JP2022510298A - 解放可能なクローラを有するパーチするuav - Google Patents
解放可能なクローラを有するパーチするuav Download PDFInfo
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- JP2022510298A JP2022510298A JP2021531010A JP2021531010A JP2022510298A JP 2022510298 A JP2022510298 A JP 2022510298A JP 2021531010 A JP2021531010 A JP 2021531010A JP 2021531010 A JP2021531010 A JP 2021531010A JP 2022510298 A JP2022510298 A JP 2022510298A
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- Prior art keywords
- uav
- crawler
- ferromagnetic surface
- magnetic
- during
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- B64—AIRCRAFT; AVIATION; COSMONAUTICS
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- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U70/00—Launching, take-off or landing arrangements
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17D—PIPE-LINE SYSTEMS; PIPE-LINES
- F17D5/00—Protection or supervision of installations
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2291/00—Indexing codes associated with group G01N29/00
- G01N2291/02—Indexing codes associated with the analysed material
- G01N2291/028—Material parameters
- G01N2291/02854—Length, thickness
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2291/00—Indexing codes associated with group G01N29/00
- G01N2291/02—Indexing codes associated with the analysed material
- G01N2291/028—Material parameters
- G01N2291/0289—Internal structure, e.g. defects, grain size, texture
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10028—Range image; Depth image; 3D point clouds
Abstract
Description
本出願は、米国特許法第119条(e)の下、2018年11月29日に出願された「PERCHING UAV WITH RELEASABLE CRAWLER」と題する米国特許仮出願第62/772,700号の利益を主張し、かつ、米国特許法第120条の下、2019年11月20日に出願された「PERCHING UAV WITH RELEASABLE CRAWLER」と題する米国出願第16/689,864号の利益を主張するものであり、参照によりそれぞれの全体を本明細書に引用する。
100 UAV本体
110 レーザスキャナ
120 関節磁石
130 磁気クローラ(ミニチュアクローラ)
140 磁気ホイール
150 湾曲強磁性面
200 脚部
210 装着点
220 下部構造
230 装着点
240 調整機構
250 ドッキング機構
260 クローラ
270 磁気ホイール
280 脚部
290 磁石
310 モジュール式装着点
400 本体
410 電動装着点
Claims (27)
- 無人航空機(UAV)であって、
前記UAVが飛行することを可能にするように構築されている本体と、
前記本体に接続されており、かつ湾曲強磁性面に前記飛行するUAVを着陸およびパーチさせるように構成されている、3本以上の脚部であって、各脚部が、
前記本体に接続されている第1の部分と、
磁石を備えており、かつ前記着陸中に、前記脚部を前記強磁性面に磁着することと、前記パーチ中に、前記強磁性面への前記脚部の磁着を維持することと、を行うように構成されている、第2の部分と、
前記第1の部分を前記第2の部分に接続しており、前記第2の部分が前記強磁性面へアプローチすることに応答して、前記着陸中に、前記第1の部分に対して前記第2の部分が受動的に関節接合するように構成されている、受動的な関節接合ジョイントと、を備える、3本以上の脚部と、
磁気ホイールを備える解放可能なクローラであって、前記磁気ホイールが、
前記パーチ中に、前記クローラを前記本体から分離することと、
前記分離後、前記クローラを前記強磁性面に磁着させる間に、前記強磁性面上で前記クローラを操縦することと、とを行うように構成されている、解放可能なクローラと、を備える、UAV。 - 前記クローラが、前記操縦中に、前記強磁性面を検査または維持するように構成されたプローブまたはツールをさらに備える、請求項1に記載のUAV。
- 前記クローラが、前記UAVまたは基地局と無線で通信するように構成された無線通信回路をさらに備える、請求項1に記載のUAV。
- 前記磁気ホイールが、前記操縦後に、前記クローラを前記本体に再ドッキングするようにさらに構成されている、請求項1に記載のUAV。
