JP6528055B1 - Unmanned air vehicle - Google Patents

Abstract

To provide an unmanned aerial vehicle with good space efficiency and portability. SOLUTION: A rotor (R) having a horizontal rotary wing and an arm (70) for supporting the rotor (R) are provided. And the longitudinal dimension of the two rods (72, 73) is shorter than the diameter of the horizontal rotary wing, and each rod (72, 73) 73) solve this by means of an unmanned aerial vehicle (10), characterized in that it supports a separate said rotor (R). [Selected figure] Figure 2

Description

  The present invention relates to unmanned aerial vehicle technology.

  Conventionally, small unmanned aerial vehicles represented by industrial unmanned helicopters are expensive and difficult to obtain, and they require skill in operation in order to make them fly stably. However, in recent years, sensors and software used for attitude control and autonomous flight of unmanned aerial vehicles have greatly improved, and this has made it possible to significantly improve the operability of unmanned aerial vehicles and obtain inexpensive high-performance aircraft. . From this background, at present, especially for small-sized multicopters, applications to various missions in a wide range of industrial fields as well as hobby purposes are being tried.

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

U.S. Patent No. 8794566 (B2) U.S. Patent Application Publication No. 2016/229534 (A1)

  In a general multicopter, many structures are adopted in which a plurality of arms extend radially from the center of the airframe and a rotor is disposed at the tip of the arms. These arms and rotors occupy most of the horizontal dimensions of the airframe, which reduces the space efficiency during transportation and storage. In particular, in the configuration in which a large number of rotors are arranged in the same horizontal plane, the arms need to be long so that the propellers do not contact each other, and the horizontal dimension of the airframe tends to be large. In addition, the rotor guard attached to the arm also reduces the space efficiency of the multicopter. In particular, in the case of covering the entire length of the rotor with arms and frames as in the multicopters of Patent Documents 1 and 2 above, the horizontal dimension of the fuselage increases significantly, and the problem of space efficiency becomes more serious. On the other hand, removing the arm and rotor guard or disassembling the machine every time the multicopter is transported and stored is complicated and may cause an assembly error at the time of flight.

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

  In order to solve the above problems, the unmanned aerial vehicle of the present invention includes a rotor having a horizontal rotary wing, and an arm for supporting the rotor, and tip portions of the arms extend in the same direction arranged vertically. It is comprised by two rods, The dimension of the longitudinal direction of said two rods is shorter than the diameter of said horizontal rotary wing, and each said rod supports the separate said rotor, respectively. .

  For example, in an unmanned aerial vehicle having a large number of rotors, such as an octacopter, the rotor may be a counter-rotating propeller to reduce the number of arms in order to reduce the horizontal dimension of the airframe. However, when the rotors are disposed on the upper and lower surfaces of one arm, there is a problem that the thrust efficiency per rotor decreases due to the distance between the rotors becoming short. In the present invention, the rotors arranged at the top and bottom are arranged in separate rod bodies, so that the rotors can be arranged at a distance greater than in the configuration in which the rotors are arranged at the upper and lower surfaces of one arm. Further, as compared with a configuration in which the same number of rotors as the number of rotors of the unmanned aerial vehicle of the present invention are disposed on the same horizontal plane, the number of arms when the plane is viewed in plan can be reduced to half. This makes it possible to reduce the horizontal dimension of the airframe while reducing the decrease in thrust efficiency of the rotor.

  And, unlike the multicopter of Patent Documents 1 and 2 described above, in the unmanned aerial vehicle of the present invention, the two rods supporting the rotor are shorter than the diameter of the horizontal rotary wing. In the present invention, the arms (two rods) do not have the rotor protection function such as the rotor guard, and the support of the rotor and the protection of the rotor are separated. This avoids an increase in horizontal dimension of the airframe and makes it easy to omit the protection of the rotor when it is not necessary.

  Further, it is preferable that the rotors supported by the respective rod members are disposed such that their rotational surfaces face each other.

