JP2019194070A - Unmanned aircraft - Google Patents

Abstract

To provide an unmanned aircraft which has high space efficiency and good portability.SOLUTION: An unmanned aircraft includes: rotors (R) having horizontal rotary wings 42; and arms 70 supporting the rotors. A tip of the arm comprises two rod bodies 72, 73 which are disposed lined up vertically and extend in the same direction. Longitudinal dimensions of the two rod bodies are shorter than a diameter of the horizontal rotary wing. The rod bodies respectively support the different rotors. A base end part of the arm is formed by one rod body 71. The one rod body of the arm and the two rod bodies are connected by a connection member 74 which is branched into a fork shape from the base end side to the tip side. An interior of the connection member houses a drive circuit of a brushless motor 41 included in the rotor.SELECTED DRAWING: Figure 1

Description

  The present invention relates to unmanned aerial technology.

  Conventionally, a small unmanned aerial vehicle represented by an industrial unmanned helicopter has been expensive and difficult to obtain, and requires skill to operate in order to fly stably. However, in recent years, improvements in sensors and software used for unmanned aerial vehicle attitude control and autonomous flight have made significant progress, which has significantly improved the operability of unmanned aircraft and made it possible to obtain high-performance aircraft at low cost. . In view of this background, particularly for small multicopters, application to various missions in a wide range of industrial fields is being attempted not only for hobby purposes.

  Patent Documents 1 and 2 below disclose a multicopter including an arm and a frame that act as a rotor guard by covering the entire length of the rotor.

US Pat. No. 8,794,566 (B2) US Patent Application Publication No. 2016/229534 (A1) Specification

  In general multicopters, a structure in which a plurality of arms extend radially from the center of the fuselage and a rotor is disposed at the tips of these arms is often employed. These arms and rotors occupy most of the horizontal dimensions of the fuselage and reduce space efficiency during transportation and storage. In particular, in a configuration in which a large number of rotors are arranged on the same horizontal plane, it is necessary to take a long arm so that the propellers do not contact each other, and the horizontal dimension of the airframe tends to increase. In addition, the rotor guard attached to the arm is a factor that reduces the space efficiency of the multicopter. In particular, when the entire length of the rotor is covered with an arm or a frame as in the multicopters of Patent Documents 1 and 2, the horizontal dimension of the airframe is remarkably increased, and the problem of space efficiency becomes more serious. On the other hand, it is complicated to remove the arm or rotor guard or disassemble the airframe every time the multicopter is transported or stored, and there is a risk of causing an assembly error during flight.

  In view of the above problems, the problem to be solved by the present invention is to provide an unmanned aerial vehicle having good space efficiency and portability.

  In order to solve the above problems, an unmanned aerial vehicle according to the present invention includes a rotor having a horizontal rotary wing and an arm that supports the rotor, and a tip portion of the arm extends in the same direction arranged vertically. It is composed of two rods, and each of the rods supports another rotor, and the base end of the arm is composed of one rod, and the one rod of the arm The body and the two rods are connected to a connecting member that is bifurcated from the base end to the front end, and a brushless motor drive circuit of the rotor is housed inside the connecting member. It is characterized by.

  For example, in an unmanned aerial vehicle including a large number of rotors such as an octacopter, in order to reduce the horizontal dimension of the fuselage, the number of arms may be reduced by using a rotor as a counter-rotating propeller. However, when the rotor is arranged on the upper and lower surfaces of one arm, there is a problem that the thrust efficiency per one rotor is lowered by the distance between the rotors being close. In this invention, the rotor arrange | positioned up and down can be arrange | positioned apart from the structure which arrange | positions a rotor on the upper and lower surfaces of one arm by arrange | positioning to a separate rod body. In addition, the number of arms when the airframe is viewed in plan can be reduced to half compared to a configuration in which the same number of rotors as the rotor of the unmanned aircraft of the present invention are arranged on the same horizontal plane. As a result, the horizontal dimension of the airframe can be reduced while reducing the reduction in the thrust efficiency of the rotor.

