WO2018043737A1

WO2018043737A1 - Flying mobile unit

Info

Publication number: WO2018043737A1
Application number: PCT/JP2017/031772
Authority: WO
Inventors: 裕基加藤; 恵一柳瀬; 真司巳谷; 信貴谷嶋
Original assignee: 国立研究開発法人宇宙航空研究開発機構
Priority date: 2016-09-05
Filing date: 2017-09-04
Publication date: 2018-03-08

Abstract

This flying mobile unit comprises a hull, a wheel, a propulsion device, and a control unit. The wheel has an axis of rotation oriented in the same direction as the direction of a thrust force to be produced by the propulsion unit. The control unit causes the wheel to produce an angular momentum, and then causes the propulsion device to produce the thrust force for takeoff and flight of the flight mobile unit, while causing the wheel to continue to produce the angular momentum.

Description

Flying vehicle

The present invention relates to a flying mobile body, a flying mobile body launch system, and a flying mobile body attitude control method.

Conventionally, a rover has been used as a lunar / planetary probe (see, for example, Non-Patent Document 1 below). However, in exploration on rough terrain, such as crater edges, mountains, and rocks, the rover may be difficult to travel. In addition to the rough terrain, the rover sometimes has difficulty running on terrain such as sand and mud.
Furthermore, it is conceivable to use the rover as a disaster rescue vehicle at a disaster site on the earth, but the vehicle may be difficult to travel at the disaster site.
Therefore, there is a demand for a flying mobile body that can jump over the difficult terrain and reach the target point.

The inventors of the present invention have proposed a small and lightweight flying mobile body that can jump over a difficult terrain and fly to a target point (see Patent Document 1 below).

Japanese Patent Application No. 2015-100240

As described above, the present inventors have realized a flying mobile body that can fly and move to a destination. However, there is a need for a flying object that can fly and land at a target arrival point with higher accuracy.

In addition, since it is difficult for the flying mobile body to move below the minimum flight distance, position correction when there is a deviation between the landing point and the target arrival point, and work by moving around the landing point It was difficult.

Therefore, an object of the present invention is to provide a flying mobile body that can fly and land at a target arrival point with higher accuracy and its launch system.

Also, it is an object of the present invention to provide a flying mobile body that can easily move below the minimum flying distance after landing.

One aspect of the present invention is a flying moving body including an outer shell structure, a wheel, a propulsion device, and a control unit, and the direction of the rotation axis of the wheel is generated by the propulsion device. The control unit is arranged so as to be in the same direction as the power thrust, and the control unit causes the wheel to generate angular momentum and then causes the propulsion device to cause the flying vehicle to continue generating angular momentum. It is intended to provide a flying vehicle that generates thrust for taking off and flying.

The outer shell structure may have a shape that allows the flying vehicle to rotate on the landing surface by controlling the angular momentum generated by the wheel.

The control of the angular momentum generated by the wheel can be a stop of the wheel.

The direction of the rotational movement of the flying mobile body may be perpendicular to the rotational axis of the wheel.

The outer shell structure is configured as an octagonal column at least a part of which is in contact with the landing surface when the flying moving body rotates on the landing surface, and the axis direction of the octagonal column is a rotation axis of the wheel. The direction may be the same.

The control unit causes the wheel to continue generating angular momentum until a predetermined timing after landing of the flying mobile body or after landing, and generates the wheel at a predetermined timing after landing of the flying mobile body or after landing. By controlling the angular momentum to be performed, the flying moving body can be rotated on the landing surface.

The flying vehicle further includes a reverse thrust device that generates a thrust against the thrust of the propulsion device, and the direction of the thrust to be generated by the reverse thrust device is the same as the direction of the rotation axis of the wheel It can be.

The control unit may generate a thrust in the reverse thrust device so that the flying mobile body lands at a target arrival point.

The control unit may stop the wheel at a predetermined timing when the flying mobile body is landing or after landing.

One aspect of the present invention includes a launch pad provided with a launch rail and the flying moving body, and the flying moving body includes a connecting member coupled to the rail so as to be slidable along the launch rail. The present invention also provides a flying mobile launching system.

