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    Observation device
    1.
    发明授权
    Observation device 有权

    公开(公告)号：US10086937B2

    公开(公告)日：2018-10-02

    申请号：US14925005

    申请日：2015-10-28

    Applicant: DENSO CORPORATION ,  NIPPON SOKEN, INC. ,  THE UNIVERSITY OF TOKYO

    Inventor： Takenori Matsue ,  Koji Kawasaki ,  Michihiro Matsuura ,  Masami Kurosaka ,  Masayuki Inaba

    IPC: B64C11/00 ,  B64C39/02 ,  H04N7/18 ,  G05D1/00 ,  G05D1/08

    Abstract: A observation device includes an aircraft and an observation unit attached to the aircraft that observes a target within a predetermined view angle. The aircraft includes a base, at least two thrusters that generate a propulsion force including lift, actuators that change a direction of the propulsion force generated by the thrusters with respect to the base, an inertial measurement unit (IMU) that detects an orientation of the base with respect to a ground surface, and a controller that controls the thrusters and the actuators based on the orientation of the base detected by the IMU. The observation unit is fixedly attached to the base and the aircraft is configured to fly in any arbitrary orientation with respect to the ground surface through a combination of a magnitude of the propulsion force and the direction of the propulsion force of each of the thrusters.

    Carrier apparatus
    2.
    发明授权
    Carrier apparatus 有权

    公开(公告)号：US10065667B2

    公开(公告)日：2018-09-04

    申请号：US15219307

    申请日：2016-07-26

    Applicant: NIPPON SOKEN, INC.

    Inventor： Takenori Matsue ,  Koji Kawasaki ,  Michihiro Matsuura ,  Masami Kurosaka ,  Naoya Katoh

    IPC: B62B5/00 ,  B62B3/02 ,  B62D51/04 ,  B62B5/06 ,  A45C5/14 ,  A45C13/26

    Abstract: Driving wheels and non-driving wheels are installed to a lower portion of a case body. The driving wheels are driven by drive devices, respectively. A control device controls a drive operation of the drive devices. An angle sensing device senses a tilt angle of the case body about a rotational axis of the driving wheels. In a case where the tilt angle of the case body, which is sensed with the angle sensing device, is equal to or larger than a predetermined tilt angle in a state where the driving wheels contact a ground while the non-driving wheels are lifted away from the ground, the control device controls the drive devices in such a manner that the case body is held in a self-standing state with the driving wheels while keeping the non-driving wheel away from the ground.

    Aerial vehicle
    3.
    发明授权
    Aerial vehicle 有权

    公开(公告)号：US10220953B2

    公开(公告)日：2019-03-05

    申请号：US15367247

    申请日：2016-12-02

    Applicant: NIPPON SOKEN, INC. ,  DENSO CORPORATION

    Inventor： Hiroki Ishii ,  Koji Kawasaki ,  Takenori Matsue ,  Shinji Andou ,  Hiroyasu Baba

    IPC: G05D1/08 ,  B64D31/10 ,  G07C5/08 ,  G05D1/04 ,  B64C27/08 ,  B64C39/02

    Abstract: In an aerial vehicle, a malfunction determiner determines whether there is a malfunction in one of thrusters of the aerial vehicle. A flight controller activates the thrusters, and controls the output of each of the thrusters. The flight controller deactivates, when it is determined that there is a malfunction in one of the thrusters as a malfunctioned thruster, the malfunctioned thruster. The flight controller deactivates a selected thruster in the thrusters; the selected thruster being paired to the malfunctioned thruster, and controls the active thrusters except for the deactivated thrusters in all the thrusters to make the flight attitude of the aerial vehicle stable. The flight controller controls the active thrusters to cause the aerial vehicle to land while maintaining the flight attitude of the aerial vehicle being stable.

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