JP6913979B2 - Drone - Google Patents

Description

The present invention relates to a drone.

The application of small helicopters (multicopters), which are generally called drones, is advancing. One of the important application fields is spraying chemicals such as pesticides and liquid fertilizers on agricultural land (fields) (for example, Patent Document 1). In relatively small farmlands, it is often appropriate to use drones rather than manned planes and helicopters.

Technologies such as the Quasi-Zenith Satellite System and RTK-GPS (Real Time Kinematic --Global Positioning System) have made it possible for drones to accurately know the absolute position of their aircraft in centimeters during flight. Even in the typical narrow and complicated terrain of farmland, it is possible to fly autonomously with minimal manual maneuvering and to spray chemicals efficiently and accurately.

On the other hand, there were cases where it was difficult to say that safety was taken into consideration for autonomous flying drones for agricultural chemical spraying. Since the drone carrying the drug weighs several tens of kilograms, it can have serious consequences in the event of an accident such as falling onto a person. In addition, since the operator of the drone is usually not an expert, a foolproof mechanism is necessary, but consideration for this is insufficient. Until now, there have been drone safety technologies that are premised on human maneuvering (for example, Patent Document 2), but in particular, they address safety issues specific to autonomous flying drones for agricultural chemical spraying. There was no technology to do this.

In agricultural drones, a method is known in which the crops in the field are appropriately laid down by downwash (also referred to as "downdraft") to expose the roots of the crops, spray chemicals, or photograph the roots. ing. In order to expose the roots of crops, drones that can generate downdrafts with stronger wind power are needed.

Patent Document 3 describes the diameter and pitch of the front propeller in a counter-rotating propeller device in which two front and rear propellers are provided on the same axis and thrust is generated by rotating the front propeller and the rear propeller in opposite directions. Disclosed are counter-rotating propeller devices in which is set to be larger than the diameter and pitch of the rear propeller, respectively.

Patent Document 4 discloses that the diameter of the front propeller is larger than the diameter of the rear propeller in a gas turbine engine having a counter-rotating propeller array having front and rear propellers in order to reduce engine noise.

Patent Publication Japanese Patent Application Laid-Open No. 2001-120151 Patent Publication Japanese Patent Application Laid-Open No. 2017-163265 Patent Publication Japanese Patent Application Laid-Open No. 60-226391 Patent Publication Japanese Patent Application Laid-Open No. 2013-144545

For drones with rotor blades, we provide drones that can generate downdrafts with stronger wind power.

In order to achieve the above object, the drone according to one aspect of the present invention includes a main body and a plurality of rotary blades arranged around the main body and arranged in pairs vertically. A drone that moves by generating thrust by a downward flow generated downward from the lower rotary blade, and the upper rotary blade and the lower rotary blade rotate in opposite directions to each other, and the lower rotary blade rotates. The diameter of the blade is smaller than the diameter of the rotor blade in the upper stage.

The elevation angle of the lower rotary blade may be smaller than the elevation angle of the upper rotary blade.

The diameter of the rotor blade in the lower stage may be smaller than 95% of the diameter of the rotor blade in the upper stage.

The diameter of the lower rotary blade may be larger than 80% of the diameter of the upper rotary blade.

The diameter of the rotor blade in the lower stage may be configured to be 90% of the diameter of the rotor blade in the upper stage.

A flight control unit that controls the rotation speeds of the plurality of rotary blades and can control the rotation of the upper rotary blade and the lower rotary blade in opposite directions may be further provided.

The drone can perform a predetermined operation in the target area, and the flight control unit may be configured to reduce the flight speed during the operation to a level other than that during the operation.

The drone can perform a predetermined work in the target area, and the flight control unit may be configured to lower the altitude during the work than during the work.

The drone is a drone used for spraying a drug, further including a drug tank for storing the drug and a drug nozzle for discharging the drug, and the object is laid down by a downdraft generated by the plurality of rotary blades. By allowing the drug to reach the root of the object, the drug may be configured to reach the root of the object.

The drone is a drone further including an imaging unit, and may be configured to image the root of the object by causing the object to lie down by the downdraft generated by the plurality of rotor blades.

In a drone with rotor blades, a stronger wind force can generate a downdraft.

