one propeller (6b) and at least one motor (6a) driving said propeller (6b), preferably an electric motor, and are arranged with their respective propeller axis in an essentially vertical orientation (z);
wherein the front wing (3), at least in portions thereof, has a sweep angle γ between γ = 45° and γ = 135°, preferably γ = 75°, and the rear wing (4), at least in portions thereof, has a forward sweep with sweep angle β ≥ 30°, preferably, β = 65°.

92. 发明公开

EP4001108A1 ELASTIC TEETER BEARING FOR A ROTOR AND AIRCRAFT HAVING SUCH BEARING 审中-公开
公开(公告)号：EP4001108A1
公开(公告)日：2022-05-25
申请号：EP20207443.1
申请日：2020-11-13
申请人： Volocopter GmbH
发明人： Howes, Jonathan Sebastian , Schäferlein, Ulrich
IPC分类号： B64C27/54 , B64C27/41 , B64C27/35
摘要： We describe an elastic teeter bearing (3c) for a rotor (3b), particularly in an aircraft (1), comprising, rotatably arranged on an rotational axis (RA) of said rotor (3b):
a teeter beam (3d), configured for attaching at least two rotor blades (3b1, 3b2) thereto on opposing sides thereof, said teeter beam (3d) being devised for performing a teetering motion with respect to said rotational axis (RA) and having at least two first lugs (3j) arranged on opposite sides at a first distance with respect to said rotational axis (RA);
a hub piece (3f) located below said teeter beam (3d), said hub piece (3f) having at least two arms (3g1, 3g2) that extend outwardly in a radial direction with respect to said rotational axis (RA), each of said arms (3g1, 3g2) having a second lug (3l) arranged at a second distance with respect to said rotational axis (RA);
a bridge piece (3h) located above said teeter beam (3d), said bridge piece (3h) having at least two arms that extend outwardly in a radial direction with respect to said rotational axis (RA), each of said arms having a third lug (3m) arranged at a third distance with respect to said rotational axis (RA);
wherein said first to third lugs (3j, 3l, 3m) are parallel or angled with respect to said rotational axis (RA), such that respective connecting pins (3n) which pass through said first to third lugs (3j, 3l, 3m) on either side of said rotational axis (RA) are parallel or, in the case of angled lugs, obliquely oriented with respect to said rotational axis (RA); and
wherein a pair of elastic bushings (3k1, 3k2) are arranged on each of said connecting pins (3n) between said first lug (3j) and said second lug (3l) and between said first lug (3j) an said third lug (3m), respectively.

93. 发明公开

EP3862835A1 METHOD AND SYSTEM FOR MONITORING A CONDITION OF A VTOL-AIRCRAFT 审中-公开
公开(公告)号：EP3862835A1
公开(公告)日：2021-08-11
申请号：EP20156354.1
申请日：2020-02-10
申请人： Volocopter GmbH
发明人： Yüksel, Burak , Vermeulen, Tobias
IPC分类号： G05D1/00 , B64D45/00 , G05B23/02
摘要： A method is proposed for monitoring a condition of a VTOL-aircraft (1), preferably an electrically propelled, more particularly an autonomous, more particularly a multi-rotor aircraft, with a plurality of spatially distributed actuators (2i, 2o), preferably propulsion units for generating propulsion forces and/or for maintaining a spatial position of the VTOL-aircraft (1), wherein a primary control (4.1) is used for controlling a flight state of the VTOL-aircraft (1) and at least one secondary control (4.2) is used for controlling the actuators (2i, 2o) of the VTOL-aircraft (1), preferably the propulsion units (2i, 2o); during operation of the VTOL-aircraft (1), the primary control (4.1) generates a primary data set, which is subject to a first uncertainty, which primary data set is entered into an estimation algorithm, and the secondary control generates a secondary data set, which is subject to a second uncertainty, which secondary data set is also entered into the estimation algorithm;
the estimation algorithm processes the primary data set and the secondary data set and the estimation algorithm generates an estimation result, which estimation result is representative of a condition of the VTOL-aircraft (1), preferably a health status of at least one actuator (2i, 2o) of the VTOL-aircraft, which estimation result is subject to a third uncertainty, which third uncertainty is equal to or lower than the first uncertainty and/or the second uncertainty.