One aspect of the present invention is a method for controlling the attitude of a flying moving body, wherein the flying moving body includes an outer shell structure, a wheel, and a propulsion device, and the wheel has a direction of a rotation axis thereof. The propulsion device is arranged so as to be in the same direction as the thrust to be generated, and the step of causing the wheel to generate angular momentum, and then causing the wheel to continue generating angular momentum, Generating a thrust for takeoff and flight of the flying vehicle.

One aspect of the present invention is a flying mobile body attitude and movement control method, wherein the flying mobile body includes an outer shell structure, a wheel, and a propulsion device, and the wheel has a direction of a rotation axis thereof. Are arranged in the same direction as the thrust to be generated by the propulsion device, causing the wheel to generate angular momentum, and then causing the wheel to continue generating angular momentum while allowing the propulsion device to Generating a thrust for takeoff and flight of the flying mobile body, causing the wheel to continue generating angular momentum until a predetermined timing at the time of landing of the flying mobile body or after landing, and the flying movement By controlling the angular momentum generated by the wheel at a predetermined timing at the time of landing of the body or after landing, the step of rotating the flying moving body on the landing surface is performed. There is provided a method comprising the flop.

The flying vehicle further includes a reverse thrust device that generates a thrust against the thrust of the propulsion device, and the direction of the thrust to be generated by the reverse thrust device is the same as the direction of the rotation axis of the wheel, The method may further include a step of generating a thrust in the reverse thrust device so that the flying mobile body lands at a target arrival point.

ADVANTAGE OF THE INVENTION According to this invention, it becomes possible to provide the flight mobile body which can fly and land to a target arrival point with more precision than before, and its launch system.
In addition, according to the present invention, it is also possible to provide a flying mobile body that can easily move below the minimum flying distance after landing.

1 is an overall configuration diagram of a flying mobile object launch system according to a first embodiment of the present invention. It is a perspective view of the flight moving body concerning a 1st embodiment of the present invention. It is a flowchart of the example of the attitude | position and movement control method of the flying mobile body which concerns on the 1st Embodiment of this invention. It is a figure which shows the exercise | movement after the landing of the flying mobile body which concerns on one Embodiment of this invention. It is a perspective view of the flying mobile body which concerns on the 2nd Embodiment of this invention. It is a perspective view of the flying mobile body which concerns on the 3rd Embodiment of this invention. It is a conceptual diagram of the attitude | position and movement control method of the flying mobile body which concerns on the 3rd Embodiment of this invention. It is a flowchart of the example of the attitude | position and movement control method of the flying mobile body which concerns on the 3rd Embodiment of this invention.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

(First embodiment)
FIG. 1 is an overall configuration diagram of a flying mobile body launching system according to the first embodiment of the present invention, and FIG. 2 is a perspective view of the flying mobile body according to the first embodiment of the present invention.

As shown in FIG. 1, a flying mobile body launching system 1 according to the present embodiment includes a flying mobile body 3 and a launch pad 2.

The launch pad 2 includes a launch rail 21 and is configured such that the longitudinal direction of the launch rail 21, that is, the launch elevation angle and the launch azimuth angle can be adjusted. Then, the flying mobile body 3 is slidably attached to the launch rail 21, and the flying mobile body 3 can be fired.

The flying mobile body 3 includes a casing 31, a wheel 33, a main engine 35, a control unit 37, and an inertia measurement unit (IMU) 38.

The casing 31 which is the outer shell structure of the flying mobile body 3 has an octagonal prism shape with the four corners of the quadrangular prism chamfered. Thereby, as will be described later, the flying mobile body 3 can rotate on the landing surface due to a decrease in the angular momentum generated by the wheel 33. The housing 31 houses a wheel 33 and a control unit 37.

