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    FLYING DEVICE
    1.
    发明申请
    FLYING DEVICE 审中-公开

    公开(公告)号：US20190176979A1

    公开(公告)日：2019-06-13

    申请号：US16280073

    申请日：2019-02-20

    Applicant: DENSO CORPORATION ,  SOKEN, INC.

    Inventor： Hiroyasu BABA ,  Takenori MATSUE ,  Koji KAWASAKI ,  Naoya KATO

    IPC: B64C27/57 ,  B64C27/80 ,  B64C27/52 ,  B64C39/02

    Abstract: A flying device includes a base, thrusters, an orientation detection unit, an abnormality detection unit, and an orientation control unit. The plurality of thrusters are provided on the base each including a propeller, a motor which drives the propeller, and a pitch change mechanism unit which changes a pitch of the propeller. The orientation detection unit detects an orientation of the base. The abnormality detection unit detects an abnormality in the thrusters. The orientation control unit, when the abnormality detection unit detects an abnormality in at least one of the thrusters, changes the pitches of the propellers in the remaining thrusters to maintain an orientation of the base detected by the orientation detection unit.

    VEHICLE CONTROL DEVICE AND VEHICLE CONTROL METHOD
    5.
    发明申请
    VEHICLE CONTROL DEVICE AND VEHICLE CONTROL METHOD 有权

    公开(公告)号：US20220032955A1

    公开(公告)日：2022-02-03

    申请号：US17385168

    申请日：2021-07-26

    Applicant: DENSO CORPORATION

    Inventor： Jingyu XIANG ,  Takenori MATSUE ,  Yotaro MOTEGI ,  Osamu SHIMOMURA ,  Hiroyuki OSAWA

    IPC: B60W60/00 ,  B60W50/038 ,  G06K9/00

    Abstract: An automatic drive device includes a fusion unit recognizing travel environment of a vehicle based on an output signal of a surrounding monitoring sensor and a control planning unit generating a control plan based on a recognition result of the fusion unit. A diagnostic device includes an abnormality detection unit that detects an abnormality of a field recognition system from the surrounding monitoring sensor to the fusion unit by monitoring the output signal of the surrounding monitoring sensor and the recognition result of the fusion unit over time. The diagnostic device requests the control planning unit to perform MRM based on a detection of the abnormality of the recognition system by the abnormality detection unit.

    AERIAL VEHICLE
    7.
    发明申请
    AERIAL VEHICLE 审中-公开

    公开(公告)号：US20170174336A1

    公开(公告)日：2017-06-22

    申请号：US15379554

    申请日：2016-12-15

    Applicant: NIPPON SOKEN, INC. ,  DENSO CORPORATION

    Inventor： Hiroyasu BABA ,  Koji KAWASAKI ,  Takenori MATSUE

    IPC: B64C27/08 ,  B64C1/30 ,  B64C39/02

    CPC classification number: B64C27/08 ,  B64C1/30 ,  B64C39/024 ,  B64C2201/024 ,  B64C2201/027 ,  B64C2201/042 ,  B64C2201/108 ,  B64C2201/165 ,  B64C2201/20

    Abstract: An aerial vehicle is provided which includes first thrusters with first propellers and second thrusters with second propellers. Each of the first propellers has a first rotating region in which blades thereof rotate. Similarly, each of the second propellers has a second rotating region in which blades thereof rotate. Each of the first rotating regions is located to overlap one of the second rotating regions, as viewed in a direction of a yaw axis of the aerial vehicle. The first rotating regions are located away from the second rotating regions in the direction of the yaw axis. Such layout of the first and second propellers eliminates physical interference therebetween. The overlap between the first and second propellers results in a decreased cross-sectional area of projection of the aerial vehicle from the front view in a flight direction thereof.

    TRAVELING BODY
    8.
    发明申请
    TRAVELING BODY 审中-公开
    旅行体

    公开(公告)号：US20150266528A1

    公开(公告)日：2015-09-24

    申请号：US14661811

    申请日：2015-03-18

    Applicant: DENSO CORPORATION

    Inventor： Takenori MATSUE ,  Koji KAWASAKI

    IPC: B62D61/10 ,  B60B19/00 ,  B60G17/016

    CPC classification number: B60B19/003 ,  B60G3/08 ,  B60G17/016 ,  B60G2300/07

    Abstract: A traveling body has a plurality of legs, each of which displaces angularly around a joint shaft, a base part to which the plurality of legs are fixed, wheels that are respectively disposed at one end of the legs, and an actuator that changes an angle between the leg and the base part by rotating the joint shaft. The wheel has a plurality of omni wheels disposed rotatably on an outer periphery of the wheel, the small rotary members constituting parts of the wheel that contact the floor. Each omni wheel is disposed so that a rotation vector of the omni wheel intersects with both a rotation vector of the wheel and a rotation vector around the joint shaft.

    Abstract translation: 行走体具有多个腿部，每个腿部围绕关节轴成角度地移位，多个腿部固定的基部，分别设置在腿的一端的轮子和改变角度的致动器 通过旋转关节轴在腿部和基部之间。 车轮具有可旋转地设置在车轮的外周上的多个全轮，构成车轮的接触地板的部分的小旋转构件。 每个全向轮设置成使得全向轮的旋转矢量与轮的旋转矢量和围绕关节轴的旋转矢量相交。

    THRUSTER CONTROLLER AND ATTITUDE CONTROLLER
    9.
    发明申请
    THRUSTER CONTROLLER AND ATTITUDE CONTROLLER 审中-公开

    公开(公告)号：US20200278697A1

    公开(公告)日：2020-09-03

    申请号：US16734448

    申请日：2020-01-06

    Applicant: DENSO CORPORATION

    Inventor： Satoru YOSHIKAWA ,  Takenori MATSUE ,  Tetsuji MITSUDA ,  Masataka HIRAI

    IPC: G05D1/08 ,  B64C39/02

    Abstract: A thruster controller is used in a flying device that has at least two thrusters and a main controller that outputs an instruction value to the thruster for controlling a thrust of the thruster. The thruster controller includes an instruction value obtainer and an instruction value generator. The instruction value obtainer obtains an instruction value that is output from the main controller to the thruster based on an assumption that a propeller pitch is fixed. The instruction value generator outputs, to a pitch changing mechanism of the thruster, a propeller pitch instruction value generated from the obtained instruction value for setting the propeller pitch, and outputs, to a motor, a corrected rotation number instruction value for setting a rotation number of the motor by correcting the instruction value based on the propeller pitch instruction value.

    Observation Device
    10.
    发明申请
    Observation Device 审中-公开
    观察装置

    公开(公告)号：US20160122018A1

    公开(公告)日：2016-05-05

    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: B64C39/02 ,  H04N7/18 ,  B64D47/08 ,  G05D1/08

    CPC classification number: B64C39/024 ,  B64C2201/027 ,  B64C2201/042 ,  B64C2201/127 ,  B64C2201/141 ,  G05D1/0094 ,  G05D1/0858 ,  H04N7/185

    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.

    Abstract translation: 观察装置包括飞机和观察单元，其附接到在预定视角内观察目标的飞行器。 飞行器包括基座，至少两个产生包括升力的推进力的推进器，改变由推进器相对于基座产生的推进力的方向的致动器;惯性测量单元（IMU），其检测 基于相对于地面的基座，以及控制器，其基于由IMU检测到的基座的取向来控制推进器和致动器。 观察单元固定地附接到基座，并且飞行器被构造成通过推进力的大小和每个推进器的推进力方向的组合相对于地面以任何方向飞行。

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