94. 发明公开

EP3805893A1 METHOD OF CONTROLLING AN ACTUATOR SYSTEM AND AIRCRAFT USING SAME 审中-公开
公开(公告)号：EP3805893A1
公开(公告)日：2021-04-14
申请号：EP19202263.0
申请日：2019-10-09
申请人： Volocopter GmbH
发明人： Yüksel, Burak
IPC分类号： G05D1/08 , G05D1/10
摘要： We propose a method of operating an under-actuated actuator system comprising a plurality of actuators (3), preferably for operating a multiactuator aerial vehicle (1), wherein said actuators (3) are preferably devised as individual propulsion units of the multiactuator aerial vehicle (1), each one of the actuators having a maximum physical capacity u max , the method comprising: controlling the actuators (3) by with an actual control input u ∈ R k computed from an allocation equation u = D -1 u p , wherein D -1 is an inverse allocation matrix and u p ∈ R m is a pseudo control input defined by a system dynamics equation M ( x ) ẍ + c ( x,ẋ ) + g ( x ) + G (x) u p = f ext , wherein x ∈ R n is an n-dimensional configuration vector of the system, M x ∈ R n × n is a state dependent generalized moment of inertia, c x x ˙ ∈ R n are state dependent Coriolis force, g x ∈ R n are gravitational forces and f ext ∈ R n are external forces and torques, and G x ∈ R n × m is a control input matrix which contains the information of under-actuation, where the system is said to be under-actuated if Rank ( G ( x )) n or both under-actuated and overly determined in case of k > m > n and Rank ( G ( x ) D ) n , with k , m , n ∈ N ; using state feedback control to recurrently compute a desired pseudo control input u p from said system dynamics equation; if at least one component of said desired pseudo control input u p is greater than a corresponding maximum pseudo control input u p max that can be generated based on said actuator maximum physical capacity u max and based on positions (or characteristics and configurations) of the actuators within the system, prioritizing at least one of the components of u p over the other components of u p ; and a) by means of a prioritizing algorithm, solving said allocation equation for said at least one prioritized component of u p before solving said allocation equation for the remaining components of u p ; or b)
during state feedback control, adjusting a limiting value of said at least one prioritized component of u p by an amount, while keeping respective limiting values of the remaining components of u p essentially constant.

95. 发明公开

EP3778390A1 SYSTEM, METHOD AND DEVICE FOR ATTACHING A TOOL OR A PAYLOAD TO AN UNMANNED AERIAL VEHICLE 审中-公开
公开(公告)号：EP3778390A1
公开(公告)日：2021-02-17
申请号：EP19191889.5
申请日：2019-08-15
申请人： Volocopter GmbH
发明人： Infante Aguirre, Francisco Javier , Staub, Nicolas
IPC分类号： B64C39/02 , B64D1/08
摘要： We propose interface (8) for attaching a tool or a payload (9) to an Unmanned Aerial Vehicle, UAV (1), comprising: on a tool or payload side of the interface (8), at least one first connecting element (8a) for connecting a tool or payload (9) to the interface (8) on said tool or payload side thereof; on a vehicle side of the interface (8), at least one second connecting element (8b) for connecting the interface (8) to an UAV (1) on said vehicle side thereof; at least one sensor unit (8c), which sensor unit (8c) is devised for measuring at least one physical property of a tool or payload (9), when said tool or payload (9) is connected to the interface (8); and at least one control unit (8d) in operative connection with said at least one sensor unit (8c), which control unit (8d) is devised for communicating with a flight control unit (6) of the UAV (1) for providing said flight control unit (6) with data related to said measured at least one physical property.

