JP2019026244A - Ceiling travel type unmanned flight body - Google Patents

Abstract

To provide a ceiling travel type unmanned flight body which does not submerge even when it is fallen in a water channel, and which can fly so as to travel in a stable state along a ceiling surface of a pipe line.SOLUTION: A ceiling travel type unmanned flight body comprises: a flight body main body part 1 having a horizontal rotary wing 2; plural upper leg parts 3 having a rolling element 4 for traveling along a ceiling surface on a tip end part thereof, and being provided on the flight body main body part 1 so as to be protruded upward; a lower leg part 5 provided on the flight body main body part 1 so as to be positioned below the horizontal rotary wing 2; and inspection means 6 for inspecting inside of the pipe line. The upper leg parts 3 are configured to be tilted and fallen freely, and have an energization member 7 therefore the upper leg parts 3 can perform a standing operation in a tilted state by return energization force of the energization member 7, and the lower leg part 5 is formed into a floating body.SELECTED DRAWING: Figure 1

Description

  The present invention is, for example, a ceiling traveling method capable of investigating the state (presence / absence of cracks or breakage of a wall surface) in the pipeline while flying so as to travel on the ceiling surface of a pipeline such as a pipe fence or a tunnel. It relates to a type unmanned air vehicle.

  Since pipe walls such as pipes and tunnels may crack or chip off due to deterioration over time, it is dangerous to leave them as they are, so periodic inspections and maintenance work are required.

  In recent years, in order to ensure the safety of workers in this pipeline inspection work, the operator does not enter the pipeline and remotely operates the unmanned survey machine from outside the pipeline, and the survey set up in this unmanned survey machine A method has been adopted in which internal information is acquired by equipment (for example, a camera or various sensors) and inspection work in the pipe is performed.

  As this unmanned investigation machine, there exist some which are shown in patent documents 1, for example.

  The unmanned research aircraft (photographing unmanned air vehicle) shown in Patent Document 1 includes an unmanned air vehicle, a photographing device mounted on the unmanned air vehicle, and three or more legs provided on the unmanned air vehicle, The subject to be photographed is photographed while flying, and the subject to be photographed is photographed with the leg in contact with the subject to be examined, so that the photographing posture with respect to the subject to be examined is maintained.

Japanese Patent Laying-Open No. 2015-22395

  However, when the unmanned air vehicle type shown in Patent Document 1 is used in a water channel (pipe), in the unlikely event that it becomes unable to fly due to radio interference, equipment trouble, battery exhaustion, etc., and landing on the water channel, There is a possibility that the driving device (motor, etc.) of the horizontal rotary blade and the mounted electronic equipment (flight controller, various sensors, battery, etc.) will be submerged and broken, and cannot be used again.

  In addition, since the bending direction of the legs is not constant, the bending direction of the legs is bent in a different direction when grounding, and the grounding balance is lost and the horizontal state cannot be maintained, so that the grounding state is unstable (flight state) The accuracy of the survey may be reduced.

  The present invention has been made in view of the problems of such a conventional unmanned investigation machine, and even if it falls into a water channel, it is prevented from being submerged in water, preventing damage to electronic equipment and the like on the ceiling surface of the pipeline. An object of the present invention is to provide an overhead traveling unmanned air vehicle excellent in practicality that can perform a highly accurate in-pipe inspection by flying so as to travel along a stable state.

  The gist of the present invention will be described with reference to the accompanying drawings.

  An overhead traveling unmanned aerial vehicle configured to be able to investigate the inside of a pipeline while flying so as to travel on a ceiling surface of a pipeline such as a duct or a tunnel, and includes a horizontal rotor 2 A flying body main body 1, and a plurality of upper legs 3 provided with rolling elements 4 for traveling along the ceiling surface at the tip, and projecting upward from the flying body main body 1. The aircraft body 1 includes a lower leg 5 disposed below the horizontal rotary wing 2 and an investigation means 6 for investigating the inside of the pipe. The urging member 7 is provided so as to be tiltable, and the urging member 7 is configured to generate an urging action in the tilted state by the return urging force of the urging member 7 so that the rolling element 4 is brought into contact with the ceiling surface. Even when the flying body main body 1 moves up and down when traveling on the ceiling surface in contact, the front of the rolling element 4 It is comprised so that the contact state to a ceiling surface may be hold | maintained, The said lower leg part 5 is comprised by the floating body, and when it landed on water, the lower leg part comprised by this floating body According to the present invention, the overhead traveling unmanned air vehicle is configured to float on water by 5 and to prevent the horizontal rotary blade 2 from being submerged.