  Since the tip of the arm is composed of two rods, arranging the rotor on the inner surface of these two rods (the surfaces on the two rods facing each other), that is, The rotors supported by the rod can be arranged such that their rotational faces face each other. This creates a space on the outer surface of the two rods in which other components and devices can be placed.

  At this time, 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, and the rotor guard is disposed to surround the horizontal rotary wing in the vertical direction. The configuration may be

  Arrange the rotors supported by the two rods so that their rotational faces face each other, and connect the ends of the rotor guards to these rods, so that the horizontal rotors of both rotors can be one rotor guard. It can be surrounded in the vertical direction.

  Further, it is preferable that the rotor guard can be pivoted in the horizontal direction centering on a connection portion with the arm.

  By horizontally pivoting the rotor guard and folding the rotor guard along the side surfaces of the arms (two rods), 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 it is preferable that a plurality of the rotor guards be attached to the arm.

  The rotor guard can be reduced in weight by making the rotor guard an elongated linear frame. By providing a plurality of such arms in each arm, it is possible to adjust the safety performance of the rotor guard in accordance with the use environment of the unmanned aerial vehicle. For example, when the purpose is only to protect a propeller, it is sufficient to provide the most efficient number of rotor guards with respect to the main shape of the peripheral objects, in order to ensure the safety of passers-by etc. in unexpected situations In order to reduce the dead angle of the rotaguard, the number may be increased accordingly.

  Preferably, the arm is horizontally pivotable from its proximal end or in the middle.

  Since the arms can be folded in the horizontal direction, it is possible to compactly carry and store the unmanned aerial vehicle without removing the arms each time. In particular, if the rotor guard is also foldable, the trouble of removing the rotor guard can be omitted. In particular, when the rotors are arranged with their rotational surfaces facing each other, the vertical dimension of the airframe after the arms can be reduced.

  At this time, it is preferable that the horizontal rotary wing is a foldable propeller that can be stored by bending a blade clockwise or counterclockwise.

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

  The proximal ends of the arms are constituted by one rod, and when all the arms are folded, the proximal end of one adjacent arm fits between the two rods of the other arm. By arranging the arms, the airframe can be folded more compactly.

  Further, the base end portion of the arm is constituted by one rod, and the one rod and the two rods of the arm are bifurcated from the base end toward the tip end. It is preferable that the drive circuit of the brushless motor which is connected to the connection member and which the rotor has is housed in the inside of the connection member.

  High frequency noise generated by the drive circuit of the brushless motor may affect the detection accuracy of other sensor components. By arranging the drive circuit in the connecting member, the drive circuit can be pulled away from the center of the machine body, and the influence of noise of the drive circuit can be reduced.

  As described above, according to the unmanned aerial vehicle of the present invention, it is possible to improve space efficiency and portability of the airframe.

It is an external appearance perspective view which shows the state at the time of flight of a multicopter. It is an external appearance perspective view which shows the state at the time of conveyance of a multicopter, and storage. FIG. 10A is a side view of a deployed arm and a side view of a folded arm. It is a top view of the arm shown in Drawing 3 (a) and Drawing 3 (b). It is side view sectional drawing of Fig.3 (a). It is a block diagram showing functional composition of a multicopter.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. The embodiments shown below are examples for a multicopter 10 which is an unmanned aerial vehicle comprising a plurality of rotors. 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. Moreover, "horizontal (direction)" means the XY plane (direction) in the same coordinate axis display. The “circumferential direction” of the multicopter 10 refers to a clockwise or counterclockwise direction when the multicopter 10 is viewed in plan.

[Overview of aircraft]
1 and 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 view showing the multicopter 10 in flight. FIG. 2 shows the multicopter 10 during transport and storage.

  The multicopter 10 comprises a rotor R having a propeller 42 which is a horizontal rotary wing, and an arm 70 for supporting the rotor R. The proximal end (root) of each arm 70 is fixed to a center frame, which is a skeleton (not shown) covered by a shell cover 19. In this example, four arms 70 are connected to the center frame, and the 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 distal end portion of each arm 70 is formed of two bars 72 and 73 extending in the same direction, which are arranged vertically. The two rods 72, 73 support separate rotors R, which are arranged such that their rotational faces face each other.