96. 发明公开

EP4345959A1 METHOD OF PRODUCING AN ENCAPSULATED BATTERY CELL 审中-公开
公开(公告)号：EP4345959A1
公开(公告)日：2024-04-03
申请号：EP22198753.0
申请日：2022-09-29
申请人： Volocopter GmbH
发明人： Gutierrez, Pablo
IPC分类号： H01M10/04 , H01M10/613 , H01M10/653 , H01M50/202 , H01M50/229 , H01M50/236 , H01M50/24 , H01M50/249 , H01M50/293 , H01M50/383 , B29B15/12 , B29C48/05 , D04C1/02
摘要： We describe a method of producing an encapsulated battery cell (1), comprising: a) braiding a battery cell (1') with a fibre roving (8ba) to create a braid around the battery cell (1'); b) impregnating the braid with a resin material (8ad); and c) curing the resin material (8ad).

97. 发明公开

EP4318166A1 METHOD OF CONTROLLING A TRANSITION AIRCRAFT AND TRANSITION AIRCRAFT 审中-公开
公开(公告)号：EP4318166A1
公开(公告)日：2024-02-07
申请号：EP22189087.4
申请日：2022-08-05
申请人： Volocopter GmbH
发明人： Yüksel, Burak , Ramesh, Ashwath , Duarte, Lucas
IPC分类号： G05D1/08
摘要： We propose a method of controlling a transition aircraft (1), in particular an electrically powered vertical take-off and landing aircraft, eVTOL, which aircraft (1) comprises a plurality of actuators (2, 3, 4a-c) and which aircraft (1) is able to transition between a first regime for take-off and landing and a second regime for horizontal flight, which method comprises controlling a first subset of actuators from said plurality of actuators (2, 3, 4a-c) in said first regime and a second subset of actuators from said plurality of actuators (2, 3, 4a-c) in said second regime, which method uses a state machine (5a) that is implemented by means of at least one flight control computer (5), which method comprises at least the following steps:
a) providing, to said flight control computer (5), measurements or estimates of a number of flight parameters, which flight parameters preferably comprise a current airspeed (v a ) and of a current attitude (q) of the aircraft (1);
b) depending on a current regime from said first and second regimes, checking by means of said state machine (5a) whether a respective predefined set of conditions (C1-C8) in connection with said current regime are fulfilled, which conditions (C1-C8) are based on a comparison of said flight parameters, preferably of measurements or estimates of a current airspeed (v a ) and of a current attitude (q) of the aircraft (1), respectively, with a respective predefined threshold value;
c) in case all the conditions (C1-C8) in said predefined set of conditions are fulfilled, signalling a corresponding state of the aircraft (1) to a high-level decision maker (5b) and waiting for confirmation regarding a transition from said regime to the other one of said first and second regimes from said high-level decision maker (5b);
d) instructing said flight control computer (5) to make said transition from said current regime to said other one of said first and second regimes if said high-level decision maker (5b) has approved the transition;
e) after making the transition in step d), commanding the aircraft (1) according to said other one of said first and second regimes in accordance with a regime-dependent control law implemented on said flight control computer (5);
f) returning to step a);
wherein step e) comprises gradually blending in a control law for said other one of said first and second regimes over time (t) while blending out a control law for said current regime over time (t).