The wheel 33 rotates around its rotation axis and generates angular momentum. The wheel 33 is disposed inside the housing 31, and is arranged so that the direction of the rotation axis thereof is the same as the axis of the octagonal housing 31 and the direction of thrust that the main engine 35 should generate. ing. Thereby, the attitude | position of the flying mobile body 3 is stabilized and it is excellent in the flight stability to a target arrival point. The rotation axis of the wheel 33, the octagonal column casing 31, and the main engine 35 have the same direction of the rotation axis of the wheel 33 as the axis of the octagonal column casing 31 and the direction of the thrust that the main engine 35 should generate. If it arrange | positions like this, it does not need to be arrange | positioned coaxially.

The main engine 35 is a rocket engine (thruster) that is a propulsion device, and is connected to the casing 31. The main engine 35 has a cylindrical shape, and generates thrust downward in the axial direction by injection. The propulsion device is not limited to a cylindrical rocket engine, and may be any appropriate propulsion device.

The control unit 37 controls the angular momentum generated by controlling the rotation speed of the wheel 33. The angular momentum generated by the wheels may be controlled by providing a plurality of wheels on the flying vehicle 3 and changing the number of wheels to be driven. Further, the control unit 37 controls the thrust generated by the main engine 35. The control unit 37 acquires detection information and the like of the triaxial angular velocity and acceleration from the IMU 38, performs various calculations based on this information, and based on the acquired information and calculation results, each unit of the flying mobile body 3 Control.

The connecting member 39 is a plate-like member extending in the longitudinal direction, and is attached to the side surface of the housing 31. The connecting member 39 is arranged at the center of the side surface of the housing 31 such that the longitudinal direction thereof is the same as the direction of the rotation axis of the wheel 33.

The convex part 39a is formed in the connecting member 39. On the other hand, the firing rail 21 is a long rail having a groove 21 a whose cross section is complementary to the convex portion 39 a of the connecting member 39. By inserting the convex portion of the connecting member 39 into the groove portion 21a of the launch rail 21 so as to engage with each other, the flying mobile body 3 can be installed on the launch pad 2, and the flying mobile body 3 It can slide along the firing rail 21.

Based on the above apparatus configuration, the operating principle of the flying vehicle and the flying vehicle launch system according to the first embodiment of the present invention, the attitude of the flying vehicle using the flying vehicle and the flying vehicle launch system, and An example of the movement control method will be described below with reference to FIGS. FIG. 3 is a flowchart of an example of the attitude of the flying mobile body and the movement control method according to the first embodiment of the present invention.

First, the connecting member 39 of the flying mobile body 3 is inserted into the launch rail 21 of the launch pad 2 so that both are engaged, and the flying mobile body 3 is installed on the launch pad 2 (S1).

Subsequently, the control unit 37 generates angular momentum by driving and rotating the wheel 33 (S2).

Thereafter, the control unit 37 causes the main engine 35 to be injected while continuing to generate the angular momentum by continuing the rotation of the wheel 33, and the main engine 35 generates thrust for takeoff and flight of the flying mobile body 3. (S3). The flying vehicle 3 slides along the launch rail 21, takes off, and flies. At this time, since it slides along the rail and takes off, the flight movement direction is controlled to a certain extent in the longitudinal direction of the launch rail 21. In the present embodiment, the direction of the rotation axis of the wheel 33 is further arranged to be the same as the longitudinal direction of the launch rail and the direction of the thrust that the main engine 35 should generate, and the flying vehicle 3 Since angular momentum continues to be generated before takeoff of the vehicle, even if a deviation occurs between the direction of thrust that the main engine 35 should generate (the direction of the rotation axis of the wheel 33) and the direction of thrust that is actually generated, the flight The mobile body 3 can take off and continue to fly with a stable posture.

Here, during the flight of the flying movable body 3, J _3: moment of inertia about the propulsion axis of the fuselage of the flying movable body 3, J _1: inertia around the J ₃ axes perpendicular the axis of the fuselage of the flying mobile 3 Moment, J ₂ : Moment of inertia around the axis perpendicular to the J ₃ and J ₁ axes of the flying vehicle 3, J _h : Moment of inertia around the rotation axis of the wheel, ω ₁ : J _{1 of the} flying vehicle 3 Rotational angular velocity around the same axis, ω ₂ : Rotational angular velocity around the same axis as J _{2 of the} flying vehicle 3, ω ₃ : Rotational angular velocity around the same axis as J _{3 of the} flying vehicle 3, ω _h : Flying vehicle 3 when the J _h and the rotation angular velocity around the same axis,

Is established.