  In addition, high-frequency noise generated by the brushless motor drive circuit may affect the detection accuracy of other sensor components. By disposing the drive circuit in the connecting member, the drive circuit can be pulled away from the center of the airframe, and the influence of noise on the drive circuit can be reduced.

  Moreover, it is preferable that the said rotor which each said rod body supports is arrange | positioned so that a mutual rotation surface may face.

  Since the tip of the arm is composed of two rods, the rotor is arranged on the inner surfaces of these two rods (the surfaces of the two rods facing each other), The rotor supported by the rod body can be arranged so that the rotation surfaces thereof face each other. This creates a space where other members and devices can be placed on the outer surfaces of the two rods.

  At this time, one end of the two rods is connected to one end of the rotor guard and the other end is connected to the other end of the rotor guard, and the rotor guard is disposed so as to surround the horizontal rotary blade in the vertical direction. It is good also as a structure to be.

  The rotors supported by the two rods are arranged so that their rotational surfaces face each other, and the ends of the rotor guards are connected to these rods, so that the horizontal rotor blades of both rotors can be connected with one rotor guard. Can be enclosed in the vertical direction.

  Moreover, it is preferable that the said rotor guard can be rotated in a horizontal direction centering | focusing on the connection part with the said arm.

  By rotating the rotor guard in the horizontal direction and folding the rotor guard along the side surfaces of the arms (two bars), the horizontal dimension of the airframe can be reduced without removing the rotor guard.

  At this time, the rotor guard is preferably an elongated linear frame, and a plurality of the rotor guards are preferably attached to the arm.

  The rotor guard can be reduced in weight by using the rotor guard as an elongated linear frame. By providing a plurality of each arm, it is possible to adjust the safety performance of the rotor guard according to the use environment of the unmanned aircraft. For example, when the purpose is only to protect the propeller, the most efficient number of rotor guards may be provided for the main shape of the surrounding objects, and in order to ensure the safety of passers-by in unexpected situations The number of rotor guards may be increased as appropriate so as to reduce the blind spot of the rotor guard.

  Moreover, it is preferable that the said arm can turn in the horizontal direction from the base end part.

  Since the arm can be bent in the horizontal direction, the unmanned aircraft can be transported and stored in a compact manner without removing the arm each time. In particular, if the rotor guard can also be folded, the trouble of removing the rotor guard can be saved. In particular, when the rotors are arranged with their rotation surfaces facing each other, the vertical dimension of the airframe after arm folding can be kept small.

  At this time, the horizontal rotary blade is preferably a folding propeller that can be stored by folding the blade clockwise or counterclockwise.

  Moreover, the unmanned aerial vehicle of the present invention includes a plurality of the arms, and the base end portion of each arm and the vicinity thereof are configured as a single rod, and the plurality of arms are all in the same direction. It is preferable that the base end portion of the other adjacent arm or the vicinity thereof be accommodated between the two rods of each arm when horizontally folded and folded.

  The base end of the arm is composed of one bar, and when all the arms are folded, each base is placed so that the base end of one adjacent arm fits between the two bars of the other arm. By arranging the arm, the body can be folded more compactly.

  As described above, according to the unmanned aerial vehicle of the present invention, the space efficiency and portability of the airframe can be improved.

It is an external appearance perspective view which shows the state at the time of the flight of a multicopter. It is an external appearance perspective view which shows the state at the time of conveyance and storage of a multicopter. FIG. 4 is a side view of the unfolded arm and a side view of the folded arm. FIG. 4 is a plan view of the arm shown in FIGS. 3 (a) and 3 (b). FIG. 4 is a side sectional view of FIG. It is a block diagram which shows the function structure of a multicopter.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. Embodiment shown below is an example about the multicopter 10 which is an unmanned aerial vehicle provided with a some rotor. In the following description, “upper”, “lower”, and “vertical” are directions parallel to the Z-axis of the coordinate axis display depicted in FIGS. 1 and 2, and the Z1 side is the upper side. “Horizontal (direction)” means an XY plane (direction) in the same coordinate axis display. The “circumferential direction” of the multicopter 10 means a clockwise or counterclockwise direction when the multicopter 10 is viewed in plan.

