JP2002370696A - Vertical takeoff and landing aircraft - Google Patents

Vertical takeoff and landing aircraft

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Publication number
JP2002370696A
JP2002370696A JP2001180146A JP2001180146A JP2002370696A JP 2002370696 A JP2002370696 A JP 2002370696A JP 2001180146 A JP2001180146 A JP 2001180146A JP 2001180146 A JP2001180146 A JP 2001180146A JP 2002370696 A JP2002370696 A JP 2002370696A
Authority
JP
Japan
Prior art keywords
lift generating
lift
generating propeller
vertical
aircraft
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP2001180146A
Other languages
Japanese (ja)
Inventor
Takayoshi Ishigaki
Tomoaki Sugiura
友昭 杉浦
敬義 石垣
Original Assignee
Ishigaki Foods Co Ltd
石垣食品株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Ishigaki Foods Co Ltd, 石垣食品株式会社 filed Critical Ishigaki Foods Co Ltd
Priority to JP2001180146A priority Critical patent/JP2002370696A/en
Publication of JP2002370696A publication Critical patent/JP2002370696A/en
Pending legal-status Critical Current

Links

Abstract

PROBLEM TO BE SOLVED: To safely continue a flight when a part of lift generating propellers stops in a vertical takeoff and landing aircraft. SOLUTION: A plurality of lift generating propeller units 40 are substantially arranged at equal intervals in a peripheral part of a machine frame 10 ventilable in the vertical direction. When either one lift generating propeller unit 40 cannot be operated, the other normal lift generating propeller unit 40 is brought near to the nonoperable lift generating propeller unit 40 so that the overall lift center line as the whole machine is brought near to or made to coincide with a vertical line passing through the center of gravity of a machine.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vertical take-off and landing aircraft having a plurality of lift generating propellers which are driven to rotate about a vertical axis.

[0002]

2. Description of the Related Art An unavoidable problem in a helicopter having a rotor for generating lift that is driven to rotate about a vertical axis, that is, in a vertical take-off and landing aircraft, is firstly how to cancel the torque accompanying the rotation of the rotor. Second, in the event that the rotor is stopped or dislocated due to a failure or the like, how to make it possible to safely continue flight and land. is there.

[0003] The first problem described above is that one or more pairs of lift generating rotors of the same size, which rotate in opposite directions about a vertical axis, are provided at symmetrical positions in the longitudinal and lateral directions of the fuselage. Or, by providing a pair of rotors that rotate in opposite directions around one vertical axis, or by using only one main rotor that rotates around the vertical axis, This problem has been solved by providing an auxiliary rotor for canceling torque that rotates around an axis.

[0004] However, the second problem mentioned above, namely,
As for the continuation and landing of the safe flight when the generation of lift by the rotor is stopped, it is a fact that a completely satisfactory solution has not been provided so far.

For this reason, helicopters were put into practical use during World War II, and despite their widespread use since then, consumers have not yet been dispelled by a sense of uneasiness. This hinders the spread of helicopters in a wide range of fields and the increase in size thereof.

[0006]

SUMMARY OF THE INVENTION The present invention has a plurality of lift generating propellers, and even if a part of the propellers cannot function due to a failure or the like, it can safely fly to some extent thereafter. It is an object of the present invention to provide a vertical take-off and landing aircraft capable of continuing and landing without undue impact and danger.

[0007]

According to the present invention, the above object is attained as follows. (1) A plurality of lift generating propeller units are installed around the machine frame that allows ventilation in the vertical direction.
When one lift-generating propeller unit becomes inoperable, the other lift-generating propeller unit is brought closer to the inoperable lift-generating propeller unit so that the overall lift of the entire machine can be improved. Center line,
Try to approach or match a vertical line through the aircraft's center of gravity.

(2) In the above item (1), when any one of the lift generating propeller units becomes inoperable,
The remaining lift-generating propeller units can be moved such that the spacing between the remaining lift-generating propeller units is substantially equal.

(3) In the above item (1), only the lift generating propeller units on both sides of the inoperable lift generating propeller unit are brought closer to the inoperable lift generating propeller unit.

(4) In any one of the above items (1) to (3), an annular rail is provided around the machine frame, and a plurality of lift generating propeller units are arranged on the annular rail.