When the predetermined time elapses, the flying vehicle 3 is landed, but the control unit 37 continues the rotation of the wheel 33 from when the flying vehicle 3 is flying until the predetermined timing at the time of landing or after landing. The generation of momentum is continued (S4). When the control unit 37 stops the rotation of the wheel at a predetermined timing at the time of landing of the flying mobile body 3 or after landing, the generated angular momentum becomes zero, and the flying mobile body 3 has a landing surface such as the surface of the celestial body. Above, rotational movement is started in a direction perpendicular to the rotational axis of the wheel 33 (S7). This point will be described in detail below.

The wheel 33 continued to rotate during the flight of the flying vehicle 3 and after landing, but when the wheel 33 that was rotating up to that point was stopped, the angular momentum opposite to the angular momentum generated by the wheel 33 was reversed. A momentum is generated in the flying vehicle 3. When the magnitude of the torque due to the angular momentum generated in the flying moving body 3 is larger than the torque due to gravity, the flying moving body 3 can rotate.

FIG. 4 is a diagram illustrating the movement of the flying mobile body 3 after landing. θ: angle rotated around the ground contact point P, L: distance between the ground contact point P and the center of gravity CG of the flying vehicle 3, m: total mass of the flying vehicle 3, g: gravitational acceleration, J: flying vehicle 3 The main moment of inertia of τ, where τ is the torque generated by the wheel, the equation of the rotational motion with the contact point P as the fulcrum is:

It becomes.

Also, if J _{h is the} moment of inertia around the wheel rotation axis, and α _{h is the} wheel rotation angular acceleration,

Is established.

Therefore, since the shape of the casing 31 is an octagonal prism that is chamfered with a quadrangular prism whose axis direction is the same as that of the rotation axis of the wheel 33, the flying vehicle 3 is stopped when the wheel 33 is stopped. viii if it is possible to obtain a sufficient rotational velocity alpha _h to rotate 22,5 ° or more around the axis of the prism can be rotated moving the projectile moving body 3 overcomes the force of gravity. Here, if the angular momentum generation / braking performance of the wheel is sufficient, the flying vehicle can be reduced by reducing the rotation speed of the wheel 33 without reducing the rotation speed of the wheel 33 until the rotation of the wheel 33 is stopped. If the rotational angular acceleration α _h sufficient to rotate 3 around the axis of the octagonal prism by 22.5 ° or more can be obtained, the flying vehicle 3 can be rotated. Conversely, by providing a plurality of wheels on the flying vehicle, and driving the wheel that was not driven, the angular momentum generated by the wheel is increased, so that the flying vehicle 3 is moved around the axis of the octagonal column. If the rotation angular acceleration α _h that is sufficient to rotate 22.5 ° or more can be obtained, the flying vehicle 3 can be rotated in the reverse direction. After the flying moving body 3 is temporarily stopped, the flying moving body 3 may be rotated in the reverse direction by increasing the angular momentum generated by the wheel.

According to the present embodiment, since the flying mobile body can rotate after the landing of the flying mobile body, it is possible to move the distance less than the minimum flying distance, and there is a deviation between the landing point and the target arrival point. You can correct the position and work around the landing point.

Further, according to the present embodiment, since the posture of the flying mobile body from take-off to landing can be stabilized with high accuracy, the posture of the flying mobile body at the time of landing can be predicted. Therefore, it is possible to apply the structure for impact mitigation at the time of landing to a part rather than the entire flying mobile body. This also makes it possible to reduce the weight of the flying vehicle.