- 各磁石が、永久磁石を備える、請求項1に記載のUAV。
- 各磁石が、切り替え可能な永久磁石を備える、請求項5に記載のUAV。
- 各磁石が、電永磁石を備える、請求項6に記載のUAV。
- 前記パーチしたUAVの前記強磁性面からの離陸中に、前記磁着した脚部のうちの1つ以上を前記強磁性面から磁気的に分離することを支援するために、前記強磁性面に磁着する前記脚部のうちの前記1つ以上の前記第2の部分に梃子を適用するように構成されている分離アクチュエータをさらに備える、請求項5に記載のUAV。
- 前記本体に接続されており、かつ、前記着陸中に、前記UAVを配向するための感知データを提供するように構成されている、レーザスキャナをさらに備える、請求項1に記載のUAV。
- 前記磁気ホイールが、4つの磁気ホイールを備え、かつ、前記クローラが、前記4つの磁気ホイールのうちの2つを駆動するように各々構成されている2つのモータをさらに備える、請求項1に記載のUAV。
- 前記磁気ホイールがオムニホイールまたはメカナムホイールを備える、請求項1に記載のUAV。
- 無人航空機(UAV)であって、
前記UAVが飛行することを可能にするように構築されており、かつ複数の第1の取り付け点を有する第1の本体、および、
下部構造、を備えており、前記下部構造が、
対応する複数の第2の取り付け点を有する第2の本体であって、前記第1および第2の装着点のうちの対応するペアで前記第1の本体に装着されている、第2の本体と、
前記第2の本体に接続されており、かつ湾曲磁性面に前記飛行するUAVを着陸およびパーチさせるように構成されている、3本以上の脚部であって、各脚部が、
前記第2の本体に接続されている第1の部分と、
磁石を備えており、かつ前記着陸中に、前記脚部を前記強磁性面に磁着することと、前記パーチ中に、前記強磁性面への前記脚部の磁着を維持することと、を行うように構成されている、第2の部分と、
前記第1の部分を前記第2の部分に接続しており、前記第2の部分が前記強磁性面へアプローチすることに応答して、前記着陸中に、前記第1の部分に対して前記第2の部分が受動的に関節接合するように構成されている、受動的な関節接合ジョイントと、を備える、3本以上の脚部と、
磁気ホイールを備える解放可能なクローラであって、前記磁気ホイールが、
前記パーチ中に、前記クローラが前記第2の本体から分離することと、
前記分離後に、前記クローラを前記強磁性面に磁着させる間に、前記強磁性面で前記クローラを操縦することと、とを行うように構成されている、解放可能なクローラと、を備える、UAV。 - 前記クローラが、前記操縦中に、前記強磁性面を検査または維持するように構成されたプローブまたはツールをさらに備える、請求項12に記載のUAV。
- 前記クローラが、前記UAVまたは基地局と無線で通信するように構成された無線通信回路をさらに備える、請求項12に記載のUAV。
- 前記磁気ホイールが、前記操縦後に、前記クローラを前記第2の本体に再ドッキングするようにさらに構成されている、請求項12に記載のUAV。
- 各磁石が永久磁石を備える、請求項12に記載のUAV。
- 各磁石が切り替え可能な永久磁石を備える、請求項16に記載のUAV。
- 各磁石が電永磁石を備える、請求項17に記載のUAV。
- 前記パーチしたUAVの前記強磁性面からの離陸中に、前記磁着した脚部のうちの1つ以上を前記強磁性面から磁気的に分離することを支援するために、前記強磁性面に磁着する前記脚部のうちの前記1つ以上の前記第2の部分に梃子を適用するように構成されている分離アクチュエータをさらに備える、請求項16に記載のUAV。
- 前記第1の本体に接続されており、かつ、前記着陸時に前記UAVを配向するための感知データを提供するように構成されているレーザスキャナをさらに備える、請求項12に記載のUAV。
- 前記磁気ホイールが、4つの磁気ホイールを備え、かつ、前記クローラが、前記4つの磁気ホイールのうちの2つを駆動するように各々構成された2つのモータをさらに備える、請求項12に記載のUAV。
- 前記磁気ホイールが、オムニホイールまたはメカナムホイールを備える、請求項12に記載のUAV。
- 前記下部構造が、
前記飛行中に、前記クローラを前記第2の本体に固定するように構成されているドッキング機構、および、
前記パーチ中に、前記強磁性面に対して、前記クローラの高さを調整するように構成されている高さ調整機構、をさらに備える、請求項12に記載のUAV。 - 前記第1の本体が、対応する複数の第3の取り付け点をさらに有しており、
前記第2の本体が、前記第1の取り付け点で前記第1の本体から分離することと、前記第3および第2の装着点の対応するペアで前記第1の本体に装着されること、とを行うように構成されている、請求項12に記載のUAV。 - 前記第1の本体が、可動取り付け台であって、前記第1の取り付け点を有しており、前記第1の本体の残りの部分に対して前記第1の取り付け点を移動させるように構成されている可動取り付け台を備える、請求項12に記載のUAV。
- 前記飛行中に前記取り付け台を移動させるように構成されているモータをさらに備える、請求項25に記載のUAV。
- 前記可動取り付け台が、前記第1の本体の軸の周りで前記第1の取り付け点を回転させるようにさらに構成されている、請求項25に記載のUAV。
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PCT/US2019/063381 WO2020112859A1 (en) | 2018-11-29 | 2019-11-26 | Perching uav with releasable crawler |
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JP2021531010A Pending JP2022510298A (ja) | 2018-11-29 | 2019-11-26 | 解放可能なクローラを有するパーチするuav |
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