(5) In any one of the above-mentioned items (1) to (4), two upper and lower annular rails are provided around the machine frame, and each annular rail is provided with a plurality of equally spaced lift generating propellers. The units are provided so as to be staggered in a plan view and in two upper and lower stages.

(6) In the above item (5), four lift generating propeller units are provided at equal intervals on each annular rail.

(7) A plurality of lift generating propeller units are disposed on each of the supporting rods in the machine frame having left and right supporting rods parallel to each other and capable of vertical ventilation. When one lift generating propeller unit becomes inoperable, the supporting rod supporting the plurality of lift generating propeller units without any abnormality is replaced with the supporting rod supporting the disabled lift generating propeller unit. , The center line of the lift as a whole is brought as close as possible to a vertical line passing through the center of gravity of the aircraft.

(8) In the above item (7), when any one of the lift generating propeller units becomes inoperable,
By moving the propeller unit for generating a lift without any abnormality on the supporting rod supporting the propeller unit for generating a lift on the supporting rod, the center of the lift acting on the supporting rod is all shifted on the supporting rod. And the center of the lift on the support rod when the lift generating propeller unit is normally functioning.

(9) A plurality of lift generating propeller units are provided in the periphery of the machine frame, and a cabin is provided in the center of the machine frame. When one of the lift generating propeller units becomes inoperable, By moving the cabin horizontally away from the inoperative lift generating propeller unit, the center line of the overall lift of the entire aircraft coincides with or approaches the vertical line passing through the center of gravity of the aircraft. To do.

(10) In any one of the above items (1) to (9), each lift generating propeller is driven by a separate prime mover.

(11) In any one of the above items (1) to (10), the lift generating propeller is a rotor having an articulated blade.

(12) In any one of the above items (1) to (11), a vertical stabilizing wing and a horizontal stabilizing wing for controlling a flight attitude and compensating for a torque of a propeller for generating a lift may be provided at an appropriate position of the machine frame. Is provided.

(13) A plurality of lift generating propeller units are provided in the periphery of the machine frame which allows vertical ventilation,
In addition, a propeller unit for horizontal flight, a horizontal tail unit, a vertical tail unit, and an auxiliary wing for maintaining a torque balance when any of the lift generating propellers become inoperable are provided at appropriate places in the machine frame.

(14) In the above item (13), the plane shape of the machine casing is rectangular.

(15) In the above item (13) or (14),
The horizontal tail, the vertical tail, and the aileron will be provided to protrude outside the machine frame.

[0022]

DESCRIPTION OF THE PREFERRED EMBODIMENTS First, an embodiment of the present invention will be described. In FIG. 1, (10) (2
0) are upper and lower machine frames which are circular in plan view and have as small an airflow resistance in the vertical direction as possible.
1) From (21), the ends of four equal-length arm rods (12) and (22) protruding radially at equal intervals are used as ring rails (13) and (2).
It is formed to support 3).

However, the plane shapes of the machine frames (10) and (20), that is, the plane shapes of the annular rails (13) and (23) may be other than circular.

The upper and lower hubs (11) and (21) are fixed to a support shaft (31) projecting upward from the center of the upper surface of the cabin (30).

An appropriate horizontal flight propeller (32) is provided at an appropriate position on the front of the cabin (30), and a vertical stabilization device for controlling the flight attitude and compensating torque by the lift generating propeller (44) is also provided at an appropriate position on the rear side. The wing (33) and the horizontal stabilizing wing (34) are mounted.

The stable wings (33) and (34) are connected to the cabin (30)
It may be provided in places other than. In this case, the machine frame (1
A dedicated support for both the vertical and horizontal stabilizer wings (33) (34) is provided in the appropriate place in (0).

Each of the annular rails (13) and (23) has a lift generating propeller unit (4
The traveling body (41) in (0) is fitted and held from above.

The lift generating propeller unit (40) is provided with a lift generating propeller (44) mounted on the upper end of a vertical drive shaft (43) projecting upward from the upright engine (42).
A fuel tank (not shown) is integrally provided at an appropriate position of (42).

The traveling body (41) is mounted on the inside of the engine (42), and is driven by a motor (not shown) to be a horizontal roller capable of rolling along the vertical surfaces of the annular rails (13) and (23).
(Not shown).