[Aircraft Overview]
FIG. 1 and FIG. 2 are perspective views showing the appearance of a multicopter 10 according to the present embodiment (hereinafter also referred to as “this example”). FIG. 1 is a diagram showing a state of the multicopter 10 at the time of flight. FIG. 2 is a diagram illustrating a state of the multicopter 10 during transportation and storage.

  The multicopter 10 includes a rotor R having a propeller 42 that is a horizontal rotary blade, and an arm 70 that supports the rotor R. The base end portion (root) of each arm 70 is fixed to a center frame that is a skeleton portion (not shown) covered by the shell cover 19. In this example, four arms 70 are connected to the center frame, and these arms 70 are arranged at equal intervals along the circumferential direction of the multicopter 10 and extend radially from the center of the airframe.

  The tip of each arm 70 is composed of two rods 72 and 73 that are arranged side by side and extend in the same direction. The two rod bodies 72, 73 support different rotors R, and these rotors R are arranged so that their rotational surfaces face each other.

  Two rotor guards 78, which are long and thin linear frames, are provided at the ends of the rod bodies 72 and 73. One end of the rotor guard 78 is connected to the tip of the upper rod 72 and the other end is connected to the tip of the lower rod 73, and the rotor guard 78 is developed so as to surround the propeller 42 in the vertical direction.

  In addition to the arm 70, two batteries 60 and a laser scanner 90 are fixed to the center frame of this example. Further, inside the shell cover 19, a control device for the multicopter 10, sensor parts, and the like are accommodated. In addition, since the multicopter 10 of this example is an example of an aircraft for surveying, the laser scanner 90 is mounted, but the application of the unmanned aircraft of the present invention is not particularly limited. That is, the laser scanner 90 may be omitted.

  As shown in FIG. 2, the arm 70, the rotor guard 78, and the propeller 42 are all foldable in the multicopter 10 of this example, and when the multicopter 10 is transported or stored, it is not removed. It is possible to reduce the horizontal dimension.

[Configuration of arm]
Hereinafter, the structure of the arm 70 will be described with reference to FIGS. 3 to 5. FIG. 3A is a side view of the deployed arm 70. FIG. 3B is a side view of the folded arm 70. 4 is a plan view of the arm 70 shown in FIGS. 3 (a) and 3 (b). FIG. 5 is a side sectional view of FIG. In the following description, the structure will be described by taking one of the four arms 70 of the multicopter 10 as an example, but other arms 70 except for the type of sensor held in the sensor housing 749 described later. The basic structure is the same. In the following description, “base end side” refers to the arrow b side in the direction parallel to the arrows depicted in FIGS. 3 to 5, and “base end portion” refers to the end portion on the base end side. Say. Similarly, “tip side” means the arrow t side, and “tip part” means the end part on the tip side.

(Configuration overview)
The arm 70 of this example includes a trunk portion 70a, a joint portion 70b, and a fork portion 70c. The trunk portion 70 a is a portion configured by one rod 71 including the proximal end portion of the arm 70. The fork portion 70 c is a portion including two rod bodies 72 and 73 disposed on the distal end side of the arm 70, and a connecting member 74 that couples the rod bodies 72 and 73 and the rod body 71. The joint portion 70b is a connection portion between the trunk portion 70a and the fork portion 70c, and is a joint portion that enables the fork portion 70c to be bent in the horizontal direction. The basic portion 70a, the joint portion 70b, and the fork portion 70c are bundled for convenience, and it is not necessary to strictly separate the boundaries. The basic portion 70a is a portion fixed to the center frame, the fork portion 70c is a bifurcated portion, and the joint portion 70b is a joint portion.

(Corporate and joint parts)
The rod 71 that constitutes the backbone 70a is a cylindrical pipe material made of CFRP (Carbon Fiber Reinforced Plastics). The base 71 of the rod 71 is fixed to the above-described center frame so as not to move, and the tip of the rod 71 is connected to the connecting member 74 via an adapter member 741. In this example, the adapter member 741 and a later-described trunk side connection portion 74a constitute a joint portion 70b.