(Second Embodiment)
FIG. 5 is a perspective view of a flying vehicle according to the second embodiment of the present invention. In the present embodiment, the configuration of the flying mobile body 3 ′ other than the casing 31 ′, which is the outer shell structure of the flying mobile body 3 ′, is the same as that of FIG. 2, and in FIG. The description of the same parts as those in the first embodiment is omitted.

As shown in FIG. 5, the flying vehicle 3 ′ according to the second embodiment of the present invention has a shape of the casing 31 ′, and an octagonal prism in which a part of the casing 31 ′ is chamfered at four corners. The main engine 35 is configured to be covered with a casing 31 ′.

With such a configuration, it is possible to mitigate the impact received by the main engine 35 on the casing 31 'during landing.

(Third embodiment)
FIG. 6 is a perspective view of a flying vehicle according to the third embodiment of the present invention. In the present embodiment, the configuration of the flying vehicle 3 '' is the same as that of FIG. 2 except that the reverse injection engine 36 is further provided. In FIG. 6, portions corresponding to those of FIG. Description of the same parts as those in the first embodiment is omitted.

As shown in FIG. 6, the flying vehicle 3 ″ according to the third embodiment of the present invention includes a reverse injection engine 36. The reverse injection engine 36 is a rocket engine (thruster) that is a reverse propulsion device that generates thrust against the thrust of the main engine 35 that is a propulsion device, and is connected to the casing 31. The reverse injection engine 36 has a cylindrical shape and generates thrust upward in the axial direction by injection. The reverse injection engine 36 is disposed such that the direction of thrust that the reverse injection engine 36 should generate is the same as the direction of the rotation axis of the wheel 33. The reverse injection engine 36 may be composed of a plurality of rocket engines, and in this case, the direction of the combined thrust that should be generated by the plurality of rocket engines is arranged to be the same as the direction of the rotation axis of the wheel 33. It only has to be. The rotation axis of the wheel 33, the octagonal column casing 31, the main engine 35, and the reverse injection engine 36 indicate that the direction of the rotation axis of the wheel 33 is the axis of the octagonal column casing 31 and the thrust that the main engine 35 should generate. As long as the direction and the direction of the thrust to be generated by the reverse injection engine 36 are arranged to be the same, they need not be arranged coaxially. The reverse propulsion device is not limited to a cylindrical rocket engine, and may be any suitable reverse propulsion device.

Based on the above apparatus configuration, the operating principle of the flying vehicle and the flying vehicle launch system according to the third embodiment of the present invention, the attitude of the flying vehicle using the flying vehicle and the flying vehicle launch system, and An example of the movement control method will be described below with reference to FIGS. 1 to 4 and 6 to 8. FIG. FIG. 7 is a conceptual diagram of a flying mobile object posture and movement control method according to the third embodiment of the present invention. FIG. 8 is a flowchart of an example of the attitude and movement control method of the flying moving body according to the third embodiment of the present invention. In the present embodiment, the steps other than the control step related to the reverse injection are the same as those in FIG. 3, and the same reference numerals are given to the portions corresponding to FIG. 3 in FIG. Is omitted.

After the takeoff of the flying vehicle 3 '', after the injection of the main engine 35 is finished, the control unit 37 reverses based on the detection information such as the triaxial angular velocity and acceleration from the IMU and the delta buoy of the reverse injection engine 36. The reverse injection timing of the injection engine 36 is calculated (S5). This point will be described in detail below.

Even if the flying vehicle 3 '' vibrates, the flying vehicle 3 '' performs free-falling behavior in the translational direction (x direction in FIG. 8) after the injection of the main engine is completed.

As described above, by continuing the rotation of the wheel 33, the attitude of the flying moving body 3 '' remains stable in the direction of the rotation axis of the wheel 33, and the flying moving body 3 '' continues to fly. Therefore, the direction of thrust to be generated by the reverse injection engine 36 during the flight of the flying vehicle 3 ″ is arranged to be the same as the direction of the rotation axis of the wheel 33. The direction remains stable.

Therefore, when the reverse injection engine 36 is injected after the main engine has been injected, the translational movement of the flying vehicle 3 '' can be simply considered as a free fall movement.