Instead of the engine (42), a battery-driven electric motor, a pressure gas-driven rotary engine, or the like may be used.

The lift generating propeller units (40) (4) held at equal intervals on the upper and lower annular rails (13) (23)
0) are the upper four lift generating propeller units (40) which are positioned in a staggered manner in plan view and
The lift generating propellers (44) are all in one direction, and the four lower lift generating propeller units (40)
All the lift generating propellers (44) are driven to rotate in the opposite direction.

Accordingly, when viewed from above, as shown in FIG. 2, a total of eight lift generating propeller units (40) in the upper and lower annular rails (13) and (23) are provided with the annular rails (13) and (23). )
, The lift-generating propellers (44), (44), which are arranged at equal intervals with almost no gap and which are adjacent in plan view, rotate in directions opposite to each other.

As a result, the torque associated with the rotation of the lift generating propeller (44) is completely canceled, and the vertical take-off and landing aircraft can fly very stably.

In the event that any of the lift generating propeller units (40) stops or becomes inoperable due to a failure of the engine (42) or other reasons, the center of the lift of the entire machine will be , Stopped lift generating propeller unit (40)
Slightly away from the aircraft, and the stability of the aircraft is impaired.

In order to correct such instability, in the present invention, a normally operating lift generating propeller unit (40) is brought closer to a lift generating propeller unit (40) that has become inoperative. The center of lift of the aircraft as a whole is aligned with or as close as possible to a vertical line passing through the center of gravity of the aircraft.

FIG. 3 shows an example of the specific means. In the case shown in FIGS. 1 and 2, when the uppermost lift generating propeller (44 ') in FIG. 3 stops. As shown in FIG. 4, a control device (50) composed of an appropriate computer receives a signal from a stop detection sensor (51) attached to each engine (42) and receives a signal from each traveling body (41). By starting a motor (not shown) and rotating its horizontal rollers by a predetermined number of revolutions, among the lift generating propellers (44) that are operating normally, the lift generating propeller that has become inoperable is not operated. The closer to (44 '), the greater the distance to the latter, so that the distance between adjacent unaffected lift generating propeller units (40) can be reduced to 8 times the initial distance.
/ 7. That is, the seven lift-propagating propeller units (40) without any irregularity are equally spaced.

In this way, only the normally operating lift generating propeller unit (40) is equally distributed around the hubs (11) and (21), so that the lift of the entire machine can be reduced. The center is not displaced at all or little from the normal state, normal flight can be continued to some extent, and landing can be safely performed.

The imbalance in torque due to the stoppage of one of the lift generating propeller units (40) is caused, for example, by the vertical stabilizer (33) attached to the cabin (30)
By micro-manipulating, it is possible to compensate the continuation of the short-time flight for safe landing to the extent that it does not hinder the continuation.

Any of the lift generating propeller units (4
0 ') becomes inoperable, only the normally operating lift generating propeller units (40) (40) on both sides are
By approaching the former as shown in FIG. 5, it is also possible to prevent displacement of the lift center of the entire machine.

In the embodiment shown in FIGS. 1 to 5, the machine frames (10) and (20) are circular in plan view, but may be square or other shapes.

FIGS. 6 and 7 show an example in which the machine frame (60) has a rectangular shape which is long in the front-rear direction (claims 7 and 8).

The machine frame (60) is composed of left and right support bars that are parallel to each other.
(61) Each of the supporting rods (61) is provided with four traveling propeller units (40) similar to those described above.
(41) are supported at substantially equal intervals, and the traveling body (41)
The vehicle can travel in the front-rear direction by a horizontal roller driven by a motor (not shown).

In the event that any one of the lift generating propeller units (40) becomes inoperable, the normal lift generating propeller unit (40) is controlled by an appropriate computer or the like. Move on the support rod (61)
They are arranged at substantially equal intervals. At this time, the inoperative lift generating propeller (44 ') is held in a state orthogonal to the support rod (61) as shown by an imaginary line in FIG. 44) to avoid interference.

The front and rear ends and the center of the left and right support rods (61) and (61) are connected by horizontal rods (64) and (65) which can be extended and contracted by sheath cylinders (62) and (63). .