  Two rotor guards 78, which are elongated linear frames, are provided at the ends of the rods 72, 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 is deployed so as to vertically surround the propeller 42.

  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 of the multicopter 10, sensor components, and the like are accommodated. Although the multi-copter 10 in this example is an example of a surveying airframe, 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, in the multicopter 10 of this example, all of the arm 70, the rotor guard 78, and the propeller 42 are foldable, and when transporting and storing the multicopter 10, the airframe is not removed. It is possible to reduce the horizontal dimension of

Arm Configuration
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 arm 70 deployed. FIG. 3 (b) is a side view of the folded arm 70. FIG. 4 is a plan view of the arm 70 shown in FIGS. 3 (a) and 3 (b). FIG. 5 is a side cross-sectional view of FIG. 3 (a). In the following description, although the structure is described using one of the four arms 70 of the multicopter 10 as an example, the other arms 70 except for the type of sensor held by the sensor housing 749 described later. The basic structure of is the same. Further, in the following description, the “proximal side” means the arrow b side in the direction parallel to the arrows drawn in FIGS. 3 to 5, and the “proximal portion” means the proximal end side Say Similarly, the “tip side” refers to the arrow t side, and the “tip” refers to the end on the tip side.

(Configuration outline)
The arm 70 in the present example has a trunk portion 70 a, a joint portion 70 b, and a fork portion 70 c. The main portion 70 a is a portion constituted by one rod 71 including the proximal end of the arm 70. The fork portion 70 c is a portion including two rods 72 and 73 disposed on the tip side of the arm 70 and a connecting member 74 for connecting the rods 72 and 73 and the rod 71. The joint portion 70b is a connection portion between the main portion 70a and the fork portion 70c, and is a joint portion capable of bending the fork portion 70c in the horizontal direction. Note that the main portion 70a, the joint portion 70b, and the fork portion 70c are for convenience, and it is not necessary to cut the boundaries strictly. The main 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 of these members.

(Core part and joint part)
The rod 71 constituting the main part 70 a is a cylindrical pipe made of CFRP (Carbon Fiber Reinforced Plastics). The rod 71 is immovably fixed at its proximal end to the center frame described above, and its distal end is connected to the connecting member 74 via the adapter member 741. In this example, the adapter member 741 and a trunk side connection portion 74a described later constitute a joint portion 70b.

(Fork part)
As described above, the fork unit 70 c in this example includes the two rods 72 and 73 that constitute the tip 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 connection member 74 has a trunk side connection portion 74a and a branch side connection portion 74b. The trunk side connection portion 74a is a portion to which the rod body 71 is connected, and is configured by vertically arranging two flat plates made of CFRP with the plate surfaces directed vertically. The branch side connection part 74b is a part to which the rods 72 and 73 are connected, and is branched in the upper and lower direction from the proximal end side to 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 rods 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 extending downward from the branch side connection portion 74b, is coupled to the 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 contact block on the lower end of the landing gear 79 that extends downward below the other parts of the landing gear 79 to reduce collisions with the ground or floor and prevent the landing gear 79 from chipping or cracking. 791 are provided.

  Two rods 72 and 73 which are a part of fork part 70c are rods extended in the same direction arranged side by side up and down, and are mainly constituted by a cylindrical pipe material made of CRFP. A motor mount 76, which is a resin flat member coupled to the pipe member by a clamp 761, is attached to the end of the pipe member of each of the rods 72 and 73. A rotor R is screwed to the motor mount 76. The rods 72 and 73 of the fork portion 70c support different rotors R, and these rotors R are arranged such that their rotational surfaces face each other.