Is established. Here, g: gravitational acceleration, t ₀ : current time, t _l : time to land at the target arrival point of the flying vehicle 3 ″ with reference to the current time, t _b : flying vehicle 3 ″ has reached the target The time at which the reverse injection engine 36 should be injected based on the current time for landing at the point, Δx: distance in the x direction from the current position of the flying vehicle 3 ″ to the target arrival point, Δz: the flying vehicle 3 The distance in the z direction from the current position of '' to the target arrival point, v _x (t): the velocity in the x direction at time t of the flying vehicle 3 ″, v _z (t): the flying vehicle 3 ″ Velocity in the z direction at time t, v _0x : velocity in the x direction at the current time t ₀ of the flying vehicle 3 ″, v _0z : velocity in the z direction at the current time t ₀ of the flying vehicle 3 ″, Δv _x : x-direction component of Derutabui reverse injection engine 36, Delta] v _z: reverse injection engine 36 in the z direction Derutabui A minute.

_{Therefore, Δx, Δz, v x (} t), v z (t), v 0x, v 0z is obtained from the detection information of IMU38, Δv _x, Δv _z, since it is possible to use for example a nominal value, By solving the above equation, it is possible to calculate the time t _b at which reverse injection should be performed based on the current time for the flying mobile body 3 ″ to land at the target arrival point. Then, if reverse injection is performed at the calculated time t _b , the flying mobile body 3 ″ will land at a point having the same coordinates as the target arrival point in the translation direction.

Subsequently, the control unit 37 performs the injection of the reverse injection engine 36 after the time t _b from the time when the time t _b is calculated (S6). Here, if the control unit 37 adopts a configuration in which the time t _b is always calculated in real time, the reverse injection engine 36 may be injected when the calculated t _b becomes zero. In this case, if there is a delay from the injection instruction of the reverse injection engine 36 of the control unit 37 until the reverse injection engine 36 actually starts injection, t _b = t _th , where t _th is the delay time. At this point, the control unit 37 may issue an injection instruction for the reverse injection engine 36.

In the above embodiment, it is assumed that the attitude of the flying mobile body 3 '' is constant during the flight of the flying mobile body 3 ''. However, the attitude prediction using a known Kalman filter based on detection information from the IMU and the like is assumed. If the attitude of the flying mobile body 3 ″ is predicted by a method or the like, more accurate reverse injection timing can be calculated.

According to the present embodiment, the flying mobile body can be landed on the target arrival point more accurately.

In each of the above-described embodiments, the shape of the casing may be any appropriate shape as long as the flying mobile body can rotate on the landing surface by controlling the angular momentum generated by the wheel. Can be used. For example, the shape of the housing may be an n prism (n is an integer of 3 or more) whose axis is the same as the rotation axis of the wheel. In this case, the larger the value of n, the smaller the angular momentum that the wheel needs to generate in order to rotate the flying moving body on the landing surface, but the flying moving body is stopped because the posture is not stable. It becomes difficult. In particular, when n is infinite, the shape of the casing is a cylinder, but it is difficult to stop at a desired position unless a structure that increases the frictional force is added to the surface of the casing. Is difficult. Conversely, if the value of n is small, the angular momentum that the wheel needs to generate in order to rotate the flying vehicle on the landing surface increases, and in relation to the angular momentum generation and braking performance of the wheel, There is a case where the flying mobile body cannot be rotated on the landing surface. In addition, for example, the shape of the housing is the same as that of the second embodiment as long as at least a portion that contacts the landing surface when the flying mobile body rotates on the landing surface is configured as an n-prism. Moreover, a part of the housing may be configured as a shape other than the n-prism.

In each of the embodiments described above, the outer shell structure of the flying mobile body is a housing that accommodates the device. However, the outer shell structure of the flying mobile body is not limited to this, and for example, accommodates the device. It is good also as an impact buffering member provided in the outer side of the housing.

Although the present invention has been described above with reference to several embodiments for purposes of illustration, the present invention is not limited thereto and various forms and details may be used without departing from the scope of the present invention. It will be apparent to those skilled in the art that variations and modifications can be made.