(Fork)
As described above, the fork portion 70 c of this example includes the two rod bodies 72 and 73 that constitute the tip portion of the arm 70 and the connecting member 74.

  The connecting member 74 which is a part of the fork portion 70c is a joint portion formed by assembling a CFRP flat plate member and a resin plate member.

  The connecting member 74 has a trunk side connection portion 74a and a branch side connection portion 74b. The trunk side connection part 74a is a part to which the rod 71 is connected, and is configured by two flat plates made of CFRP with the plate surface facing up and down arranged in parallel in the vertical direction. The branch-side connecting portion 74b is a portion to which the rod bodies 72 and 73 are connected, and is branched into two forks up and down from the proximal end side toward the distal end side, and is formed in a substantially U shape in side view. A flat plate made of CFRP is used on the side surface of the branch side connection portion 74b, and a plate member made of resin is used on the upper and lower surfaces of the branch side connection portion 74b. Adapter members 742 and 743 (see FIG. 5) to which the rod bodies 72 and 73 are connected are fixed to the tip of the branch side connection portion 74b.

  A landing gear 79 which is a leg portion extending downward from the branch side connection portion 74b is coupled to a side surface of the branch side connection portion 74b. The landing gear 79 is formed by assembling a flat plate made of CFRP into a square tube shape. A rubber hitting block that projects from the lower end of the landing gear 79 below the other parts of the landing gear 79 to mitigate collision with the ground and the floor and prevent the landing gear 79 from being chipped or cracked. 791 is provided.

  The two rod bodies 72 and 73 that are a part of the fork portion 70c are rod bodies that are arranged side by side and extend in the same direction, and are mainly composed of a cylindrical pipe material made of CRFP. A motor mount 76, which is a resin flat plate member joined to the pipe member by a clamp 761, is attached to the tip of the pipe member of each rod 72, 73. A rotor R is fixed to the motor mount 76 by screws. The rod bodies 72 and 73 of the fork portion 70c support different rotors R, and these rotors R are arranged so that their rotation surfaces face each other.

  In the multicopter 10 of this example, the rotors R arranged vertically are supported by the separate rods 72 and 73, and therefore, for example, the rotor R is more than the configuration in which the rotors are arranged on the upper and lower surfaces of one arm. Can be arranged apart from each other. Further, compared to a configuration in which the same number of rotors as the rotors R of the multicopter 10 are arranged on the same horizontal plane, the number of arms when the body is viewed in plan is reduced to half. As a result, the horizontal dimension of the multicopter 10 can be reduced while reducing the reduction in thrust efficiency per rotor R.

  The above-described effects can be obtained even when the rotating surfaces of both rotors R supported by the rod bodies 72 and 73 are directed upward. On the other hand, in this example, these rotors R are supported on the inner surfaces of the two rod bodies 72, 73 (the surfaces of the two rod bodies 72, 73 facing each other), and the rotation surfaces thereof are arranged so as to face each other. Thus, when the arm 70 is folded, the vertical dimension of the airframe can be kept small.

  Further, in the multicopter 10 of this example, when all the arms 70 are folded, the trunk portion 70a and the joint portion 70b (the trunk side connection portion 74a) of one arm 70 adjacent to each other are replaced with the fork portion of the other arm 70. 70c (see FIG. 2)

  A portion on the proximal end side of the arm 70 is configured as one rod body (the trunk portion 70a, the trunk side connection portion 74a), and the two rod bodies constituting the fork portion 70c of the adjacent arm 70 in the vertical direction. By making the positions different, interference between the folded arms 70 is prevented, and the airframe can be folded more compactly.

  Further, as shown in FIG. 5, an ESC 411 (Electric) that is a drive circuit of a brushless motor 41 (hereinafter simply referred to as “motor 41”) of the rotor R is provided inside the branch side connection portion 74 b of the connecting member 74. Speed Controller) is housed. The high frequency noise generated by the ESC 411 may affect the detection accuracy of other sensor components. Since the ESC 411 is disposed in the connecting member 74 as in this example, the ESC 411 can be disposed at a position away from the sensor component mounted on the center frame, and the influence of the ESC 411 due to noise is reduced. .