  In the multicopter 10 of this example, since the rotors R arranged vertically are supported by the separate rod members 72 and 73, for example, these rotors R rather than the configuration in which the rotors are arranged on the upper and lower surfaces of one arm. Can be spaced apart. In addition, the number of arms in plan view of the airframe is reduced to half as compared with the configuration in which the same number of rotors as the rotor R of the multicopter 10 are disposed on the same horizontal plane. This makes it possible to reduce the horizontal dimension of the multicopter 10 while reducing the reduction in thrust efficiency per rotor R.

  The above-described effect can be obtained even when the rotational surfaces of both rotors R supported by the rod members 72 and 73 are directed upward. On the other hand, in this example, these rotors R are supported by the inner surfaces (surfaces of the two rods 72, 73 facing each other) of the two rods 72, 73, and arranged so that their rotational surfaces face each other By doing this, it is possible to reduce the vertical dimension of the airframe when the arm 70 is folded.

  Further, in the multicopter 10 of the present embodiment, when the arms 70 are all folded, the trunk portion 70a and the joint portion 70b (trunk side connection portion 74a) of one arm 70 adjacent to each other are the fork portions of the other arm 70. Placed between 70c (see Figure 2)

  The base end side portion of the arm 70 is configured as a single rod (the trunk portion 70a and the trunk side connection portion 74a), and in the vertical direction with the two rods constituting the fork portion 70c of the adjacent arm 70. By making the positions different, the interference between the folded arms 70 is prevented, and the airframe can be folded more compactly.

  Further, as shown in FIG. 5, in the inside of the branch side connection portion 74b of the connection member 74, an ESC 411 (Electric Circuit), which is a drive circuit of a brushless motor 41 (hereinafter simply referred to as "motor 41") included in the rotor R. The Speed Controller is housed. High frequency noise generated by the ESC 411 may affect the detection accuracy of other sensor components. By arranging the ESC 411 in the connecting member 74 as in this example, the ESC 411 can be arranged at a position separated from the sensor component mounted on the center frame, and the influence of the noise of the ESC 411 is reduced. .

  Further, a sensor housing 749 for holding the optical flow sensor 33 is integrally formed on a plate-like member constituting the lower surface of the branch side connection portion 74b. In the multicopter 10 of the present embodiment, the pair of arms 70 located in point symmetry with each other in the circumferential direction of the fuselage has the optical flow sensor 33 in its sensor housing 749 and the sensor housing 749 of the other pair of arms 70. The laser range sensor 35 is held. The type of sensor housed in the sensor housing 749 is optional and is not particularly limited. The upper and lower surfaces of the branch side connection portion 74b of this embodiment are plate members made of resin, and the shape has a high degree of freedom. By providing the sensor housing at any position on the upper and lower surfaces of the branch side connection portion 74b and arranging any sensor there, the degree of freedom of the mounting position of the sensor is enhanced and the possibility of function expansion using the sensor Is spread out. 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 which is a resin member. Of the upper and lower surfaces of the motor mount 76, the surface opposite to the side supporting the rotor R may have any application.

  Although the multicopter 10 of this example obtains the additional performance associated with the connecting member 74 by using the connecting member 74 for the arm 70, the connecting member 74 is an essential element of the unmanned aircraft of the present invention. Alternatively, for example, proximal ends of the two rods 72 and 73 may be directly fixed to the center frame.

(Rotor guard)
The rotor guard 78 is a frame body formed by joining small diameter CFRP pipe members. A hub 789 for supporting the rotor guard 78 is provided at the tip of the rods 72 and 73. The rotor guard 78 is connected such that one end thereof is connected to the upper rod body 72 and the other end is connected to the lower rod body 73, and the rotor R (propeller 42) of the rod bodies 72 and 73 is expanded to surround vertically. Be done.

  In the multicopter 10 of this example, the tip of the arm 70 is constituted by two rods 72, 73, and the inner surface of the two rods 72, 73 (two rods 72, 73 The rotors R are disposed on the surfaces facing each other. In addition to this, by connecting the end of the rotor guard 78 to the rods 72, 73, it is possible to vertically surround the propellers 42 of both rotors R with one rotor guard 78.