DESCRIPTION OF SYMBOLS 1 Flying mobile body launch system 2 Launch stand 21 Launch rail 21a Groove part 3, 3 ', 3' Flying mobile body 31, 31 'Case 33 Wheel 35 Main engine 36 Reverse injection engine 37 Control unit 38 IMU
39 Connecting member 39a Convex part

Claims

A flying vehicle,
Outer shell structure,
Wheels, propulsion devices, control units,
With
The wheel is arranged such that the direction of the rotation axis thereof is the same as the direction of thrust to be generated by the propulsion device,
The control unit, after generating angular momentum in the wheel, causes the propulsion device to generate thrust for takeoff and flying of the flying mobile body while continuing to generate angular momentum in the wheel.
A flying mobile.
The flying mobile body according to claim 1, wherein the outer shell structure has a shape that allows the flying mobile body to rotate on the landing surface by controlling the angular momentum generated by the wheel.
3. The flying vehicle according to claim 2, wherein the angular momentum generated by the wheel is controlled by stopping the wheel.
The flying vehicle according to claim 2 or 3, wherein a direction of the rotational movement of the flying vehicle is perpendicular to a rotation axis of the wheel.
The outer shell structure is configured as an octagonal column at least a part of which is in contact with the landing surface when the flying moving body rotates on the landing surface, and the axis direction of the octagonal column is a rotation axis of the wheel. The flying mobile body according to any one of claims 2 to 4, wherein the flying mobile body has the same direction as the above.
The control unit causes the wheel to continue generating angular momentum until a predetermined timing after landing of the flying mobile body or after landing, and generates the wheel at a predetermined timing after landing of the flying mobile body or after landing. The flying mobile body according to any one of claims 1 to 5, wherein the flying mobile body is rotated on the landing surface by controlling an angular momentum to be generated.
The flying mobile body according to claim 6, wherein the control unit stops the wheel at a predetermined timing at the time of landing or after the landing of the flying mobile body.
A reverse thrust device for generating a thrust against the thrust of the propulsion device,
The flying vehicle according to any one of claims 1 to 7, wherein a direction of thrust to be generated by the reverse thrust device is the same as a direction of a rotation axis of the wheel.
The flying mobile body according to claim 8, wherein the control unit causes the reverse thrust device to generate a thrust so that the flying mobile body lands at a target arrival point.
A launch pad with launch rails,
A flying vehicle according to any one of claims 1 to 9,
With
The flying vehicle further includes a connecting member that is slidable along the launch rail and is connected to the rail.
Flying mobile launch system.
A method for controlling the attitude of a flying vehicle,
The flying vehicle includes an outer shell structure, a wheel, and a propulsion device.
The wheel is arranged such that the direction of the rotation axis thereof is the same as the direction of thrust to be generated by the propulsion device,
Generating angular momentum in the wheel;
Then, while causing the wheel to continue generating angular momentum, causing the propulsion device to generate thrust for takeoff and flight of the flying mobile body;
Including methods.
A flying mobile body attitude and movement control method comprising:
The flying vehicle includes an outer shell structure, a wheel, and a propulsion device.
The wheel is arranged such that the direction of the rotation axis thereof is the same as the direction of thrust to be generated by the propulsion device,
Generating angular momentum in the wheel;
Then, while causing the wheel to continue generating angular momentum, causing the propulsion device to generate thrust for takeoff and flight of the flying mobile body;
Causing the wheel to continue generating angular momentum until a predetermined timing after landing or after landing of the flying vehicle; and
Rotating the flying vehicle on the landing surface by controlling the angular momentum generated by the wheel at a predetermined timing after landing or after landing of the flying vehicle; and
Including methods.
The flying vehicle further includes a reverse thrust device that generates a thrust against the thrust of the propulsion device,
The direction of thrust to be generated by the reverse thrust device is the same as the direction of the rotation axis of the wheel,
The method according to claim 11, further comprising the step of generating a thrust in the reverse thrust device so that the flying mobile body lands at a target arrival point.