JP7475347B2 - 曲面にuavを着陸させるための関節接合された磁気軸受の脚部 - Google Patents
曲面にuavを着陸させるための関節接合された磁気軸受の脚部 Download PDFInfo
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- JP7475347B2 JP7475347B2 JP2021530981A JP2021530981A JP7475347B2 JP 7475347 B2 JP7475347 B2 JP 7475347B2 JP 2021530981 A JP2021530981 A JP 2021530981A JP 2021530981 A JP2021530981 A JP 2021530981A JP 7475347 B2 JP7475347 B2 JP 7475347B2
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- ferromagnetic surface
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- curved ferromagnetic
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B—PERFORMING OPERATIONS; TRANSPORTING
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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]
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
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- G—PHYSICS
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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19日に出願された「ARTICULATED MAGNET-BEARING LEGS FOR UAV LANDING ON CURVED SURFACES」と題する米国出願第16/688,706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、500、900 ・・・UAV
110 ・・・レーザスキャナ
120 ・・・磁石
150 ・・・クローラ
200、800、1000 ・・・脚部
220 ・・・磁石ホルダ
230 ・・・永久磁石
250 ・・・関節接合ジョイント
860、1060 ・・・分離モータ
Claims (20)
- 湾曲強磁性面に着陸およびパーチするための無人航空機(UAV)であって、前記UAVが複数の関節接合された脚部を備え、各関節接合された脚部が
前記関節接合された脚部を前記UAVに取り付ける主要本体と、
前記湾曲強磁性面に磁着するように構成された磁石と、
磁気足であって、前記磁石を収容するためのものであり、かつ、前記UAVを前記湾曲強磁性面に着陸させるために、および、前記着陸後に前記UAVが前記湾曲強磁性面にパーチするために、前記UAVが前記湾曲強磁性面にアプローチすることに応答して、前記湾曲強磁性面に対して垂直な配向において、前記磁石を使用して、前記湾曲強磁性面に向かって磁気的に関節接合し、磁着するように構成されている、磁気足と、
前記主要本体を前記磁気足に連結し、前記湾曲強磁性面に対して、自由度2で前記磁気足を受動的に関節接合させ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、
前記磁気足を前記湾曲強磁性面から離れるように傾けることによって、前記磁気足を前記湾曲強磁性面から磁気的に分離するように構成されている分離モータと、を備え、
前記磁気足が、前記UAVが前記湾曲強磁性面にパーチする間に、前記湾曲強磁性面に磁着したままであるように、さらに構成されている、UAV。 - 前記複数の関節接合された脚部が、4つの関節接合された脚部を備える、請求項1に記載のUAV。
- 湾曲強磁性面に着陸およびパーチするための無人航空機(UAV)であって、前記UAVが、単一の分離モータと複数の関節接合された脚部を備え、各関節接合された脚部が、
前記関節接合された脚部を前記UAVに取り付ける主要本体と、
前記湾曲強磁性面に磁着するように構成された磁石と、
磁気足であって、前記磁石を収容するためのものであり、かつ、前記UAVを前記湾曲強磁性面に着陸させるために、および、前記着陸後に前記UAVが前記湾曲強磁性面にパーチするために、前記UAVが前記湾曲強磁性面にアプローチすることに応答して、前記湾曲強磁性面に対して垂直な配向において、前記磁石を使用して、前記湾曲強磁性面に向かって磁気的に関節接合し、磁着するように構成されており、前記磁気足が、前記UAVが前記湾曲強磁性面にパーチする間に、前記湾曲強磁性面に磁着したままであるように、さらに構成されている、磁気足と、
前記主要本体を前記磁気足に連結し、前記湾曲強磁性面に対して、自由度2で前記磁気足を受動的に関節接合させ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、
前記磁気足を前記湾曲強磁性面から離れるように傾けることによって、前記UAVの前記単一の分離モータが、すべての前記関節接合された脚部の前記磁気足を分離するように構成されている、UAV。 - 前記磁石が、永久磁石を備える、請求項1または3に記載のUAV。
- 前記永久磁石が、調整可能な量の1つ以上の永久磁石を備える、請求項4に記載のUAV。