  Further, each rotor guard 78 can be pivoted in the horizontal direction about the hub portion 789. When transporting and storing the multicopter 10, the rotor guard 78 can be compactly stored by folding the rotor guard 78 along the side surface of the fork portion 70c.

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

  Note that although the arm 70 of this example has two rotor guards 78, the number of rotor guards 78 provided in one arm 70 is not limited to two, and the number of rotor guards 78 depends on the operating environment of the multicopter 10. It can be adjusted appropriately. For example, when the purpose is only to protect the propeller 42, it is sufficient to provide the most efficient number of rotor guards 78 with respect to the main shape of the peripheral objects, to ensure the safety of passersby etc. If the purpose is to increase the number of rotor guards 78 as needed, the number may be reduced.

  Further, although an elongated linear frame is adopted for the rotor guard 78 of this example because it is lightweight and suitable for folding, the form of the rotor guard of the present invention is that of this example. It is not limited to The rotor guard according to the present invention may be, for example, a wide removable rotor guard, provided that the rotor R (propeller 42) of the rods 72 and 73 is vertically surrounded. Furthermore, the rotor guard is not an essential element of the unmanned aerial vehicle of the present invention, and can be omitted if not required.

  Further, as shown in FIG. 3 and the like, in the multicopter 10 of the present example, the two rods 72 and 73 supporting 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 protective function of the rotor R, and the support of the rotor R and the protection of the rotor R are separated. This avoids the enlargement of the horizontal dimension of the airframe, and it is possible to easily omit this when the protection of the rotor R is not necessary.

(propeller)
The propeller 42 of the rotor R is a foldable propeller capable of bending the blades clockwise or counterclockwise.

  Thus, in the multicopter 10 of this embodiment, the arm 70 is horizontally foldable, and the rotor guard 78 and the propeller 42 are also foldable. Thereby, when transporting and storing the multicopter 10, it is possible to easily improve the space efficiency and portability without removing the components of the arm 70 at all.

  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, and these folding structures It is also possible to omit any or all of.

[Function configuration]
FIG. 6 is a block diagram showing a functional configuration of the multicopter 10. As shown in FIG. The functions of the multicopter 10 are: a flight controller FC which is a control unit, a plurality of rotors R, an ESC 411 which is a drive circuit of a brushless motor 41 which constitutes the rotor R, It is comprised by the laser scanner 90 which is an external device for surveying, and the battery 80 which supplies electric power to these.

  The flight controller FC has a controller 20 which is a microcontroller. The control device 20 has a CPU 21 which is a central processing unit, and a memory 22 which is 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: inertial measurement device), a GPS receiver 32, an atmospheric pressure sensor 34, and an electronic compass 36, which are connected to the control device 20. It is done.

  The IMU 31 is a sensor that detects the tilt of the airframe of the multicopter 10, and is mainly composed of a 3-axis acceleration sensor and a 3-axis angular velocity sensor. The atmospheric pressure sensor 34 is an altitude sensor that calculates the sea level altitude (altitude) of the multicopter 10 from the detected atmospheric pressure altitude. A three-axis geomagnetic sensor is used for the electronic compass 36 in this example. The electronic compass 36 detects the azimuth of the nose of the multicopter 10. The GPS receiver 32 is precisely a receiver of a navigation satellite system (NSS). The GPS receiver 32 acquires current longitude and latitude values from a Global Navigation Satellite System (GNSS) or a Regional Navigational Satellite System (RNSS).

  The multicopter 10 of this example uses an optical flow sensor 33 in addition to the above-described GPS receiver 32 as a sensor for detecting its horizontal position. The optical flow sensor 33 is directed to the ground from a sensor housing 749 of the arm 70, and detects movement of the vehicle by pattern recognition of the photographed image of the ground. As a result, not only the accuracy in identifying the horizontal position can be enhanced, but also the multicopter 10 can be made to fly indoors where the GPS signal can 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 flying height. The laser ranging sensor 35 is directed to the ground from the sensor housing 749 of the arm 70 to acquire the ground altitude. Thereby, it is possible to correct the error of the flight altitude due to the pressure change.

