Abstract: A method of controlling driving force of a vehicle, includes providing a first filter for removing or reducing a natural frequency component of the vehicle suspension pitch motion, and a second filter for extracting or increasing the natural frequency component of the vehicle suspension pitch motion to a controller of the vehicle, determining a required driving force command based on vehicle driving information collected during driving of the vehicle, determining a driving force command after filter application through a processing process by the first filter taking the determined required driving force command as input thereof, determining a driving force correction amount through a processing process by the second filter taking feedback driving force as input thereof, and correcting the driving force command after filter application using the driving force correction amount and controlling driving force applied to a driving wheel of the vehicle by a driving device of the vehicle using the driving force comm

Abstract: A weight estimation apparatus 1 includes: an impulsive force calculation unit 2 calculating an impulsive force using an acceleration response indicating vibration generated in a structure by the moving object (vehicle 27) moving through the structure, and a weight estimation unit 3 estimating a weight of the moving object using the impulsive force.

Abstract: A vehicle operable to pull a trailer comprising a payload is provided, that includes a plurality of sensors configured to capture sensor data related to the vehicle, the trailer, or both, and a controller configured to (i) receive the sensor data from the plurality of sensors, (ii) determine, based on the sensor data, one or more parameters associated with the trailer, the payload, or both, (iii) update, based on an analysis of the one or more parameters, a confidence level associated with an operation of the vehicle with the trailer and the payload, and (iv) based on the confidence level, responsively execute an autonomous control strategy comprising one or more adjustments to the operation of the vehicle.

Abstract: Axle load detection system for a commercial vehicle includes a force transmission element and a sensor unit, wherein the sensor unit includes at least one sensor, wherein the force transmission element includes a first assembly area and a second assembly area, wherein the first assembly area is fixed or can be fixed indirectly and/or directly to a vehicle frame of a vehicle of a commercial vehicle, wherein an air spring and/or a control arm is arranged and/or configured to be arranged on the second assembly area, wherein the sensor unit is configured to determine and/or detect a force transmitted via the force transmission element between the first assembly area and the second assembly area in a supporting direction.

Abstract: The present disclosure provides a method of estimating a weight of a vehicle, including determining whether a current state is an enable state in which a vehicle stoppage event due to brake occurs from vehicle driving information, by a weight estimating system, when the current state is the enable state, removing noise by filtering an acceleration signal input from an acceleration sensor at a moment when the vehicle is stopped, by the weight estimating system, determining a period value of an acceleration signal from the acceleration signal from which noise is removed, by the weight estimating system, and estimating the weight of the vehicle using information on the determined period value, by the weight estimating system.

Abstract: A method for loading an Unmanned Aerial Vehicle with one or more items is disclosed. The method includes determining a weight and a Center of Gravity of each of a plurality of objects. The plurality of objects includes one or more of the Unmanned Aerial Vehicle, a container, one or more items to be delivered, and packaging for securing the one or more items to be delivered within one of the Unmanned Aerial Vehicle and the container. The method also includes optimizing a combined Center of Gravity of the plurality of objects for performing delivery by the Unmanned Aerial Vehicle.

Abstract: The present invention discloses a disruptive low capital and operational cost logistics system and method that provides for fast and massive delivery of e-commerce merchandise, including same day delivery, of thousands of items and packages, in extensive geographical areas, such as whole states, countries and continents, reducing the need for building, operating, or using multiple fulfillment warehouses located near the consumers as in traditional e-commerce logistics, creating a revolution in the e-commerce industry worldwide. In a disruptive manner, the systems and methods of the present invention facilitate the logistics for e-commerce delivery processes, and also may allow at the same time reducing the use of massive quantities of cardboard packages that are used for protection and containment for e-commerce orders, being sustainably beneficial for the e-commerce market, the environment, and the consumer.

Abstract: An aircraft has a first principles takeoff processor (PCE), a predictive flight envelope protection processor (PFEP), and a maximum takeoff weight processor. The PCE is programmed to predict a liftoff location and an energy state of the aircraft at a liftoff on a runway. The PFEP is programmed to assess each of a plurality of potential trajectories for compliance with or violation of a predetermined flight envelope. The maximum weight processor is programmed to: indicate that the aircraft may takeoff at the aircraft weight when any one of the plurality of potential trajectories is in compliance with the predetermined flight envelope; iteratively reduce an input of the aircraft weight to the PCE until the PCE indicates that any one of the plurality of potential trajectories is in compliance with the predetermined flight envelope; and indicate that the input of the aircraft weight as reduced is a maximum allowable takeoff weight.