  2. The overhead traveling unmanned aerial vehicle according to claim 1, wherein the flying vehicle body portion 1 is provided with a rotating blade guard portion 8 that protects the horizontal rotating blade 2. .

  3. The overhead traveling unmanned aerial vehicle according to claim 2, wherein the rotor blade guard portion 8 is formed of a cushioning bag body and is filled with a levitation gas.

  The horizontal rotary wing 2 is configured to be provided on a support member 9 that is swingably suspended from the flying body main body 1. The overhead traveling unmanned aerial vehicle according to any one of claims 1 to 3, wherein the overhead traveling unmanned air vehicle according to any one of claims 1 to 3 is configured to travel in a downward inclination direction of the horizontal rotary wing 2 by being in an inclined state. It is related to.

  5. The overhead traveling unmanned flight according to claim 1, wherein the lower leg portion 5 is formed of a cushioning bag body and is filled with a levitation gas. It relates to the body.

  The survey means 6 is any one of a camera, a range sensor, an inner shape measuring device for measuring the inner shape of the pipe, or a combination thereof. This relates to the overhead traveling unmanned aerial vehicle described in any one of the items.

  The overhead traveling unmanned aerial vehicle according to claim 1, further comprising a vertical rotor blade 18 configured to move forward or backward by thrust of the vertical rotor blade 18. is there.

  8. The overhead traveling unmanned air vehicle according to claim 7, wherein the vertical rotor blade 18 is housed in a vertical rotor blade housing portion 19 formed in a cylindrical shape.

  9. The overhead traveling unmanned aerial vehicle according to claim 8, wherein the vertical rotary wing 18 is provided on the rear side of the vertical rotary wing accommodating portion 19.

  The vertical rotating blade accommodating portion 19 is provided in a continuous state on the upper portion of the lower leg portion 5 that is configured as a floating body. This is related to the overhead traveling unmanned aerial vehicle.

  Since the present invention is configured as described above, the aircraft can fly so as to travel in a stable state along the ceiling surface of the pipeline, and it is possible to realize a highly accurate in-pipe investigation, and when it falls into the water channel However, it becomes an overhead traveling unmanned aerial vehicle excellent in practicality that prevents damage to horizontal rotating blades and electronic devices (inspection means such as flight controllers and cameras) without being submerged in water.

1 is an explanatory perspective view illustrating Example 1. FIG. 1 is a front view showing Example 1. FIG. 1 is a bottom view illustrating Example 1. FIG. 1 is an exploded perspective view showing Example 1. FIG. It is explanatory drawing at the time of the ceiling surface driving | running | working flight of Example 1, (a) shows the hovering flight state at the time of contacting a ceiling surface, (b) shows the state which carries out flight flight along a ceiling surface. Is. FIG. 6 is an explanatory diagram illustrating a main part of an upper leg portion according to the first embodiment. It is a front view which shows the use condition (running flight state) of Example 1. It is a front view which shows the use condition (water landing state) of Example 1. FIG. FIG. 6 is an explanatory perspective view showing Example 2. 6 is a front view showing Example 2. FIG. It is a front view which shows the use condition (running flight state) of Example 2. It is a front view which shows the use condition (water landing state) of Example 2.

  An embodiment of the present invention which is considered to be suitable will be briefly described with reference to the drawings showing the operation of the present invention.

  In the present invention, the upper leg portion 3 is configured to be tiltable and includes a biasing member 7, and is configured to generate an operation bias in a tilted state by a return biasing force of the biasing member 7. For example, when the upper leg 3 (the rolling element 4 of the upper leg 3) is grounded (abutted) on the ceiling surface of the pipeline from the flight state, the urging member 7 is used when landing on the so-called ceiling surface. The attached upper leg 3 serves as a damper that absorbs the impact at the time of ground contact. Due to the damper action of the upper leg 3, the impact damage to the aircraft body 1 at the time of ground contact is alleviated, and the damage due to the impact at the time of ground contact is reduced. There is no worry and it can be grounded smoothly.