  In addition, a sensor housing 749 that holds the optical flow sensor 33 is integrally formed on the plate-like member that forms the lower surface of the branch side connection portion 74b. In the multicopter 10 of this example, the pair of arms 70 that are point-symmetric with respect to each other in the circumferential direction of the fuselage include the optical flow sensor 33 in the sensor housing 749 and the sensor housing 749 in the other pair of arms 70. A laser distance sensor 35 is held. The type of sensor housed in the sensor housing 749 is arbitrary and is not particularly limited. The upper and lower surfaces of the branch side connection portion 74b in this example are resin plate-like members and have a high degree of freedom in shape. By providing a sensor housing at an arbitrary position on the upper and lower surfaces of the branch side connection portion 74b and arranging an arbitrary sensor there, the degree of freedom of the mounting position of the sensor can be increased and the function can be expanded using the sensor. Is expanded. Furthermore, what is provided on the upper and lower surfaces of the branch side connection portion 74b is not limited to the sensor housing, and may be, for example, a connection portion of a parachute device.

  The same applies to the motor mount 76 that is a resin member. Of the upper and lower surfaces of the motor mount 76, the surface opposite to the side that supports the rotor R can have any application.

  In addition, although the multicopter 10 of this example has obtained the additional performance accompanying the connection member 74 by using the connection member 74 for the arm 70, the connection member 74 is an essential element of the unmanned aircraft of the present invention. Instead, for example, the base end portions of the two rod bodies 72 and 73 may be directly fixed to the center frame.

(Rotor guard)
The rotor guard 78 is a frame formed by splicing small diameter pipe members made of CFRP. A hub portion 789 that supports the rotor guard 78 is provided at the distal ends of the rod bodies 72 and 73. One end of the rotor guard 78 is connected to the upper rod body 72 and the other end is connected to the lower rod body 73, and the rotor guard 78 is developed so as to surround the rotor R (propeller 42) of the rod bodies 72 and 73 in the vertical direction. Is done.

  In the multicopter 10 of this example, the tip of the arm 70 is composed of two rod bodies 72 and 73, and the inner surfaces of these two rod bodies 72 and 73 (two rod bodies 72 and 73). The rotors R are arranged on the surfaces facing each other. In addition, by connecting the end portions of the rotor guard 78 to the rod bodies 72 and 73, the propellers 42 of both rotors R can be surrounded by the single rotor guard 78 in the vertical direction.

  In addition, each rotor guard 78 can pivot in the horizontal direction around the hub portion 789. When the multicopter 10 is transported and stored, the rotor guard 78 can be stored compactly by folding the rotor guard 78 so as to be parallel to the side surface of the fork portion 70c.

  Each arm 70 has two rotor guards 78. These rotor guards 78 can be expanded up to 135 ° when the arrangement angle when folded parallel to the side surface of the fork portion 70c is 0 °. When the rotor guard 78 is expanded to 135 °, the fixing piece 781 of the rotor guard 78 is fitted into a shaft body (not shown) of the hub portion 789, and the position of the rotor guard 78 is fixed. The rods 72 and 73 are provided with clips 782 for holding the folded rotor guard 78.

  Although the arm 70 of this example has two rotor guards 78, the number of the rotor guards 78 provided in one arm 70 is not limited to two, depending on the use environment of the multicopter 10 It can be adjusted as appropriate. For example, when only the protection of the propeller 42 is intended, it is sufficient to provide the most efficient number of rotor guards 78 for the main shape of the surrounding objects, and to ensure the safety of passers-by in unexpected situations. In order to achieve the objective, the number of rotor guards 78 may be increased as appropriate so as to reduce the blind spot.

