Title:
飛行装置
Document Type and Number:
Japanese Patent JP6446415
Kind Code:
B2
Abstract:
PROBLEM TO BE SOLVED: To provide a flight device which moves while maintaining a posture, even with respect to a complicated object surface such as a wall surface and a ceiling surface.SOLUTION: A posture measurement part 21 detects a change of a posture of a flight unit 11. A posture control part 41 determines whether or not the change of the posture exceeds a preset change tolerance L based on the change of the posture of the flight unit 11 detected by the posture measurement part 21. The posture control part 41 changes the posture of the flight unit 11 until the change of the posture becomes smaller than the change tolerance L. The posture of the flight unit 11 is therefore maintained so that the change of the flight posture becomes smaller than the change tolerance L along an object surface 17 where the flight unit flies. In the flight unit 11 therefore, no posture change whose degree is larger than a required degree is generated.SELECTED DRAWING: Figure 1
Inventors:
Takenori Matsue
Koji Kawasaki
Masami Kurosaka
Michihiro Matsuura
Yoshikawa Satoru
Koji Kawasaki
Masami Kurosaka
Michihiro Matsuura
Yoshikawa Satoru
Application Number:
JP2016162795A
Publication Date:
December 26, 2018
Filing Date:
August 23, 2016
Export Citation:
Assignee:
株式会社ＳＯＫＥＮ
株式会社デンソー
株式会社デンソー
International Classes:
B64C39/02; A63H27/133; B64C25/36; B64C27/08
Domestic Patent References:
| JP2006051841A | ||||
| JP2014149621A | ||||
| JP2010241409A | ||||
| JP2015117003A | ||||
| JP2014227166A | ||||
| JP2003026097A | ||||
| JP2015123918A | ||||
| JP2016211878A | ||||
| JP2015223995A |
Foreign References:
| US8794564 | ||||
| WO2014177661A1 | ||||
| KR101536574B1 |
Attorney, Agent or Firm:
Patent Business Corporation Sato International Patent Office