A drive device (66) is provided in the center sheath (63), and any one of the lift generating propeller units (40) is provided.
Is disabled, the appropriate support is controlled by a suitable computer or the like, so that the supporting rod (61) supporting the inoperable lift generating propeller unit (40) is replaced with another supporting rod (61). )
Is displaced so as to be closer to.

Thus, when any one of the lift generating propeller units (40) on one of the supporting rods (61) becomes inoperable, the other normal lift generating propeller unit becomes normal.
By making the intervals of (40) equal, it is possible to eliminate or minimize the movement of the center of the lift in the front-rear direction as the whole machine.

The left and right imbalance can be compensated to such an extent that short-time flight and landing are not hindered by increasing or decreasing the rotation speed of the left and right lift generating propeller units (40).

However, according to the embodiment shown in FIGS. 6 and 7, the driving device (66) is operated to move the support rod (61) for supporting the inoperable lift generating propeller unit (40). ,
By approaching the opponent, the center of the lift of the aircraft as a whole can be prevented from shifting in the left-right direction.

A frame-shaped body (6) is provided on the lower surface of the machine frame (60).
7) is suspended, and a propeller (32) for horizontal flight, a horizontal stabilizer (34), a cabin (30), and a vertical stabilizer (33) are provided in the fuselage (67) from the front. .

By operating the two stable wings (33) and (34),
It is possible to slightly compensate for the torque imbalance and the displacement of the center of lift due to the inoperability of one of the lift generating propeller units (40), and to help the flight continue slightly and safely land. it can.

FIG. 8 shows an example of the invention according to claim 9, wherein the cabin (30) located at the position shown by the imaginary line is replaced with a stopped lift generating propeller unit (40 ') at the upper end of the figure.
The center of the lift of the entire aircraft is positioned on a vertical line including the center of gravity of the aircraft by moving the aircraft away from the aircraft frame (10) with respect to the aircraft frame (10).

The horizontal movement of the cabin (30) is achieved by, for example, as shown in FIG.
For example, by using a solenoid (52), the stopped lift generating propeller unit (4) is stopped in the eight radial cut grooves (53).
What is necessary is just to slide horizontally a certain amount into the object (53 ') facing away from 0').

FIGS. 10 to 12 show an embodiment of the invention described in claims 13 to 15.

The machine frame (70) has a rectangular shape which is long in the front-back direction in plan view, and has left and right support rods (71) (7) facing the front-back direction of the machine frame (70).
In (1), four lift generating propeller units (72) similar to those described above are attached at substantially equal intervals.

A cabin (73) is provided below the machine frame (70), and an electric motor (74) or an engine-driven horizontal flight propeller unit (75) is provided inside the machine frame (70). A horizontal tail (77) and a vertical tail (78) are provided behind the frame (70) via a protruding support rod (76). Auxiliary wings (80) for maintaining torque balance are provided on both left and right sides of the machine frame (70) via projecting supporting rods (79).

The horizontal tail (77), the vertical tail (78) and the auxiliary wing (80) can be operated in a small amount from inside the cabin (73) by operating means (not shown).

In the unlikely event that any of the lift generating propeller units (72) becomes inoperable, the remaining lift generating propeller unit (72) will maintain the lift required for a temporary flight connection. The torque imbalance at this time is compensated so as not to disturb the short-time flight by, for example, finely operating the auxiliary wing (80) by a control mechanism including a sensor and a computer.

[0058]

According to the present invention, even if any one of the lift generating propeller units becomes inoperable, the center of the lift is aligned with or close to a vertical line passing through the center of gravity of the aircraft. The continuation or landing of the flight can be safely performed.

According to the fourth aspect of the present invention, it is possible to smoothly and accurately move the propeller for generating lift without any abnormality in a required direction.

According to a fifth aspect of the present invention, the planar interval between the lift generating propeller units which are arranged in two upper and lower stages and are adjacent to each other with a minimum interval can be minimized.

According to the sixth aspect of the present invention, the stability is very good regardless of the flight direction.

According to the seventh to ninth aspects of the present invention, the intended purpose can be achieved with a relatively simple structure.

The tenth aspect of the present invention: The power transmission mechanism is simplified as compared with a case where a lift generating propeller is driven by a common motor, and in the event of a failure of the motor, etc.
The operation is simple and inexpensive because only the prime mover needs to be replaced.