  Further, when investigating the inside of a pipeline while flying while traveling on the ceiling surface after grounding, even if the flying body main body 1 moves up and down, it follows the vertical movement of the flying body main body 1. The upper leg 3 is tilted and the contact state of the rolling element 4 provided at the tip of the upper leg 3 with the ceiling surface is maintained, and stable traveling (flight) movement can be realized. It is possible to carry out a high-accuracy in-pipe investigation by flying in a stable state along the ceiling surface of the pipe.

  Furthermore, since the lower leg portion 5 disposed below the horizontal rotary wing 2 of the flying body main body 1 is formed of a floating body, the present invention is configured to the floating body when landing on the water. The lower leg 5 is floated on the water, and not only the aircraft body 1 is prevented from being submerged, but also the horizontal rotor 2 is prevented from entering (submerged), and the horizontal rotor 2 is not damaged, As a result, even when the water lands, the horizontal rotor 2 can be used as a power to travel on the surface of the water (water channel) like a ship, or the surface can be resurfaced from the water and the investigation can be continued. .

  As described above, the present invention can fly so as to travel in a stable state along the ceiling surface of the pipeline, enables highly accurate investigation in the pipeline, and submerges even if it falls into the water channel. Without being damaged, it is possible to prevent damage to the horizontal rotor 2, electronic equipment, etc., and to proceed as it is like a ship, or to re-float from the water and continue the investigation. It will be an excellent groundbreaking unmanned air vehicle.

  A specific embodiment 1 of the present invention will be described with reference to FIGS.

  The present embodiment can fly freely in the air like a general unmanned aerial vehicle (drone), and also flies so as to travel on the ceiling surface of a pipe line such as a pipe or a tunnel. It is an overhead traveling unmanned aerial vehicle that is configured to be able to investigate the inside.

  Specifically, in the present embodiment, a flying body main body 1 having a horizontal rotary wing 2 and a rolling element 4 for traveling along the ceiling surface are provided at the front end portion. A plurality of upper legs 3 projecting upward, a lower leg 5 provided on the airframe body 1 so as to be positioned below the horizontal rotary wing 2, and the inside of the duct It is comprised from the investigation means 6 for investigating.

  Hereinafter, each part of said structure concerning a present Example is explained in full detail.

  As shown in the figure, the flying body main body 1 of this embodiment includes a frame unit 11 including a control unit 10 in which electronic devices such as a battery, a flight controller, and an ESC (motor rotational speed control device) are housed, and this frame. The rotary rotor 2 is provided below the portion 11, and the rotor guard part 8 that protects the horizontal rotor 2 is configured.

  Specifically, the frame portion 11 is formed in a cross shape in which the frame member 12 is horizontally projected from the front, rear, left, and right side surfaces of the control portion 10 with the control portion 10 as the center. A support fixing portion 12A for supporting and fixing a rotor blade guard portion 8 to be described later is provided at the distal end portion of the member 12.

  In addition, as shown in the figure, the aircraft body 1 of the present embodiment has two aircraft in the juxtaposed state in the left-right direction on the front side, and two aircraft in the juxtaposed state in the left-right direction on the rear side. The horizontal rotary blades 2 are configured to have the horizontal rotary blades 2, and the horizontal rotary blades 2 are provided on the above-described frame portion 11 via support members 9 that are swingably suspended.

  Specifically, the column member 9 of the present embodiment is formed in an inverted T shape, and protrudes toward the front side and the rear side of the frame portion 11, specifically, toward the front side of the frame portion 11. The frame member 12 and the frame member 12 projecting toward the rear side are provided, and the horizontal rotary blade 2 extends in the left-right direction located at the lower end of the inverted T-shaped support member 9. It is provided at both ends of the horizontal member 9A.

  Further, the column member 9 of this embodiment is provided with a swing drive unit (not shown) only in either the front column member 9 or the rear column, and the other column member 9 is the one column. The swinging motion of the member 9 is transmitted via the link member 13. That is, this embodiment is configured such that the front and rear support members 9 simultaneously swing by driving one swing driving unit, and all the four horizontal rotary blades 2 tilt simultaneously.