Abstract: A tractor includes: a driver seat on which a driver can sit; a hood 5 provided in front of the driver seat; and an antenna unit that receives satellite positioning information. When viewed from the front, an upper end portion of a ROPS and at least part of the antenna unit overlap with each other.

Abstract: A rotor balancing method for a gas turbine on a balancing machine, includes performing a base run by running the rotor at an intended balance speed and measuring the vibrations at a first pedestal; carrying out partial balancing; performing a first influence run by fitting a first balancing weight to a first correction plane in order to reduce vibrations at the first pedestal; performing a second influence run by fitting a first calibration weight to a second correction plane, running the rotor at the intended balance speed and measuring the vibrations at the first pedestal and the second pedestal, and removing the first calibration weight; and carrying out final balancing of the rotor by fitting a final balancing weight to the first correction plane and a second balancing weight to the second correction plane dependent on vibrations measured as part of the first influence run and the second influence run.

Abstract: A milling machine may have a frame extending along a longitudinal axis and a milling drum attached to the frame. The milling machine may have ground engaging tracks that support the frame, and height-adjustable leg columns connecting the frame to the tracks. The milling machine may also have an engine for rotating the milling drum and propelling the ground engaging tracks. The milling machine may have a slope sensor to measure a roll angle of the frame, a speed sensor to measure a ground speed, and a configuration sensor to measure a machine configuration parameter. The milling machine may also have an alarm device and a controller. The controller may determine a threshold roll angle based on the machine configuration parameter, compare the roll angle with the threshold roll angle, and activate the alarm device when the roll angle is greater than or equal to the threshold roll angle.

Abstract: Provided is an electronic device that determines a final steering value and a final throttle value for controlling driving of a vehicle through a pre-trained first and second neural networks, and a method for operating the same.

Abstract: An autonomous vehicle having a user interface and a computing system that is in communication with the user interface. The computing system may have at least one processor and at least one memory that stores computer-executable instructions. When executed by the at least one processor, the instructions may cause the at least one processor to output information through the user interface to inform the passenger of an action that the passenger needs to enact prior to the autonomous vehicle beginning to move and determine, based upon an occurrence of the action that the passenger needs to enact, whether the autonomous vehicle is permitted to begin moving.

Abstract: A machine is disclosed. The machine may include a control system that includes a controller configured to: determine a center of gravity of the machine based on a state of the machine; determine at least one of a slope limit or a pitch limit for the machine based on the center of gravity; receive a command to perform an operation that, if performed, would affect at least one of a slope or a pitch of the machine; determine whether the operation, if performed, would cause the machine to exceed the at least one of the slope limit or the pitch limit; and selectively perform the operation based on determining whether the operation, if performed, would cause the machine to exceed the at least one of the slope limit or the pitch limit.

Abstract: An autonomous spacecraft propellant-gauging system, the system including a propellant tank, one or more heating devices, at least one temperature sensor and a processor. The heating devices are used to heat up the propellant tank, and the temperature sensors sense the temperature of the propellant content of the propellant tank. The processor controls operations of the heating devices and the temperature sensor. The processor further executes an algorithm to automate gauging of the propellant content of the propellant tank based on a reduced order model (ROM) and a number of parameters, and reports out an estimate of the mass of the remaining propellant of the propellant tank.

Abstract: A system and various methods for determining a center of mass of an aircraft with a plurality of shock strut assemblies is illustrated. Multiple sensors, including a gas pressure sensor, and/or a position sensor, may be used to gather data and determine the center of mass of the aircraft. Various methods illustrated herein may evaluate the center of mass relative to a wheelbase axis and a wheel tread axis based on the gathered data.

Abstract: An auto-balancing transportation device having a compact form. Left and right foot platform sections are coupled for fore-aft tilt angle movement relative to one another. Left and right wheels are provided under the respective foot platforms. With a rider's weight directed primarily downward onto the wheels and not onto the coupling structure, the coupling structure may have sufficient space to house the battery. In addition, more efficient and lighter weight supports and bearing arrangements may be used in the coupling structure. Various embodiments are disclosed.