  The rotor guard 78 of the present example employs an elongated linear frame because it is lightweight and suitable for folding, but the rotor guard of the present invention is of the present example. It is not limited to. The rotor guard of the present invention may be, for example, a wide removable rotor guard provided that it surrounds the rotor R (propeller 42) of the rod bodies 72, 73 in the vertical direction. Furthermore, the rotor guard is not an essential element of the unmanned aerial vehicle of the present invention, and can be omitted if unnecessary.

  As shown in FIG. 3 and the like, in the multicopter 10 of this example, the two rod bodies 72 and 73 that support the rotor R are shorter than the diameter of the propeller 42. In the multicopter 10 of this example, the arm 70 is not provided with the protection function of the rotor R, and the support of the rotor R and the protection of the rotor R are separated. As a result, enlargement of the horizontal dimension of the fuselage is avoided, and when the protection of the rotor R is not necessary, it can be easily omitted.

(propeller)
The propeller 42 of the rotor R is a folding propeller that can bend the blade clockwise or counterclockwise.

  Thus, in the multicopter 10 of this example, the arm 70 can be folded in the horizontal direction, and the rotor guard 78 and the propeller 42 can also be folded. As a result, when the multicopter 10 is transported and stored, the space efficiency and portability can be easily improved without removing any components of the arm 70.

  Although the folding structure of the arm 70, the rotor guard 78, and the propeller 42 described above is extremely significant in improving the space efficiency and portability of the multicopter 10, these are selectable elements. Any or all of these can be omitted.

[Function configuration]
FIG. 6 is a block diagram showing a functional configuration of the multicopter 10. The functions of the multicopter 10 are a flight controller FC that is a control unit, a plurality of rotors R, an ESC 411 that is a drive circuit of a brushless motor 41 that constitutes the rotor R, a communication device 52 that communicates with a driver (operator terminal 51), It comprises a laser scanner 90 which is an external device for surveying, and a battery 80 which supplies power to them.

  The flight controller FC has a control device 20 that is a microcontroller. The control device 20 includes a CPU 21 that is a central processing unit, and a memory 22 that includes a storage device such as a RAM, a ROM, and a flash memory.

  The flight controller FC further includes a flight control sensor group S including an IMU 31 (Inertial Measurement Unit), a GPS receiver 32, an atmospheric pressure sensor 34, and an electronic compass 36, which are connected to the control device 20. Has been.

  The IMU 31 is a sensor that detects the inclination of the airframe of the multicopter 10, and mainly includes a triaxial acceleration sensor and a triaxial angular velocity sensor. The atmospheric pressure sensor 34 is an altitude sensor that calculates the altitude above sea level (elevation) of the multicopter 10 from the detected atmospheric pressure altitude. A triaxial geomagnetic sensor is used for the electronic compass 36 of this example. The electronic compass 36 detects the azimuth angle of the nose of the multicopter 10. The GPS receiver 32 is precisely a navigation satellite system (NSS) receiver. The GPS receiver 32 obtains the current longitude and latitude values from the Global Navigation Satellite System (GNSS) or the Regional Navigational Satellite System (RNSS).

  The multicopter 10 of this example uses an optical flow sensor 33 in addition to the GPS receiver 32 described above as a sensor for detecting the horizontal position. The optical flow sensor 33 is directed from the sensor housing 749 of the arm 70 to the ground surface, and detects the movement of the airframe by pattern recognition of the photographed image of the ground surface. Thereby, not only the accuracy of specifying the horizontal position is improved, but also the multicopter 10 can be made to fly indoors where GPS signals do not reach. Further, the multicopter 10 of this example uses a laser distance measuring sensor 35 in addition to the above-described atmospheric pressure sensor 34 as a sensor for detecting the flight altitude. The laser distance measuring sensor 35 is directed from the sensor housing 749 of the arm 70 to the ground surface, and acquires the ground altitude. Thereby, it is possible to correct the error of the flight altitude due to the change in atmospheric pressure.

  In addition, the multicopter 10 of this example is provided with a depth camera 37 and an ultrasonic sensor 38 that detect peripheral objects in front of the aircraft and measure the distance and the like. In this example, the uses of the depth camera 37 and the ultrasonic sensor 38 are not particularly specified.

