公开(公告)号：US10273004B2

公开(公告)日：2019-04-30

申请号：US13916901

申请日：2013-06-13

Applicant: The Boeing Company

Inventor： Kevin M. Jenkins

IPC: G01C23/00 ,  G05D1/00 ,  G05D3/00 ,  G06F7/00 ,  G06F17/00 ,  B64D3/00 ,  G05D1/10 ,  B60P3/00 ,  B63B21/56 ,  B64C39/02 ,  B64G1/36 ,  G01C22/00 ,  B64C27/00 ,  B64B1/20 ,  B64B1/02 ,  B64B1/50

Abstract: An actual position of a load tethered with a tether to a vehicle is determined using a plurality of sensors disposed on the vehicle. A required tether tension and required tether angle of the tether is determined to move the load from the actual position to a commanded position. An actual tether tension and actual tether angle of the tether is determined using the plurality of sensors. A determination is made as to a thrust vector to be applied by the vehicle to change the actual tether tension and the actual tether angle of the tether to the required tether tension and the required tether angle. The thrust vector is applied with the vehicle to reposition the vehicle to achieve the required tether angle and to create the required tether tension of the tether to move the load to the commanded position.

公开(公告)号：US20140371956A1

公开(公告)日：2014-12-18

申请号：US13916901

申请日：2013-06-13

Applicant: THE BOEING COMPANY

Inventor： Kevin M. Jenkins

IPC: B64D3/00 ,  B63B21/56 ,  B60P3/00

CPC classification number: B64D3/00 ,  B60P3/00 ,  B63B21/56 ,  B64C39/024 ,  B64C2201/128 ,  B64C2201/143 ,  B64C2201/145 ,  G05D1/104

Abstract: An actual position of a load tethered with a tether to a vehicle is determined using a plurality of sensors disposed on the vehicle. A required tether tension and required tether angle of the tether is determined to move the load from the actual position to a commanded position. An actual tether tension and actual tether angle of the tether is determined using the plurality of sensors. A determination is made as to a thrust vector to be applied by the vehicle to change the actual tether tension and the actual tether angle of the tether to the required tether tension and the required tether angle. The thrust vector is applied with the vehicle to reposition the vehicle to achieve the required tether angle and to create the required tether tension of the tether to move the load to the commanded position.

Abstract translation: 使用设置在车辆上的多个传感器确定用系绳系在车辆上的负载的实际位置。 确定系绳的所需系绳张力和所需系绳角度以将负载从实际位置移动到指令位置。 使用多个传感器确定系绳的实际系绳张力和实际系绳角度。 确定要由车辆施加的推力矢量以将系绳的实际系绳张力和实际系绳角度改变为所需的系绳张力和所需的系绳角度。 施加推力向量与车辆重新定位车辆以实现所需的系绳角度并且产生系绳所需的系绳张力以将负载移动到指令位置。