WO2024254220A3 - Hull-borne maneuvering of craft with distributed propulsion systems - Google Patents

Hull-borne maneuvering of craft with distributed propulsion systems Download PDF

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Publication number
WO2024254220A3
WO2024254220A3 PCT/US2024/032670 US2024032670W WO2024254220A3 WO 2024254220 A3 WO2024254220 A3 WO 2024254220A3 US 2024032670 W US2024032670 W US 2024032670W WO 2024254220 A3 WO2024254220 A3 WO 2024254220A3
Authority
WO
WIPO (PCT)
Prior art keywords
heading
craft
observed
wing
hull
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/US2024/032670
Other languages
French (fr)
Other versions
WO2024254220A2 (en
Inventor
Andrew GREGG
Amira Malik
Michael Klinker
Daniel Cottrell
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Regent Craft Inc
Original Assignee
Regent Craft Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Regent Craft Inc filed Critical Regent Craft Inc
Priority to EP24819978.8A priority Critical patent/EP4724342A2/en
Publication of WO2024254220A2 publication Critical patent/WO2024254220A2/en
Publication of WO2024254220A3 publication Critical patent/WO2024254220A3/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
    • B63H25/02—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring
    • B63H25/04—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring automatic, e.g. reacting to compass
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60V—AIR-CUSHION VEHICLES
    • B60V1/00—Air-cushion
    • B60V1/11—Stability or attitude control
    • B60V1/115—Stability or attitude control by ground or water engaging means, e.g. rudders or wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60V—AIR-CUSHION VEHICLES
    • B60V1/00—Air-cushion
    • B60V1/22—Air-cushion provided with hydrofoils
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60V—AIR-CUSHION VEHICLES
    • B60V3/00—Land vehicles, waterborne vessels, or aircraft, adapted or modified to travel on air cushions
    • B60V3/08—Aircraft, e.g. air-cushion alighting-gear therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B49/00—Arrangements of nautical instruments or navigational aids
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
    • B63H25/42—Steering or dynamic anchoring by propulsive elements; Steering or dynamic anchoring by propellers used therefor only; Steering or dynamic anchoring by rudders carrying propellers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C35/00—Flying-boats; Seaplanes
    • B64C35/006—Flying-boats; Seaplanes with lift generating devices
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/40—Control within particular dimensions
    • G05D1/43—Control of position or course in two dimensions [2D]
    • G05D1/437—Control of position or course in two dimensions [2D] for aircraft during their ground movement, e.g. taxiing
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/40—Control within particular dimensions
    • G05D1/48—Control of altitude or depth
    • G05D1/482—Control of altitude or depth utilising or compensating for ground effect
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/40—Control within particular dimensions
    • G05D1/49—Control of attitude, i.e. control of roll, pitch or yaw
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/611—Station keeping, e.g. for hovering or dynamic anchoring
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/656—Interaction with payloads or external entities
    • G05D1/661—Docking at a base station
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G3/00—Traffic control systems for marine craft
    • G08G3/02—Anti-collision systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
    • B63B2035/007—Unmanned surface vessels, e.g. remotely controlled autonomously operating
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
    • B63B2035/008—Unmanned surface vessels, e.g. remotely controlled remotely controlled
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2105/00—Specific applications of the controlled vehicles
    • G05D2105/20—Specific applications of the controlled vehicles for transportation
    • G05D2105/22—Specific applications of the controlled vehicles for transportation of humans
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2107/00—Specific environments of the controlled vehicles
    • G05D2107/25—Aquatic environments
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/20—Aircraft, e.g. drones
    • G05D2109/22—Aircraft, e.g. drones with fixed wings
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/30—Water vehicles
    • G05D2109/34—Water vehicles operating on the water surface
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/50—Vehicles specially adapted for two or more of space, air, land or water environments, e.g. amphibious vehicles

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Ocean & Marine Engineering (AREA)
  • Transportation (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Toys (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

While hull-home and operating in a heading adjustment mode, the control system of the disclosed craft receives indications of a target craft heading and an observed craft heading. Embodiments include determining that the difference in heading is above a threshold, determining an adjusted wing-affixed control setting for affecting a change in the observed heading of the craft based on at least (a) sensed environmental conditions, (b) the initial wing- affixed control setting, (c) the target craft heading, and (d) the observed craft heading; and operating wing-affixed control element(s) according to the adjusted wing-affixed control setting to change the observed heading of the craft to the target craft heading. After determining that the heading difference is not above the threshold heading difference, the wing-affixed control setting is adjusted to forgo affecting further change in the observed heading of the craft.
PCT/US2024/032670 2023-06-06 2024-06-05 Hull-borne maneuvering of craft with distributed propulsion systems Ceased WO2024254220A2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP24819978.8A EP4724342A2 (en) 2023-06-06 2024-06-05 Hull-borne maneuvering of craft with distributed propulsion systems

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US202363506590P 2023-06-06 2023-06-06
US63/506,590 2023-06-06
US202363610245P 2023-12-14 2023-12-14
US63/610,245 2023-12-14

Publications (2)

Publication Number Publication Date
WO2024254220A2 WO2024254220A2 (en) 2024-12-12
WO2024254220A3 true WO2024254220A3 (en) 2025-04-17

Family

ID=93794705

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2024/032670 Ceased WO2024254220A2 (en) 2023-06-06 2024-06-05 Hull-borne maneuvering of craft with distributed propulsion systems

Country Status (2)

Country Link
EP (1) EP4724342A2 (en)
WO (1) WO2024254220A2 (en)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20150321745A1 (en) * 2012-11-28 2015-11-12 Robert Reginald Bray Wing and Application Thereof
US20180134357A1 (en) * 2015-05-07 2018-05-17 Sri International Kite-powered unmanned underwater vehicle
US20200201528A1 (en) * 2018-12-21 2020-06-25 Honeywell International Inc. Systems and methods for managing graphical user interfaces for vehicle guidance
US20210389475A1 (en) * 2020-06-10 2021-12-16 The Boeing Company Rapid assessment of vehicle relative speed performance
US20220382300A1 (en) * 2021-02-11 2022-12-01 REGENT Craft Inc. Determining Characteristics of a Water Surface Beneath a Vehicle in Motion

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20150321745A1 (en) * 2012-11-28 2015-11-12 Robert Reginald Bray Wing and Application Thereof
US20180134357A1 (en) * 2015-05-07 2018-05-17 Sri International Kite-powered unmanned underwater vehicle
US20200201528A1 (en) * 2018-12-21 2020-06-25 Honeywell International Inc. Systems and methods for managing graphical user interfaces for vehicle guidance
US20210389475A1 (en) * 2020-06-10 2021-12-16 The Boeing Company Rapid assessment of vehicle relative speed performance
US20220382300A1 (en) * 2021-02-11 2022-12-01 REGENT Craft Inc. Determining Characteristics of a Water Surface Beneath a Vehicle in Motion

Also Published As

Publication number Publication date
WO2024254220A2 (en) 2024-12-12
EP4724342A2 (en) 2026-04-15

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