Abstract: A fore-aft self-balancing transportation device, typically in a pair, one for the right foot and the other for the left foot of a rider. The platform is limited in size and positioned with a top surface wholly above the drive wheel, such that the platform straddles the axis of rotation of the drive wheel. The wheel may extend laterally to enhance side-to-side stability. The devices are configured for hands-free control, a device being driven forward or backward in response to the fore-aft tilt angle of a rider's foot on the platform (and hence, the fore-aft tilt angle of that platform). Various embodiments and features are disclosed.

Abstract: The present application provides an unmanned aerial vehicle (UAV) for a long duration flight. An exemplary UAV may include a UAV body assembly. The UAV may also include a flight control system (FCS) coupled to the UAV body assembly. The UAV may further include a motor coupled to the UAV body assembly at one end and coupled to a propeller at the other end. The FCS is communicatively connected to the motor. A center of gravity (CG) of the UAV is at a point between 21% and 25% of a mean aerodynamic chord (MAC) of the UAV.

Abstract: A wheel comprehensive detecting device, comprises a lower lifting and rotating system, a measuring system I, a measuring system II, a upper pressing system, a translation system, a measuring system III, a measuring system IV. The present disclosure in use is capable of measuring the wheel bolt hole position, the runout of the flange plane, the runouts of the upper and lower rim end faces, the runouts of the upper and lower bead seats, the height of counterbore end face of the bolt hole, the height and offset of the riser end face, etc.

Abstract: Systems and methods are provided for handling luggage. One exemplary system includes an interface that receives input from a check-in system that indicates sizes and weights for pieces of luggage that are each associated with a unique identifier; and a controller that selects a delivery, identifies pieces of luggage for the delivery, correlates the delivery with dimensions of a cargo hold of a vehicle servicing the delivery, receives input indicating a loading restriction for loading luggage into the cargo hold, and generates a baggage map. The baggage map is based on the sizes and the weights of the pieces of luggage for the delivery, indicates a location for each piece of luggage for the delivery within the cargo hold, and complies with the loading restriction. The system further includes a memory that stores the baggage map.

Abstract: Systems, methods and apparatus are provided through which in some implementations a motorized tricycle includes a lean mechanism and an active system that is operably coupled to the lean mechanism that receives an signal indicative of an interaction with human, that is operable to detect a lean of the body of the human and that is operable to receive a sensed movement on the seat via multisensory devices, and to generate and send a signal to the lean mechanism from the signal, the lean and the sensed movement.

Abstract: A human-machine interaction sport vehicle (10) including a mounting plate, a rotating structure (2), two wheels (3a, 3b), a hub motor, and a balance control system is provided. The rotating structure is configured to connect a first mounting plate (1a) and a second mounting plate (1b), and enables the first mounting plate and the second mounting plate to rotate relative to each other. A first groove (1a3) is formed in a bottom surface of the first mounting plate, a second groove is formed in a bottom surface of the second mounting plate, and the first groove and the second groove are configured to accommodate a rotating rod (2a) in the rotating structure so as to enable the first mounting plate and the second mounting plate to form an integral body with the rotating structure, thus providing a weight-supporting effect.

Abstract: Provided is a balancing device for a rotating body including at least one unbalance detector to measure the unbalance of the rotating body; two balancing masses to be handled along a handling circumference so as to cancel the unbalance; a position sensor to detect the mutual position of the balancing masses; and a motor to independently handle each of the balancing masses as a function of their mutual position and unbalance.

Abstract: Embodiments include techniques for managing multiple portable control panels in aircraft cargo handling system are provided. The embodiments include a master control panel (MCP), and a plurality of wireless coordinators in communication with the MCP. The embodiments also include a plurality of zones of a cargo storage area, wherein each zone of the plurality of zones is defined by a portion of the cargo storage area that is controlled by a wireless coordinator of the plurality of wireless coordinators and includes at least one of power drive units (PDU) and turntables, and a plurality of portable control panels (PCP) in communication with the wireless coordinators, the PCP configured to operate and monitor states of the PDU and turntables.

Abstract: In various example embodiments, a system and method for determining a trailer brake gain signal for trailer brakes on a trailer being towed by a vehicle, and applying brakes to the trailer is disclosed. A method includes: providing predetermined calibration settings relating motor drive force to motor speed for a vehicle travelling at various speeds and providing accelerometer data. The method then determines that one or more vehicle performance parameters fall within threshold ranges and then determines both the vehicle weight and the trailer weight. The brake gain signal is determined based on the ratio of the current trailer weight and the original trailer weight. The brake gain signal is then transmitted to a trailer brake controller that applies trailer brakes according to the brake gain signal.

