Title:
MULTICOPTER CONTROL DEVICE
Document Type and Number:
Japanese Patent JP2020189542
Kind Code:
A
Abstract:
To provide a multicopter control device which can accurately determine presence/absence of a sign of falling of a multicopter.SOLUTION: In a multicopter control device 5, a determination part 61 sets a biased vector DV indicating a direction at which a multicopter 1 may be tilted orthogonal to a virtual line VL that is a straight line connecting centers CP of a motor 22 facing each other around a center Cm of the multicopter 1 when viewed from the above the multicopter 1 or a straight line connecting middle points CP facing each other around the center Cm of the multicopter 1 among middle points MP between the adjacent motors 22 in a circumferential direction, and determines presence/absence of a sign of falling of the multicopter 1 based on output of the motor 22 in the direction indicated by the biased vector DV to the virtual line VL.SELECTED DRAWING: Figure 4
Inventors:
NAKAMURA SHUYA
TAKEGAWA SHOICHIRO
TAKEGAWA SHOICHIRO
Application Number:
JP2019095180A
Publication Date:
November 26, 2020
Filing Date:
May 21, 2019
Export Citation:
Assignee:
AISAN IND
International Classes:
B64D45/00; B64C13/00; B64C13/16; B64C27/08; B64C39/02; B64D25/00
Attorney, Agent or Firm:
Cosmos International Patent and Trademark Office