98. 发明公开

EP4270363A1 VERFAHREN UND SYSTEM ZUM BETREIBEN EINES FLUGGERÄTS 审中-公开
公开(公告)号：EP4270363A1
公开(公告)日：2023-11-01
申请号：EP23170272.1
申请日：2023-04-27
申请人： Volocopter GmbH
发明人： ORTLIEB, Markus
IPC分类号： G08G5/00
摘要： Vorgeschlagen wird ein Verfahren zum Betreiben eines Fluggeräts (1), bei dem für eine vorausbestimmte Trajektorie (NT) des Fluggeräts (1) ein die Trajektorie (NT) einhüllendes Volumen bestimmt wird, welches Volumen ein erstes, inneres Volumen und ein zweites, äußeres Volumen umfasst, wobei das zweite Volumen das erste Volumen umgibt, wobei das erste Volumen sich aus einer Mehrzahl erster Einzelvolumina ( TVi ) und das zweite Volumen sich aus einer Anzahl von zweiten Einzelvolumina zusammensetzt, welche Einzelvolumina ( TVi ) an jedem Punkt der Trajektorie (NT) auf Grundlage von Parametern ( v i ) eines tatsächlichen Flugzustands des Fluggeräts (1) zu einem jeweiligen Zeitpunkt berechnet werden.

99. 发明公开

EP4082895A1 AIRCRAFT WITH FOLDING MECHANISM 审中-公开
公开(公告)号：EP4082895A1
公开(公告)日：2022-11-02
申请号：EP21170990.2
申请日：2021-04-28
申请人： Volocopter GmbH
发明人： Infante Aguirre, Francisco Javier , Harms, Michael
IPC分类号： B64C3/56 , B64C27/08 , B64C27/52 , B64C29/00
摘要： We propose an aircraft (1) with folding mechanism, the aircraft (1) comprising:
a fuselage (2);
optionally a payload (2') and/or a landing gear (2") attached to said fuselage (2), preferably below said fuselage (2);
at least two longitudinal beams (7.1, 7.2) attached to said fuselage (2), preferably above and/or sideways of said fuselage (2), that preferably extend parallel to each other and parallel to a first axis (x) of the aircraft (1), with a plurality of lifting units (3) attached to each of said longitudinal beams (7.1, 7.2);
at least one crossbeam (8) attached to said fuselage (2), preferably above said fuselage (2), and preferably extending parallel to a second axis (y) of the aircraft (1) and at right angles with respect to said longitudinal beams (7.1, 7.2),
with a plurality of lifting units (3) attached to said crossbeam (8);
wherein said longitudinal beams (7.1, 7.2) are rotatably attached to said fuselage (2) by means of at least one respective first pivot joint devised for pivoting said longitudinal beams (7.1, 7.2) around a respective first pivot axis to a pivoted position (7.1', 7.2'); and
wherein said crossbeam (8) is rotatably attached to said fuselage (2), preferably by means of at least one second pivot joint, for pivoting said crossbeam (8) around a second pivot axis to a pivoted position (8').

100. 发明公开

EP3912908A1 MULTI-ROTOR AIRCRAFT AND METHOD OF CONTROLLING SAME 审中-公开
公开(公告)号：EP3912908A1
公开(公告)日：2021-11-24
申请号：EP20175379.5
申请日：2020-05-19
申请人： Volocopter GmbH
发明人： Mores, Sebastian , Rajput, Krishna
IPC分类号： B64C27/08 , B64C27/20 , B64C29/00 , B64C39/00 , G05D27/00
摘要： We propose a method of controlling a multi-rotor aircraft (1), said aircraft (1) comprising at least four lifting rotors (2; R1-R6), each having a first rotation axis which is essentially parallel to a yaw axis (z) of the aircraft (1), and at least one forward propulsion device (3), the at least one forward propulsion device or each of said forward propulsion devices having at least two rotors (P1_R1, P1_R2, P2_R1, P2_R2) that are arranged coaxially with a second rotation axis which is essentially parallel to a roll axis (x) of the aircraft, the at least one forward propulsion device or each of said forward propulsion devices (3, P1, P2) being arranged at a respective distance (+y, -y) from said roll axis (x), the method further comprising: using at least one of the rotors (P1_R1, P1_R2, P2_R1, P2_R2) of the at least one forward propulsion device (3, P1, P2) to control the aircraft's moment about the yaw axis (z) and/or the roll axis (x) independently from each other.

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