Abstract: A method of determining a center of gravity of an aircraft in flight by comparing actual control surface actuator displacements to expected control surface actuator displacements. And a method of fuel/load management based on an offset of the center of gravity from a preferred center of gravity and a handling qualities factor.

Abstract: A technique of controlling tonal noises produced by an unmanned aerial vehicle (UAV) includes generating thrust with a plurality of rotor units mounted to the UAV to propel the UAV into flight. Each of the rotor units includes a bladed rotor. A rotation rate or a phase delay of at least one of the rotor units is adjusted relative to another of the rotor units. The adjustment causes a spread in the tonal noises generated by the rotor units.

Abstract: The present invention discloses a self-balancing scooter, including a scooter body, wheels, a driving motor, a power supply, a circuit board, a controller and a light emitting lamp. The controller is electrically connected to the circuit board, the power supply and the driving motor. The scooter body includes: an upper shell, pedals, a middle shell, a lower shell and a lampshade. The middle shell is located between the upper shell and the lower shell. The lampshade is provided with at least two spaced lamp strips for transmitting light. The upper shell is provided with lamp holes for placing one or at least two lamp strips. The lower shell is provided with lamp holes for placing one or at least two lamp strips. The sum of the lamp holes of the upper shell and the lamp holes of the lower shell is identical with the quantity of the lamp strips.

Abstract: A system and method for estimating a plurality of airspeed parameters of an aircraft is disclosed. The system comprises one or more processors and a memory coupled to the processor. The memory storing data comprises a database and program code that, when executed by the one or more processors, causes the system to receive a plurality of operating parameters that each represent an operating condition of the aircraft. The system is further caused to determine a stability-axis drag coefficient based on the plurality of operating parameters. The stability-axis drag coefficient quantifies a stability-axis drag of the aircraft created during high speed conditions. The system is caused to determine a body-axis lift coefficient based on the plurality of operating parameters, which corresponds to a lift of the aircraft created along a vertical body-axis. The system is also caused to determine a dynamic pressure, which is used to estimate the airspeed parameters.

Abstract: A method for adjusting an estimated height of the center of gravity (HCOG) value of a vehicle includes concomitant calculations, based on parameters dependent on the HCOG value and parameters independent from the HCOG value. The method further comprises the adjustment of a parameter related to the HCOG value.

Abstract: Aerial vehicles may be configured to control their attitudes by changing one or more physical attributes. For example, an aerial vehicle may be outfitted with propulsion motors having repositionable mounts by which the motors may be rotated about one or more axes, in order to redirect forces generated by the motors during operation. An aerial vehicle may also be outfitted with one or more other movable objects such as landing gear, antenna and/or engaged payloads, and one or more of such objects may be translated in one or more directions in order to adjust a center of gravity of the aerial vehicle. By varying angles by which forces are supplied to the aerial vehicle, or locations of the center of gravity of the aerial vehicle, a desired attitude of the aerial vehicle may be maintained irrespective of velocity, altitude and/or forces of thrust, lift, weight or drag acting upon the aerial vehicle.

Abstract: A vehicle weight detection method, system, and non-transitory computer readable medium, include calculating a first difference between a first expected weight of a vehicle and a first current weight of the vehicle based on On-Board Dash (OBD) input data, calculating a second difference between a second expected weight of the vehicle and a second current weight of the vehicle based on a spring-mass-damper mechanical algorithm using vehicle data received from a user device, and a comparing circuit configured to compare each of the first difference and the second difference to a predetermined weight difference threshold value.

Abstract: A method converts an aircraft takeoff trim setting that would be a function of several parameters to a value that is a function of CG position only. In this way, it is possible to create a direct simple equivalence between Stabilizer angle and CG. The equivalent CG can be presented in real time to the pilot.

Abstract: There is disclosed a method of determining the mass of a load in a tipper body of a tipper, the tipper includes a tipper body pivotably moveable with respect to a frame with a hydraulic cylinder disposed therebetween and actuatable to pivot the tipper body. The method includes receiving at least one pressure parameter relating to the hydraulic pressure within the hydraulic cylinder at an angular position of the tipper body and at least one angular positional parameter relating to the angular position of the tipper body at the angular position; and determining a mass parameter relating to the mass of a load in the tipper body based on at least the at least one pressure parameter and the at least one angular positional parameter.

