# US 11,111,018 B2 · Aerial vehicle and control method for aerial vehicle

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- Number: US 11,111,018 B2
- Document ID: US11111018B2
- Status: Granted
- Kind: B2
- Application number: 16/982,103
- Filed: 2019-03-19
- Published: 2021-04-15
- Granted: 2021-09-07
- Earliest claimed: 2018-03-19
- Assignees: Honda Motor Co., Ltd.
- Applicants: Honda Motor Co., Ltd.
- Inventors: Makoto Nagai; Yo Ito; Takahiro Iijima
- Web page: https://patentgrep.com/patent/US11111018B2

## CPC

- B64D 25/00: Emergency apparatus or devices, not otherwise provided for
- B64D 47/06: for indicating aircraft presence
- B64U 10/13: Flying platforms
- B64U 30/10: Wings
- B64U 50/30: Supply or distribution of electrical power
- B64U 20/87: Mounting of imaging devices, e.g. mounting of gimbals
- B64U 30/20: Rotors; Rotor supports
- B64U 2201/104: using satellite radio beacon positioning systems, e.g. GPS
- B64U 2201/20: Remote controls
- B64D: EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64U: UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR

## Abstract

The present invention provides an aerial vehicle for which landing or movement of the aerial vehicle downward or in the direction of gravitational force, for example, can be easily identified by people in the surrounding area. Also provided is a control method for the aerial vehicle. The aerial vehicle is provided with an alerting device that issues warnings in the velocity vector direction of the aerial vehicle. The alerting device may be equipped with a light projecting device that emits visible light toward the velocity vector direction of the aerial vehicle. The alerting device may also be equipped with a warning sound outputting device that outputs a warning sound toward the velocity vector direction of the aerial vehicle.

## Claims

### Claim 1

A flying body comprising:
a warning apparatus including an output apparatus configured to output a warning in a velocity vector direction of the flying body when the flying body moves downward or in a direction of gravity,
wherein the output apparatus includes a warning source configured to generate the warning, and an actuator configured to adjust an output direction of the warning,
the flying body further comprising:
a direction detecting section configured to detect the velocity vector direction of the flying body; and
a control section configured to control the warning source and the actuator,
wherein the control section is configured to control the actuator to output the warning in the velocity vector direction detected by the direction detecting section.

### Claim 2 (depends on 1)

The flying body according to claim 1, wherein
the output apparatus includes a light projection apparatus configured to radiate visible light in the velocity vector direction of the flying body,
the warning source includes a light source configured to generate the visible light; and
the actuator includes a light source actuator configured to adjust a radiation direction of the visible light,
the control section includes a light projection control section configured to control the light source and the light source actuator, and
wherein the light projection control section is configured to control the light source actuator to radiate the visible light in the velocity vector direction of the flying body.

### Claim 3 (depends on 2)

The flying body according to claim 2, wherein the light projection apparatus is configured to radiate the visible light along a rotational center axis direction of a rotating wing of the flying body.

### Claim 4 (depends on 1)

The flying body according to claim 1, wherein the flying body includes:
a propulsion source for the flying body;
a first power source configured to drive the propulsion source; and
a second power source that is different from the first power source and is configured to drive the warning apparatus.

### Claim 5 (depends on 4)

The flying body according to claim 4, wherein the warning apparatus provides the warning when an abnormality has occurred in a first power system including the first power source.

### Claim 6 (depends on 4)

The flying body according to claim 4, wherein the warning apparatus includes an abnormality notifying section that outputs an abnormality signal providing notification about an abnormality to an external device, when the abnormality has occurred in the first power system that includes the first power source.

### Claim 7 (depends on 1)

The flying body according to claim 1, wherein the flying body includes a posture stabilizing portion that stabilizes a posture of the flying body when descending.

### Claim 8 (depends on 1)

The flying body according to claim 1, wherein the warning apparatus includes a warning sound output apparatus configured to output a warning sound in the velocity vector direction of the flying body.

### Claim 9

A method for controlling a flying body, the flying body comprising a warning apparatus including an output apparatus having a warning source configured to generate the warning, and an actuator configured to adjust an output direction of the warning; and a control section configured to control the warning source and the actuator,
the method comprising the steps of:
detecting a velocity vector direction of the flying body when the flying body moves downward or in a direction of gravity; and
controlling the actuator to output the warning in the velocity vector direction.