  In addition, the multicopter 10 of this embodiment is provided with a depth camera 37 and an ultrasonic sensor 38 which detect peripheral objects in front of the airframe and measure the distance and the like. The application of the depth camera 37 and the ultrasonic sensor 38 is not particularly specified in the present example.

  It is possible that the flight controller FC can obtain the position information of its own aircraft including the latitude and longitude in flight, altitude, and the azimuth angle of the nose as well as the tilt and rotation of the aircraft by these flight control sensor groups S. It is done.

  The controller 20 has a flight control program FS which is a program for controlling the attitude of the multicopter 10 during flight and basic flight operations. The flight control program FS adjusts the rotation 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 attitude and position disturbance of the airframe.

  The control device 20 further includes an autonomous flight program AP which is a program for causing the multicopter 10 to fly autonomously. A flight plan FP is registered in the memory 22 of the control device 20. The flight plan FP is a parameter in which the latitude and longitude of the destination and the transit point of the multicopter 10, the altitude and the speed during flight, and the like are designated. The autonomous flight program AP can make the multicopter 10 fly autonomously according to the flight plan FP, with an instruction from the operator terminal 51, a predetermined time, etc. as a start condition.

  Thus, the multicopter 10 of the present example is an unmanned aerial vehicle equipped with advanced flight control functions. However, the unmanned aerial vehicle of the present invention is not limited to the form of the multicopter 10. For example, an aircraft with some sensors omitted from the flight control sensor group S, or an autonomous flight function without a autonomous flight function An airframe 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 ranging sensor, R: rotor,
41: Brushless motor, 411: ESC, 42: propeller (horizontal rotary wing, foldable propeller), 70: arm, 70a: main part, 70b: joint part, 70c: fork part, 71: 1 rod body, 72 , 73: Two rods, 74: Coupling member, 74a: Main body side connection portion, 74b: Branch side connection portion, 741 to 743: Adapter member, 749: Sensor housing, 76: Motor mount, 761: Clamp, 78 : Rotor guard, 781: Fixing piece, 782: Fixing clip, 789: Hub, 79: Landing gear

Claims (10)

A rotor having a horizontal rotary wing,
And an arm for supporting the rotor.
The distal end portion of the arm is composed of two bars extending in the same direction, which are arranged vertically.
The longitudinal dimensions of the two rods are shorter than the diameter of the horizontal rotor,
The unmanned aerial vehicle according to claim 1, wherein each rod supports a separate one of the rotors.   The unmanned aerial vehicle according to claim 1, wherein the rotors supported by the respective rods are arranged such that their rotational 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 to vertically surround the horizontal rotary wing.   The unmanned aerial vehicle according to claim 3, wherein the rotor guard is horizontally pivotable about a connection with the arm.   The unmanned aerial vehicle 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 said rotor guards are attached to said arm.   The unmanned aerial vehicle according to claim 1, 2, or 4, wherein the arm is horizontally pivotable from its base end or middle.   The unmanned aerial vehicle according to claim 4 or 7, wherein the horizontal rotary wing is a foldable propeller which can be stored by bending a blade clockwise or counterclockwise. Comprising a plurality of said arms,
The proximal end of each arm and its vicinity are configured as a single rod;
When the plurality of arms are all horizontally pivoted in the same direction and folded, the proximal end portion of the other adjacent arm or the adjacent portion is interposed between the two bars of each arm. The unmanned aerial vehicle according to claim 7 or 8, which is in a positional relationship in which The proximal end of the arm is constituted by a rod;
The one rod and the two rods of the arm are connected to a connecting member bifurcated from the proximal end toward the distal end,
The unmanned aerial vehicle according to claim 1, wherein a drive circuit of a brushless motor included in the rotor is accommodated inside the connection member.

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