- 前記磁気足が、前記UAVが前記湾曲強磁性面にパーチするときに、前記湾曲強磁性面から調整可能な距離で前記磁気足内に前記永久磁石を収容するように構成されている、磁石ハウジングを備える、請求項4に記載のUAV。
- 前記磁石が、切り替え可能な磁石を備え、前記磁気足が、前記切り替え可能な磁石をオンおよびオフに切り替えるために、前記切り替え可能な磁石の内部磁石を移動または作動させるように構成されている、モータまたはアクチュエータを備える、請求項1または3に記載のUAV。
- 前記磁石が、電流のパルスに応答して、オンとオフとの間で切り替わるように構成されている電永磁石を備える、請求項1または3に記載のUAV。
- 前記湾曲強磁性面へ着陸する前に、前記関節接合された脚部間の間隔を調整するために、各関節接合された脚部の前記分離モータを使用するように構成されているコントローラをさらに備える、請求項1に記載のUAV。
- 前記湾曲強磁性面へ着陸する前に、前記関節接合された脚部間の間隔を調整するために、前記UAVの前記単一の分離モータを使用するように構成されているコントローラをさらに備える、請求項3に記載のUAV。
- 無人航空機(UAV)を湾曲強磁性面に着陸およびパーチさせる自動化された方法であって、前記UAVが、複数の関節接合された脚部を備え、かつ、各関節接合された脚部が、前記関節接合された脚部を前記UAVに取り付ける主要本体を有しており、前記方法が、
前記湾曲強磁性面に前記UAVをアプローチさせることと、
前記湾曲強磁性面に対して垂直に、磁気足の磁石を配向するために、各関節接合された脚部の磁気足を前記アプローチした湾曲強磁性面に向かって磁気的に関節接合することであって、前記主要本体を前記磁気足に連結する前記関節接合された脚部の受動的な関節接合ジョイントを使用して、前記湾曲強磁性面に対して、自由度2で前記磁気足を受動的に関節接合させることを含むことと、
前記磁気足の前記垂直に配向された磁石を使用して、前記湾曲強磁性面に各磁気足を磁着することによって、前記湾曲強磁性面に前記UAVを着陸させることと、
各磁気足を前記湾曲強磁性面に磁着したままにすることにより、前記着陸後に、前記湾曲強磁性面に前記UAVをパーチさせることと、
前記強磁性面から離れるように前記磁気足を傾けるために、前記関節接合された脚部の分離モータを使用して、各関節接合された脚部の前記磁気足を前記湾曲強磁性面から磁気的に分離することと、を含む、方法。 - 前記複数の関節接合された脚部が、4つの関節接合された脚部を含む、請求項11に記載の方法。
- 無人航空機(UAV)を湾曲強磁性面に着陸およびパーチさせる自動化された方法であって、前記UAVが単一の分離モータと、複数の関節接合された脚部とを含み、各関節接合された脚部が、前記関節接合された脚部を前記UAVに取り付ける主要本体を有しており、前記方法が、
前記湾曲強磁性面に前記UAVをアプローチさせることと、
前記湾曲強磁性面に対して垂直に、磁気足の磁石を配向するために、各関節接合された脚部の磁気足を前記アプローチした湾曲強磁性面に向かって磁気的に関節接合することであって、前記主要本体を前記磁気足に連結する前記関節接合された脚部の受動的な関節接合ジョイントを使用して、前記湾曲強磁性面に対して、自由度2で前記磁気足を受動的に関節接合させることを含むことと、
前記磁気足の前記垂直に配向された磁石を使用して、前記湾曲強磁性面に各磁気足を磁着することによって、前記湾曲強磁性面に前記UAVを着陸させることと、
各磁気足を前記湾曲強磁性面に磁着したままにすることにより、前記着陸後に、前記湾曲強磁性面に前記UAVをパーチさせることと、
前記強磁性面から離れるように前記磁気足を傾けるために、前記UAVの前記単一の分離モータを使用して、前記関節接合されたすべての脚部の前記磁気足を前記湾曲強磁性面から磁気的に分離することと、を含む、方法。 - 磁石が、永久磁石を含む、請求項11または13に記載の方法。
- 前記永久磁石が、調整可能な量の1つ以上の永久磁石を含んでおり、前記方法が、前記磁気足の重量または磁気強度を調整するために、前記1つ以上の永久磁石の前記量を調整することをさらに含む、請求項14に記載の方法。
- 前記磁気足が、前記UAVが前記湾曲強磁性面にパーチするときに、前記湾曲強磁性面から調整可能な距離で、前記磁気足内に前記永久磁石を収容するように構成されている磁石ハウジングを含んでおり、前記方法が、前記磁気足の磁気強度を調整するために、前記磁気足内で前記永久磁石の場所を調整することをさらに含む、請求項14に記載の方法。
- 前記磁石が、切り替え可能な磁石を含んでおり、前記方法が、前記切り替え可能な磁石のオンとオフを切り替えるために、前記磁気足のモータまたはアクチュエータを使用して、前記切り替え可能な磁石の内部磁石を移動または作動させることをさらに含む、請求項11または13に記載の方法。
- 前記磁石が、電永磁石を含んでおり、前記方法が、電流のパルスを使用して前記電永磁石をオンとオフの間で切り替えることをさらに含む、請求項11または13に記載の方法。
- 前記UAVのコントローラによって、前記湾曲強磁性面に着地する前に、各関節接合された脚部の前記分離モータを使用して、前記関節接合された脚部間の間隔を調整することをさらに含む、請求項11に記載の方法。
- 前記UAVのコントローラによって、前記湾曲強磁性面に着地する前に、前記単一の分離モータを使用して、前記関節接合された脚部間の間隔を調整することをさらに含む、請求項13に記載の方法。
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PCT/US2019/063423 WO2020112887A1 (en) | 2018-11-29 | 2019-11-26 | Articulated magnet-bearing legs for uav landing on curved surfaces |
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