According to the eleventh aspect: the stability to the relative airflow in the horizontal direction is improved.

The twelfth aspect of the present invention: control of flight attitude;
In addition, it is possible to accurately compensate for torque when any of the lift generating propellers stops.

The invention according to Claims 13 to 15: The intended purpose can be achieved by making the structure extremely simple.

[Brief description of the drawings]

FIG. 1 is a perspective view schematically showing a first embodiment of the present invention.

FIG. 2 is a schematic plan view of the one in FIG.

FIG. 3 is a schematic plan view when one lift generating propeller unit is stopped.

FIG. 4 is a schematic diagram showing the operation of the FIG.

FIG. 5 is a schematic plan view showing another embodiment.

FIG. 6 is a plan view showing an embodiment of the invention according to claims 7 and 8;

FIG. 7 is a side view of the same.

FIG. 8 is a schematic plan view showing another embodiment.

9 is a plan view schematically showing the cabin moving device in FIG.

FIG. 10 is a plan view showing an embodiment of the invention described in claims 13 to 15;

FIG. 11 is a front view of the same.

FIG. 12 is a side view of the same.

[Explanation of symbols]

 (10) Machine frame (11) Hub (12) Arm rod (13) Ring rail (20) Machine frame (21) Hub (22) Arm rod (23) Ring rail (30) Cabin (31) Support shaft (32) Propeller for horizontal flight (33) Vertical stabilizer (34) Horizontal stabilizer (40) Propeller unit for generating lift (41) Vehicle (42) Engine (43) Drive shaft (44) Propeller for generating lift (45) Horizontal roller (50) Control device (51) Stop detection sensor (52) Solenoid (53) Radial cut groove (60) Machine frame (61) Support rod (62) (63) sheath cylinder (64) (65) Horizontal rod (66 ) Drive device (70) Aircraft frame (71) Prop (72) Propeller unit for generating lift (73) Cabin (74) Electric motor (75) Propeller unit for horizontal flight (76) Prop (77) Horizontal tail (78) Vertical tail (79) Support rod (80) Auxiliary wing

Claims (15)

[Claims]
1. A plurality of lift generating propeller units are disposed in the periphery of a machine frame capable of vertical ventilation, and when any one of the lift generating propeller units becomes inoperable, another lift generating propeller unit becomes inoperable. By bringing the non-operational lift generating propeller unit closer to the inoperable lift generating propeller unit, the center line of the overall lift of the entire aircraft approaches or coincides with the vertical line passing through the center of gravity of the aircraft. A vertical take-off and landing aircraft characterized in that it is caused to take off.
2. The method of claim 1, wherein when any one of the lift generating propeller units is inoperable, the remaining lift generating propeller units are substantially equal in distance from each other. The vertical take-off and landing aircraft according to claim 1, wherein the propeller unit is moved.
3. The lift generating propeller unit on both sides of the inoperable lift generating propeller unit is brought closer to the inoperable lift generating propeller unit. Vertical take-off and landing aircraft.
4. The vertical take-off and landing according to claim 1, wherein an annular rail is provided on a peripheral portion of the machine frame, and a plurality of lift generating propeller units are arranged on the annular rail. aircraft.
5. An upper and lower two-stage annular rail is provided in a peripheral portion of a machine frame, and a plurality of lift generating propeller units having equal intervals are provided on each annular rail so as to be staggered in a plan view, and The vertical take-off and landing aircraft according to any one of claims 1 to 4, wherein the vertical take-off and landing aircraft is provided in two upper and lower stages.
6. The vertical take-off and landing aircraft according to claim 5, wherein four lift generating propeller units are provided at equal intervals on each annular rail.
7. A plurality of lift generating propeller units are disposed on each of the supporting rods in the machine frame which includes left and right supporting rods which are parallel to each other and which allows vertical ventilation. When the lift generating propeller unit becomes inoperable, the supporting rod supporting the plurality of lift generating propeller units without any abnormality is moved toward the supporting rod supporting the inoperable lift generating propeller unit. A vertical take-off and landing aircraft wherein the center line of lift as the whole aircraft is brought as close as possible to a vertical line passing through the center of gravity of the aircraft by approaching the aircraft.
8. When any one of the lift generating propeller units becomes inoperable, a lift-generating propeller unit having no abnormality on the supporting rod supporting the lift generating propeller unit is mounted on the supporting rod. By moving, the center of the lift acting on the support rod approaches or coincides with the center of the lift on the support rod when all the lift generating propeller units on the support rod are functioning normally. 8. The vertical take-off and landing aircraft according to claim 7, wherein:
9. A plurality of lift generating propeller units are provided in a peripheral portion of a machine frame, and a cabin is provided in a center portion of the machine frame. When any one of the lift generating propeller units becomes inoperable, the cabin is disabled. Horizontally in the direction away from the inoperative lift generating propeller unit so that the center line of the overall lift of the entire aircraft coincides with or approaches the vertical line passing through the center of gravity of the aircraft. A vertical take-off and landing aircraft.
10. The vertical take-off and landing aircraft according to claim 1, wherein each lift generating propeller is driven by a separate prime mover.
11. The vertical take-off and landing aircraft according to claim 1, wherein the lift generating propeller is a rotor having an articulated blade.
12. A vertical stabilizing wing and a horizontal stabilizing wing for controlling a flight attitude and compensating for a torque when one of the lift generating propellers is stopped are provided at appropriate places on a machine frame. A vertical take-off and landing aircraft according to claim 1.
13. A plurality of lift generating propeller units are provided in the periphery of an airframe that allows vertical ventilation, and a propeller unit for horizontal flight, a horizontal tail, a vertical tail, and A vertical take-off and landing aircraft comprising an auxiliary wing for maintaining torque balance when any of the lift generating propellers becomes inoperable.
14. The vertical take-off and landing aircraft according to claim 13, wherein the plane shape of the aircraft frame is rectangular.
15. The horizontal tail, vertical tail and ailerons,
15. The vertical take-off and landing aircraft according to claim 13 or 14, wherein the vertical take-off and landing aircraft is provided so as to protrude outside the machine frame.
JP2001180146A 2001-06-14 2001-06-14 Vertical takeoff and landing aircraft Pending JP2002370696A (en)

