Floating mobile object and floating mobile system using the same
원문보기
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
B64C-015/12
B63H-025/04
B64C-039/02
G05D-001/10
B63H-025/46
B63B-035/00
출원번호
US-0385506
(2013-02-14)
등록번호
US-9308986
(2016-04-12)
우선권정보
JP-2012-060598 (2012-03-16)
국제출원번호
PCT/JP2013/053557
(2013-02-14)
국제공개번호
WO2013/136902
(2013-09-19)
발명자
/ 주소
Kanaoka, Katsuya
출원인 / 주소
The Ritsumeikan Trust
대리인 / 주소
Kirschstein, Israel, Schiffmiller & Pieroni, P.C.
인용정보
피인용 횟수 :
0인용 특허 :
3
초록▼
A holonomic floating mobile object is operated under gravity and includes a main body and six or more thrusters for generating thrust by changing the momentum of a fluid. The six or more thrusters are controlled independently of one another such that the thrust is set at a desired value. The six or
A holonomic floating mobile object is operated under gravity and includes a main body and six or more thrusters for generating thrust by changing the momentum of a fluid. The six or more thrusters are controlled independently of one another such that the thrust is set at a desired value. The six or more thrusters are arranged in a fuselage coordinate system defined on the main body, such that the range in which a total thrust vector obtained by combining vectors of the thrust generated by all of the thrusters can be generated spans a six-dimensional space with three directions of translation and three directions of rotation. Incoming and outgoing flows to and from one of the thrusters are spaced apart from incoming and outgoing flows to and from the other thrusters and even apart from every other fuselage structure aside from that one thruster.
대표청구항▼
1. A floating mobile object operated under gravity, comprising: a main body; andsix or more thrusters for generating thrust by changing the momentum of a fluid, wherein,the six or more thrusters are controlled independently of one another such that the thrust is set at a desired value,the six or mor
1. A floating mobile object operated under gravity, comprising: a main body; andsix or more thrusters for generating thrust by changing the momentum of a fluid, wherein,the six or more thrusters are controlled independently of one another such that the thrust is set at a desired value,the six or more thrusters are arranged and fixed in a fuselage coordinate system defined on the main body such that primary thrust vectors of all of the thrusters are directed upward, andin the fuselage coordinate system, a range in which a total thrust vector obtained by combining vectors of the thrust generated by all of the thrusters is generated spans a six-dimensional space with three directions of translation and three directions of rotation, and incoming and outgoing flows to and from one of the thrusters are spaced apart from incoming and outgoing flows to and from the other thrusters. 2. The floating mobile object according to claim 1, wherein, the number of thrusters provided is 6+α, α being a positive integer, and(6+α−β) thrusters, β being a positive integer less than or equal to α, excluding β from among the (6+α) thrusters, are arranged such that the range in which the total thrust vector obtained by combining the vectors of the thrust generated by all of the thrusters is generated spans the six-dimensional space regardless of the selection of the β thrusters and whichever β thrusters are selected. 3. The floating mobile object according to claim 1, wherein the thrust is controlled on the basis of commands outputted by one or more input means and one or more sensors provided in the main body. 4. The floating mobile object according to claim 3, wherein the command outputted by the input means includes an input signal outputted by an operating console manipulated remotely by an operator. 5. The floating mobile object according to claim 3, wherein the command outputted by the sensor includes at least one measured value for the main body's position, orientation, velocity, angular velocity, acceleration, and angular acceleration. 6. The floating mobile object according to claim 3, wherein the command outputted by the input means includes a measured value outputted by a sensor for measuring an orientation of the operator's specific body part. 7. The floating mobile object according to claim 1, further comprising a camera provided on the main body, wherein, the camera is capable of outputting a video being taken to a video display device used by the operator in real-time. 8. The floating mobile object according to claim 7, wherein the camera is provided pivotably on the main body. 9. The floating mobile object according to claim 8, wherein a pivot angle of the camera is controlled on the basis of a measured value outputted by a sensor for measuring a head orientation of the operator. 10. A floating mobile system using the floating mobile object of claim 1, comprising: an operating console manipulated remotely by an operator;an acceleration sensor for measuring acceleration of the floating mobile object;an orientation sensor for measuring an orientation of the floating mobile object; anda control portion for deciding target acceleration for the floating mobile object on the basis of an input signal outputted by the operating console and also deciding a target total thrust vector in a direction of translation for realizing the target acceleration, on the basis of measured values outputted by the acceleration sensor and the orientation sensor, wherein,the thrusters are controlled independently of one another such that the total thrust vector matches the target total thrust vector in the direction of translation. 11. The floating mobile system according to claim 10, further comprising: a turning angle sensor for measuring an orientation of the operator's specific body part; andan angular velocity sensor for measuring an angular velocity of the floating mobile object, wherein,the control portion decides a target orientation for the floating mobile object on the basis of a measured value outputted by the turning angle sensor and also decides a target total thrust vector in a direction of rotation for realizing the target orientation, on the basis of measured values outputted by the angular velocity sensor and the orientation sensor, andthe thrusters are controlled independently of one another such that the total thrust vector matches a target total thrust vector obtained by combining the target total thrust vectors in the directions of translation and rotation.
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이 특허에 인용된 특허 (3)
Peters, William C., Method and system for high fidelity VTOL and hover capability.
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