Abstract: A robot includes a body, a handle provided on the body and holdable by a user, a detector that detects a load applied to the handle, a movement device that includes a rotation member and moves the robot by controlling rotation of the rotation member in accordance with the detected load, and a generator that generates tendency data, which indicates tendency of the load applied to the handle, on the basis of past load data regarding the handle obtained while the robot is moving. The movement device includes an actuator that controls a rotation speed of the rotation member on the basis of the detected load and the generated tendency data.

Abstract: Disclosed is a system for determining tow equipment compatibility that includes a processing device having a processor and non-volatile memory. The system also includes a data input device configured to input at least one unique tow equipment identification code (UTEIC) identifying a specific piece of tow equipment and properties thereof. The processor is configured to receive the UTEIC from the data input device, receive a user input, determine tow equipment compatibility based on the user input and the UTEIC, and communicate tow equipment compatibility data to a user.

Abstract: An electric self-balancing vehicle including a top cover, a bottom cover, an inner cover, a rotating mechanism, two wheels, two hub motors, a plurality of sensors, a power supply, and a controller is described herein. The top cover includes a first top cover and a second top cover disposed symmetrically and rotatable relative to each other. The bottom cover is fixed to the top cover and includes a first bottom cover and a second bottom cover disposed symmetrically and rotatable relative to each other. The inner cover is fixed between the top cover and the bottom cover and includes a first inner cover and a second inner cover disposed symmetrically and rotatable relative to each other. The rotating mechanism is fixed between the first inner cover and the second inner cover. The two wheels are rotatably fixed at two sides of the inner cover, respectively. The two hub motors are fixed in the two wheels, respectively. The plurality of sensors is disposed between the bottom cover and the inner cover, respectively.

Abstract: Systems and methods for managing a center of gravity of a vehicle on a display associated with the vehicle are provided. The method includes: determining an initial value of a center of gravity prior to a start of a journey, and receiving a value for a consumption of a fuel for the journey; determining, by a processor, a change in the center of gravity at each waypoint based on the initial value and the fuel consumed; generating a first user interface that illustrates the center of gravity at the waypoints over the journey and that illustrates that the change in the center of gravity exceeds a predefined threshold; based on the change in the center of gravity exceeding the predefined threshold, generating, a second user interface that provides a selection to bring the center of gravity below the predefined threshold; and updating the first user interface based on the selection.

Abstract: A work vehicle to travel along a travel route includes a vehicle body, an inclination sensor, a calculator, an information generator, and a recorder. The inclination sensor is provided on the vehicle body to detect a vehicle body inclination angle with respect to a horizontal line. The calculator is to calculate a position of the work vehicle in a work field based on positioning data. The information generator is to output travel limit information at an inclination position on the travel route where the vehicle body inclination angle detected by the inclination sensor exceeds a threshold angle. The recorder is to record, as an inclined area, an area around the inclination position which is calculated based on the positioning data.

Abstract: Systems, methods and apparatus are provided through which in some implementations a motorized tricycle includes a lean mechanism and an active system that is operably coupled to the lean mechanism that receives an signal indicative of an interaction with human, that is operable to detect a lean of the body of the human and that is operable to receive a sensed movement on the seat via multisensory devices, and to generate and send a signal to the lean mechanism from the signal, the lean and the sensed movement.

Abstract: A method and an arrangement for optimizing load position in relation to a transportation vehicle, comprising a platform arranged to the transportation vehicle for receiving a load; an actuating device for moving the platform in relation to the transportation vehicle; a sensing device configured to generate a vehicle sensing signal and/or a non-vehicle sensing signal; a controlling device configured to receive at least one of the vehicle sensing signal and the non-vehicle sensing signal; generate controlling commands based on the received at least one of the vehicle sensing signal and the non-vehicle sensing signal; and transmit the controlling commands to the actuating device; wherein the actuating device is configured to receive the controlling commands and to move the platform in relation to the transportation vehicle based on the controlling commands.