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US7188803B2 (en) 2003-10-24 2007-03-13 Toyota Jidosha Kabushiki Kaisha Vertical take-off and landing aircraft
WO2008141401A1 (en) * 2007-05-21 2008-11-27 Eloir Dos Santos Helicopter with circular rotor arrangement
JP2011046355A (en) * 2009-08-28 2011-03-10 Kitakyushu Foundation For The Advancement Of Industry Science & Technology Flying body
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CN103708028A (en) * 2014-01-17 2014-04-09 吴智勇 Vertical take-off electric airplane
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Publication number Priority date Publication date Assignee Title
US7188803B2 (en) 2003-10-24 2007-03-13 Toyota Jidosha Kabushiki Kaisha Vertical take-off and landing aircraft
GB2418405A (en) * 2004-09-23 2006-03-29 Paul Vincenzi Rotorcraft
GB2418405B (en) * 2004-09-23 2010-03-10 Paul Vincenzi Rotorcraft
WO2008141401A1 (en) * 2007-05-21 2008-11-27 Eloir Dos Santos Helicopter with circular rotor arrangement
JP2011046355A (en) * 2009-08-28 2011-03-10 Kitakyushu Foundation For The Advancement Of Industry Science & Technology Flying body
CN102092473A (en) * 2011-01-25 2011-06-15 凌强 Multi-rotor craft and method thereof
KR101386959B1 (en) * 2012-11-26 2014-04-29 주식회사 엑센스 Flying car with multi-rotor and multi-axis multi-step tilt function
DE102013000168A1 (en) * 2013-01-09 2014-07-10 microdrones GmbH Aerodynamic Multicopter / Quadrocopter
JP2014227155A (en) * 2013-05-27 2014-12-08 富士重工業株式会社 Control method for vertical takeoff and landing air vehicle
JP2018083625A (en) * 2013-06-09 2018-05-31 アイトゲネシシェ・テヒニシェ・ホーホシューレ・チューリヒ Controlled flight of multi-copter experiencing failure affecting effector
JP2016524567A (en) * 2013-06-09 2016-08-18 アイトゲネシシェ・テヒニシェ・ホーホシューレ・チューリヒ Controlled flight of multicopters subject to faults affecting effectors
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