  The tilting operation of the horizontal rotary blade 2 is performed when flying so as to travel on a ceiling surface such as a pipe line. That is, in the present embodiment, when flying in the air, the four horizontal rotary wings 2 are kept in a horizontal state as in the case of a general unmanned air vehicle (drone), and the rotational forces of these horizontal rotary wings 2 are maintained. In the case of flying with the balance adjustment and traveling on the ceiling surface, as described above, the swing drive unit is driven and the support member 9 swings to move all the four horizontal rotary blades 2 in the traveling direction. By making the horizontal rotary wing 2 in a forward downward inclined state and in a forward downward inclined state, a propulsive force is applied to the airframe main body 1 while applying a uniform levitation force to the front side and the rear side of the airframe main body 1. The upper leg 3 (the rolling element 4) is configured to fly along the ceiling surface while maintaining the ground contact state (contact state) to the ceiling surface.

  Further, in this embodiment, the above-described link member 13 is detachably provided. When the horizontal rotary blade 2 is tilted by the swinging motion of the column member 9, the link member 13 is attached. When flying with the rotational speed control of each horizontal rotary blade 2 in the horizontal state without tilting the horizontal rotary blade 2, the weight can be reduced by removing the link member 13, and thus, The motor output can be suppressed, and the battery can be extended so that it can fly longer.

  As described above, in this embodiment, the horizontal rotor 2 is fixed in a horizontal state, and the number of rotations of each of the four horizontal rotors 2 in the front, rear, left, and right is adjusted, and the aircraft body portion 1 flies while inclining. Flight form (flight form similar to a general unmanned aerial vehicle (drone)) and the upper rotary leg 2 while the horizontal rotary wing 2 is inclined by the swinging motion of the support member 9 and the aircraft body 1 is kept horizontal. The part 3 (the rolling element 4) is grounded (abutted) on the ceiling surface of the pipe, and is configured as a flying object having two flight forms, such as a flight form that travels along the ceiling surface.

  Further, the rotor guard portion 8 is formed in a ring shape having a size that surrounds all the four horizontal rotor blades 2 and is formed of a bag body having cushioning properties. The horizontal rotor 2 is configured to prevent contact with the wall surface or the like of the horizontal rotary wing 2 and to reduce an impact when the flying body main body 1 contacts the wall surface or the like.

  Specifically, the rotor blade guard portion 8 of the present embodiment is formed with frame engaging portions 8A that engage with the support fixing portions 12A provided at the front end portion of the frame member 12 described above at four positions, front, rear, left and right. The frame engaging portion 8A is provided so as to be integrated with the frame portion 11 by being engaged with and fixed to the support fixing portion 12A of the frame portion 11 (frame member 12). Yes.

  Further, the rotor wing guard portion 8 of the present embodiment is configured to have a levitation force, in which a bag body is filled with a levitation gas such as helium gas, and is supplementary to the aircraft body portion 1. It is set as the structure which gives a levitating force. In the present embodiment, as shown in the drawing, the illumination unit 14 (LED bar) is provided on each of the front side portion and the rear side portion of the rotor blade guard portion 8.

  In addition, as shown in the figure, the upper leg 3 projecting upward from the flying body main body 1 is provided with a rolling element 4 for traveling along a ceiling surface such as a pipe line at the tip. This upper leg is provided at each of the right front corner, the left front corner, the right rear corner, and the left rear corner of the upper leg mounting frame 15 formed in a rectangular frame shape. It is configured to be provided on the upper part of the flying vehicle body 1 via the mounting frame 15.

  Further, the upper leg portion 3 of the present embodiment is configured to be tiltable, and includes an urging member 7, and an urging action is generated in the tilted state due to the return urging force of the urging member 7, thereby rolling elements. Even when the flying body main body 1 moves up and down while the vehicle 4 is running on the ceiling surface such as a pipe 4 in contact with the ceiling surface, the upper leg 3 follows the vertical movement of the flying body main body 1. Thus, the tilting return operation is performed, and the contact state of the rolling element 4 with the ceiling surface is maintained.

  Specifically, the upper leg portion 3 of the present embodiment is pivotally attached to the upper leg pivoting portion 16 provided at each corner of the upper leg mounting frame portion 15 and tiltable in the front-rear direction. And a biasing member 7, specifically a torsion spring 7, is provided between the upper leg 3 and the upper leg mounting frame 15 (between the tilt direction side). The return urging force of 7 causes an urging action to occur when the upper leg 3 tilts, and the vehicle body 1 moves when the rolling element 4 abuts the ceiling surface and travels on the ceiling surface. Even if it moves up and down, the upper leg 3 is tilted and returned following the up and down movement to keep the rolling element 4 in contact with the ceiling surface. In the present embodiment, the front two upper legs 3 are tilted forward and the rear two upper legs 3 are tilted backward, that is, each upper leg 3 is The tilting operation direction is configured to tilt outward, but the tilting operation direction is not limited to the present embodiment as long as the front-rear balance can be maintained. It is good also as a structure which inclines toward the direction inner side or the left-right direction.