Abstract: An apparatus of estimating a vehicle weight may include: an acceleration detector detecting a longitudinal direction acceleration of the vehicle; a data detector detecting state data to estimate the vehicle weight; an engine clutch disposed between an engine and a drive motor and selectively connecting the engine to the drive motor; an integrated starter-generator for starting the engine and generating electric energy; and a vehicle controller calculating a basic vehicle weight based on an engine torque, a motor torque and the longitudinal direction acceleration detected by the acceleration detector. The vehicle controller estimates a final vehicle weight based on the basic vehicle weight and a predetermined weight when an estimating entrance condition is satisfied from the state data.

Abstract: A system and method for electronically controlling a limited slip differential is disclosed. The method includes determining, by an electronic controller of a vehicle, a request for a limited-slip-differential coupling torque to be applied. The request is based upon an estimation of the vehicle's mass. The method also includes transmitting the request to an electronic limited slip differential of the vehicle. The electronic limited slip differential is configured to apply the requested limited-slip-differential coupling torque.

Abstract: In a particular implementation, a method includes generating an initial weight estimate associated with an aircraft based on a reference operational empty weight (OEW) and at least one of a latitude or an altitude of the aircraft at a first location. The reference OEW is predetermined at a second location that is distinct from the first location. The method includes determining an additional load capability of the aircraft based on a difference between the initial weight estimate and the reference OEW. The method further includes generating an output that indicates the additional load capability.

Abstract: Methods and systems for monitoring a load in a trailer coupled to a vehicle. One method includes determining, with an electronic processor, an initial weight on a rear axle of the vehicle when the load is engaged with the trailer coupled to the vehicle. The method also includes monitoring, with the electronic processor, a current weight on the rear axle of the vehicle based on data collected by a sensor. The method also includes comparing, with the electronic processor, the initial weight and the current weight. The method also includes automatically generating, with the electronic processor, a notification when the current weight is different than the initial weight by a predetermined threshold.

Abstract: A method for validating or invalidating the computed weight of an aircraft, where the computed weight of the aircraft is determined by compiling various weight assumptions added to a known empty weight of the aircraft. The method measures the aircraft center of gravity, determines the percentage of computed weight supported by the combined main landing gear struts, and using a database such as a look-up table to validate if the percentage of computed weight is determined within a reasonable range to the measured load on the combined main landing gear struts. Sensors are attached to the landing gear struts, so to measure and monitor aircraft loads and center of gravity without measuring the aircraft weight.

Abstract: A load verification system and method may be used to assess the loading of material from a loading work vehicle having a load bucket to a haulage work vehicle having a load bin. The system includes at least one volume sensor coupled to the loading work vehicle that observes a volume of material in at least one of the load bucket and the load bin and generates a corresponding volume data signal. The system also includes a first controller onboard the loading work vehicle and a second controller onboard the haulage work vehicle. At least one of the first and second controllers: receives the volume data signal from the at least one volume sensor; receives a unique haulage work vehicle identifier; associates volume data of the corresponding volume data signal with the unique haulage work vehicle identifier; and stores in memory the associated volume data and haulage work vehicle identifier.

Abstract: A vehicle system and method are provided. The system includes a processor configured to compare received data representative of a current attitude with predetermined bank, nose up, and nose down values to determine that an occurrence of unusual attitude is currently underway. Upon determining that an occurrence of unusual attitude conditions is currently underway, the system and method generate display signals that command and control a display system to render roll angle alert symbology. The roll angle alert symbology includes a tracing arrowhead that more clearly shows the direction to recover from unusual attitude conditions. Based in part on the tracing nature of the arrowhead, provided technological improvements are observable on display systems that are monochrome, as well as those with color. In various embodiments, color attributes and confining the dynamic tracing performed by the arrowhead more clearly inform a pilot of the roll recovery direction to recover from unusual attitude conditions.

Abstract: An unmanned aerial vehicle (UAV) is provided. The UAV includes a main body, a plurality of motors connected to the main body, each of the plurality of motors having a rotor blade, a plurality of ultrasonic sensors located at least one of the plurality of motors and the main body, and transmitting and receiving ultrasonic waves to and from a ground surface, and measuring distances from the ground surface, a gyro sensor disposed at the main body and maintaining the UAV in a horizontal state, and a controller disposed at the main body, detecting an unevenness of the ground surface based on the distances from the plurality of ultrasonic sensors to the ground surface, generating a control signal whether to land on the ground surface or not in response to the detection of the unevenness, and transmitting the control signal to the plurality of motors.