  With these flight control sensor groups S, the flight controller FC can acquire position information of its own aircraft, including the longitude and latitude of the aircraft, altitude, and azimuth of the nose, in addition to the tilt and rotation of the aircraft. Has been.

  The control device 20 has a flight control program FS that is a program for controlling the attitude and basic flight operation of the multicopter 10 during flight. The flight control program FS adjusts the rotational speed of each rotor R based on the information acquired from the flight control sensor group S, and causes the multicopter 10 to fly while correcting the posture and position disturbance of the airframe.

  The control device 20 further includes an autonomous flight program AP that is a program for autonomously flying the multicopter 10. In the memory 22 of the control device 20, a flight plan FP, which is a parameter in which the destination of the multicopter 10, the longitude and latitude of the waypoint, the altitude and the speed during the flight, and the like are specified, is registered. The autonomous flight program AP can fly the multicopter 10 autonomously according to the flight plan FP using an instruction from the operator terminal 51 or a predetermined time as a start condition.

  Thus, the multicopter 10 of this example is an unmanned aerial vehicle having an advanced flight control function. However, the unmanned aerial vehicle of the present invention is not limited to the form of the multicopter 10, for example, an aircraft in which some sensors are omitted from the flight control sensor group S, or can fly by only manual operation without an autonomous flight function. Airframes can also be used.

  As mentioned above, although embodiment of this invention was described, the range of this invention is not limited to this, A various change can be added in the range which does not deviate from the main point of invention.

10: Multicopter (unmanned aerial vehicle), FC: Flight controller, S: Flight control sensor group, 33: Optical flow sensor, 35: Laser distance sensor, R: Rotor,
41: Brushless motor, 411: ESC, 42: Propeller (horizontal rotary blade, foldable propeller), 70: Arm, 70a: Main part, 70b: Joint part, 70c: Fork part, 71: 1 Rod body, 72 73: Two rods, 74: Connecting member, 74a: Main side connection part, 74b: Branch side connection part, 741-743: Adapter member, 749: Sensor housing, 76: Motor mount, 761: Clamp, 78 : Rotor guard, 781: Fixed piece, 782: Fixed clip, 789: Hub portion, 79: Landing gear

Claims (9)

A rotor having horizontal rotor blades;
An arm for supporting the rotor,
The tip of the arm is composed of two rods arranged in the same direction and extending in the same direction,
Each of the rods supports a separate rotor.
The base end of the arm is composed of a single rod,
The one rod body and the two rod bodies of the arm are connected to a connecting member that is bifurcated from the proximal end side toward the distal end side,
An unmanned aerial vehicle including a brushless motor driving circuit of the rotor housed in the connecting member.   2. The unmanned aerial vehicle according to claim 1, wherein the rotors supported by the rods are arranged such that their rotation surfaces face each other. One end of the rotor guard is connected to one of the two rods, and the other end of the rotor guard is connected to the other.
The unmanned aerial vehicle according to claim 2, wherein the rotor guard is disposed so as to surround the horizontal rotary wing in the vertical direction.   The unmanned aerial vehicle according to claim 3, wherein the rotor guard is turnable in a horizontal direction around a connection portion with the arm.   The unmanned aircraft according to claim 3 or 4, wherein the rotor guard is an elongated linear frame.   The unmanned aerial vehicle according to claim 5, wherein a plurality of the rotor guards are attached to the arm.   The unmanned aircraft according to claim 1, wherein the arm is turnable in a horizontal direction from a base end portion thereof.   The unmanned aerial vehicle according to claim 4 or 7, wherein the horizontal rotary wing is a folding propeller that can be stored by folding the blade clockwise or counterclockwise. Comprising a plurality of the arms;
The base end portion of each arm and the vicinity thereof are configured as a single rod,
The plurality of arms, when all of these arms are horizontally swung in the same direction and folded, are located between the two rods of each of the arms, or the proximal end portion of the other adjacent arm or the vicinity thereof The unmanned aircraft according to claim 7 or 8, wherein

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