  Moreover, as a rolling element 4 provided at the tip of the upper leg 3, a wheel is used in this embodiment.

  Specifically, the wheel 4 is made of an elastically deformable member, specifically, a sponge member, and the sponge wheel 4 is deformed even if a ceiling surface such as a pipe is uneven. Thus, it is configured to absorb the impact caused by the unevenness and the level difference and to reduce the vertical movement (vibration) of the storage unit body 1 as much as possible, so that highly accurate investigation (measurement) can be performed.

  Further, the lower leg portion 5 of the present embodiment is provided on the airframe body portion 1 so as to be positioned below the horizontal rotary wing 2 via the lower leg portion attachment member 17 as shown in the figure. Yes.

  Specifically, the lower leg portion 5 of this embodiment is configured as a floating body. That is, in this embodiment, when landing on the water, the lower leg portion 5 formed on the floating body floats on the water, and the control unit 10 and the horizontal rotary wing 2 provided on the flying body 1 are submerged. It is comprised so that it can prevent.

  More specifically, the lower leg portion 5 of the present embodiment is composed of a ring-shaped bag body having cushioning properties, similar to the rotary blade guard portion 8 described above, and is configured to have shock absorption, The bag body is filled with a buoyant gas such as helium gas and has a buoyant force, and the wing guard unit 8 and the flying body main body 1 are provided with an auxiliary buoyant force.

  That is, in this embodiment, the levitation force other than the horizontal rotor 2 is generated by the levitation gas (helium gas) filled in the rotor guard 8 and the lower leg 5. It is possible to fly with reduced output of the battery, to reduce battery consumption, and to fly for a long time. Even if the moving body 4) is biased against the ceiling surface and the output (number of rotations) of the horizontal rotor 2 fluctuates slightly, the vertical movement of the flying body 1 is suppressed and stable traveling flight becomes possible. Therefore, a highly accurate survey can be performed.

  Moreover, the investigation means 6 of the present embodiment is provided on both the front side portion and the rear side portion of the flying body main body 1 as shown in the figure.

  Specifically, the investigation means 6 of the present embodiment is a range sensor, and is configured to detect an object existing in the pipeline and measure the distance to the object.

  This range sensor can measure the position by recognizing the distance to the wall surface in a closed space where a GPS or direction sensor cannot be used such as a pipe (pipe), so it can detect obstacles, for example. Even when leaving the ceiling surface and flying in the pipeline, this positioning sensor allows you to fly safely without touching the wall surface. The investigation can be continued with grounding.

  Note that the investigation means 6 is not limited to the above-described configuration, and for example, a camera for photographing the inside of the pipeline, an inner shape measuring device for measuring the inner shape of the pipeline may be adopted, and the investigation means 6 may be a camera. The range sensor may be used instead of GPS. Further, a range sensor, a camera, and an inner shape measuring device may be used in combination.

  A specific embodiment 2 of the present invention will be described with reference to FIGS.

  In this embodiment, in the overhead traveling unmanned air vehicle of the first embodiment, the flying body body 1 is provided with the horizontal rotating blades 2 and the vertical rotating blades 18. In this case, the flying body main body 1 is moved forward and backward by the vertical rotary wing 18.

  In other words, the first embodiment includes only the horizontal rotor blades 2 as the rotor blades, and the horizontal rotor blades 2 are tilted back and forth to move in the front-rear direction while generating upward thrust. However, this embodiment includes a horizontal rotor blade 2 and a vertical rotor blade 18 as rotor blades, and the horizontal rotor blades 2 are fixed without tilting, and only the propulsive force for moving upward is used for the flying vehicle body 1. The propulsive force that is applied to and moves in the front-rear direction is applied by the vertical rotary blades 18.

  Specifically, the vertical rotary wings 18 are provided on the left and right sides of the flying body main body 1, and more specifically, the lower legs configured as floating bodies provided on the left and right sides of the flying body main body 1. It is provided in each of the parts 5.

  More specifically, the vertical rotary blade 18 of the present embodiment is accommodated in the rear side of the vertical rotary blade accommodating portion 19 formed in a cylindrical shape provided at the upper portion of the lower leg portion 5 as shown in the figure. Has been.

