Floating mobile object and floating mobile system using the same

摘要

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.

主权项

1. A floating mobile object operated under gravity, comprising:
a main body; and six 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, and in 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.