Flight Vehicle Circular Turning Using Velocity and Angular Velocity
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Solution Overview
Problem
Existing imaging methods for flight vehicles like multicopters require high operator skill and are difficult to automate, especially in achieving circular turning flights, as designating a center point or radius is challenging and can lead to unintended large orbits, causing discomfort and safety issues.
Innovation Solution
An information processing method that generates acceleration in the center direction of a circle based on velocity and angular velocity instructions, allowing the flight vehicle to perform circular turning without explicitly designating the radius or center point, using a control unit to interpret these instructions and control the vehicle's movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the operator designates a radius of 0 (stick in neutral state), then the flight vehicle does not rotate (infinite radius), but the operator intends a small orbit, causing a large discrepancy between intended and actual orbit size
Solution Approach 1:
The patent changes the control parameter from radius designation to angular velocity designation. By designating angular velocity instead of radius, the system eliminates the ambiguous case where radius=0 leads to infinite radius. The relationship is now directly controlled: higher angular velocity produces smaller orbit radius, and zero angular velocity produces straight flight, eliminating the unintended large orbit issue.
2Ease of operation
If the operator reduces the operation amount of the stick to turn in a small circular orbit, then the intended small orbit is achieved, but the radius increases and the flight vehicle turns in a huge circular orbit
Solution Approach 1:
The patent changes the control parameter from radius to angular velocity. This inversion of the control relationship resolves the contradiction: small stick operation amounts now correspond to small angular velocities, which produce small orbit radii. The direct proportionality between control input and desired outcome eliminates the inverse relationship that caused the problem.
Solution Approach 2:
Instead of controlling the orbit radius directly, the patent inverts the approach by controlling the angular velocity. This inversion changes the control logic from 'how large should the orbit be' to 'how fast should the vehicle turn', which naturally and intuitively correlates with the operator's stick operation amount.
3Adaptability or versatility
If the velocity of the flight vehicle is low and the operator intends a small orbit, then the operator's intention is clear, but the sense of discomfort becomes particularly large and it is dangerous
Solution Approach 1:
The patent changes the control parameter to angular velocity, which provides a more intuitive and comfortable control experience. When velocity is low, the operator can designate a appropriate angular velocity to achieve the desired small orbit without the discomfort caused by the ambiguous radius control. The system adaptively handles different velocity conditions through angular velocity control.
4Measurement precision
If the system designates a center point and radius for circular turning, then the orbit parameters are precisely defined, but it requires high operator skill and is difficult to automate
Solution Approach 1:
The patent changes the control parameters from (center point, radius) to (angular velocity, velocity). This simplification makes automation easier because the system only needs to process two simple scalar values rather than calculating and managing a center point coordinate and radius. The automated system can directly translate these angular velocity and velocity inputs into the appropriate flight control commands without complex geometric calculations.
Data Source
AI summary
To provide an information processing method, an information processing apparatus, and an information processing system that enable a flight vehicle to easily perform circular turning.The information processing method of the present disclosure causes a computer to generate, on the basis of first information instructing a velocity of a moving body and second information instructing an angular velocity of the moving body, and with a direction of the velocity as a tangential direction, an acceleration in a center direction of a circle having a radius corresponding to the velocity and the angular velocity.