  That is, in this embodiment, the vertical rotary blade 18 is accommodated in the rear portion of the cylindrical vertical rotary blade accommodating portion 19 so that the air current generated by the vertical rotary blade 18 interferes with the air current generated by the horizontal rotary blade 2. In this configuration, it is possible to prevent the traveling flight state from becoming unstable under the influence of air current disturbance as much as possible.

  In this embodiment, the vertical rotary blades 18 are separately provided, and the vertical rotary blades 18 are accommodated and arranged on the rear side of the vertical rotary blade storage portion 19 formed in a cylindrical shape. The wings 2 can be fixed exclusively for ascending, and compared to the configuration that handles both ascending and forward / backward movement with only the horizontal rotating wings 2, the up / down wobbling during movement is suppressed, and more stable traveling flight Is feasible.

  Furthermore, with the above-described configuration, the traveling speed in the front-rear direction can be easily adjusted and the maneuvering can be facilitated, so that the overhead traveling unmanned air vehicle is further excellent in practicality.

  The rest of the configuration is the same as in the first embodiment.

  The present invention is not limited to the first and second embodiments, and the specific configuration of each component can be designed as appropriate.

DESCRIPTION OF SYMBOLS 1 Aircraft body part 2 Horizontal rotary wing 3 Upper leg part 4 Rolling body 5 Lower leg part 6 Investigation means 7 Energizing member 8 Rotor wing guard part 9 Prop member
18 Vertical rotor
19 Vertical rotor blade housing

Claims (10)

  An overhead traveling unmanned aerial vehicle configured to be able to investigate the inside of a pipeline while flying so as to travel on a ceiling surface of a pipeline such as a duct or a tunnel, and includes a horizontal rotary wing. A flying body main body, a plurality of upper legs provided with rolling elements for traveling along the ceiling surface at the tip, and projecting upward from the flying body main body; and the flying body main body And a lower leg disposed below the horizontal rotary blade, and an investigation means for investigating the inside of the pipe. The upper leg is configured to be tiltable and attached. The urging member is configured to generate an operation urging in a tilted state due to a return urging force of the urging member, and the flight when the rolling element abuts the ceiling surface and travels on the ceiling surface. Even if the body main body moves up and down, the contact state of the rolling element with the ceiling surface is maintained. The lower leg portion is configured as a floating body, and floats on the water by the lower leg portion configured in the floating body when landing on the water, and the horizontal rotary blade is submerged. An unmanned aerial vehicle with an overhead traveling structure that is configured so as to prevent the   The overhead traveling unmanned aerial vehicle according to claim 1, wherein the flying body main body portion is provided with a rotating blade guard portion that protects the horizontal rotating blade.   The overhead traveling unmanned aerial vehicle according to claim 2, wherein the rotor blade guard portion is formed of a bag body having cushioning properties, and is filled with a levitation gas.   The horizontal rotary wing is configured to be provided on a column member that is swingably suspended from the flying body body, and the horizontal rotary wing is in an inclined state by operating the column member. The overhead traveling unmanned aerial vehicle according to any one of claims 1 to 3, wherein the overhead traveling unmanned aerial vehicle is configured to travel in a downward inclination direction of the horizontal rotary wing.   5. The overhead traveling unmanned aerial vehicle according to claim 1, wherein the lower leg portion is formed of a bag body having a cushioning property and is filled with a levitation gas.   The survey means is any one of a camera, a range sensor, an inner shape measuring device for measuring the inner shape of the pipe, or a combination thereof. The overhead traveling unmanned aerial vehicle according to the item.   The overhead traveling unmanned aerial vehicle according to claim 1, further comprising a vertical rotary wing, and configured to move forward or backward by thrust of the vertical rotary wing.   The overhead traveling unmanned aerial vehicle according to claim 7, wherein the vertical rotary wing is accommodated in a vertical rotary wing accommodating portion formed in a cylindrical shape.   9. The overhead traveling unmanned aerial vehicle according to claim 8, wherein the vertical rotary wing is provided on a rear side of the vertical rotary wing accommodating portion.   10. The overhead traveling type according to claim 8, wherein the vertical rotary blade accommodating portion is provided in a continuous state on an upper portion of the lower leg portion configured as a floating body. Unmanned air vehicle.

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