Tipping risk detection method, tipping risk detection device, flying body, and recording medium

A tipping risk detecting device for detecting risk of tipping of a flying body during its landing on an astronomical object, the flying body including legs for landing, the tipping risk detecting device comprising

• processing circuitry configured to
• first acquire first-attitude-angle information on a first attitude angle, the first attitude angle being an attitude angle of the flying body in an inertial system,
• calculate a second attitude angle, based on the first-attitude-angle information and a direction of gravitational acceleration of the astronomical object relative to the inertial system, the second attitude angle being an attitude angle of the flying body relative to the direction of gravitational acceleration,
• calculate an attitude variation of the flying body, based on the second attitude angle at a current time and the second attitude angle at a start time preceding the current time, and
• detect, based on the attitude variation and a positional relationship between a leg tip of one of the legs having landed on the astronomical object and a center of gravity of the flying body, risk of tipping of the flying body during its landing on the astronomical object.

A non-transitory computer-readable recording medium storing a program for causing a computer to detect risk of tipping of a flying body during its landing on an astronomical object, the flying body including legs for landing, the program causing the computer to:

• acquire first-attitude-angle information on a first attitude angle, the first attitude angle being an attitude angle of the flying body in an inertial system;
• calculate a second attitude angle, based on the first-attitude-angle information and a direction of gravitational acceleration of the astronomical object relative to the inertial system, the second attitude angle being an attitude angle of the flying body relative to the direction of gravitational acceleration;
• calculate an attitude variation of the flying body, based on the second attitude angle at a current time and the second attitude angle at a start time preceding the current time;
• and
• detect, based on the attitude variation and a positional relationship between a leg tip of one of the legs having landed on the astronomical object and a center of gravity of the flying body, risk of tipping of the flying body during its landing on the astronomical object.

A flying body including legs for landing on an astronomical object, the flying body comprising:

• an adjuster to adjust an attitude of the flying body;
• and
• processing circuitry configured to
• detect, based on a direction of gravitational acceleration of the astronomical object, risk of tipping of the flying body, and
• control the adjuster to adjust the attitude in response to the detection of the risk of tipping of the flying body.