It is a top view which shows the embodiment of the drone which concerns on this invention. It is a front view of the said drone. It is a right side view of the above drone. It is a rear view of the said drone. It is a perspective view of the said drone. It is the whole conceptual diagram of the drug spraying system which the said drone has. It is a schematic diagram which showed the control function of the said drone. (a) A schematic vertical cross-sectional view showing how the one-stage rotary blade of the drone of the related technology generates a swirling flow, and (b) the two-stage rotary blade of the drone according to the present invention has a swirling flow. It is a schematic vertical sectional view which shows the state of generating.

Hereinafter, modes for carrying out the present invention will be described with reference to the drawings. All figures are illustrations. In the following detailed description, certain details are given for illustration purposes and to facilitate a complete understanding of the disclosed embodiments. However, embodiments are not limited to these particular details. Also, to simplify the drawings, well-known structures and devices are outlined.

In the specification of the present application, the drone is regardless of the power means (electric power, prime mover, etc.) and the maneuvering method (wireless or wired, autonomous flight type, manual maneuvering type, etc.). It refers to all air vehicles with multiple rotor blades.

● Drone ●
As shown in FIGS. 1 to 5, the rotor blades 101-1a, 101-1b, 101-2a, 101-2b, 101-3a, 101-3b, 101-4a, 101-4b (also referred to as rotors) are It is a means to fly the drone 100, and considering the balance of flight stability, aircraft size, and battery consumption, 8 aircraft (4 sets of 2-stage rotor blades) are installed around the main body 110. ing. Each rotor 101 is arranged on all sides of the main body 110 by an arm 120 protruding from the main body 110 of the drone 100. That is, the rotors 101-1a and 101-1b are on the left rear side in the direction of travel, the rotor blades 101-2a and 101-2b are on the left front side, the rotor blades 101-3a and 101-3b are on the right rear side, and the rotor blades 101- are on the right front side. 4a and 101-4b are arranged respectively. In addition, the drone 100 has the traveling direction facing downward on the paper in FIG.

Motors 102-1a, 102-1b, 102-2a, 102-2b, 102-3a, 102-3b, 102-4a, 102-4b are rotary blades 101-1a, 101-1b, 101-2a, 101- It is a means to rotate 2b, 101-3a, 101-3b, 101-4a, 101-4b (typically an electric motor, but it may also be a motor, etc.). Has been done. Motor 102 is an example of a propulsion device. The upper and lower rotors (eg, 101-1a and 101-1b) in one set, and their corresponding motors (eg, 102-1a and 102-1b), are used for drone flight stability, etc. The axes are on the same straight line and rotate in opposite directions. Although some rotor blades 101-3b and motors 102-3b are not shown, their positions are self-explanatory and are in the positions shown if there is a left side view. As shown in FIGS. 2 and 3, the radial member for supporting the propeller guard provided so that the rotor does not interfere with foreign matter has a rather wobbling structure rather than a horizontal structure. This is to encourage the member to buckle outside the rotor in the event of a collision and prevent it from interfering with the rotor.

The drug nozzles 103-1, 103-2, 103-3, and 103-4 are means for spraying the drug downward, and four of them are provided. In the specification of the present application, the term "pharmaceutical" generally refers to a liquid or powder sprayed on a field such as a pesticide, a herbicide, a liquid fertilizer, an insecticide, a seed, and water.

The drug tank 104 is a tank for storing the sprayed drug, and is provided at a position close to the center of gravity of the drone 100 and at a position lower than the center of gravity from the viewpoint of weight balance. The drug hoses 105-1, 105-2, 1053, 105-4 are means for connecting the drug tank 104 and the drug nozzles 103-1, 103-2, 103-3, 103-4, and are rigid. It may be made of the above material and also serve to support the drug nozzle. The pump 106 is a means for discharging the drug from the nozzle.

FIG. 6 shows an overall conceptual diagram of a system using an embodiment of the drone 100 for chemical spraying according to the present invention. This figure is a schematic view, and the scale is not accurate. The operator 401 is a means for transmitting a command to the drone 100 by the operation of the user 402 and displaying information received from the drone 100 (for example, position, amount of medicine, remaining battery level, camera image, etc.). Yes, it may be realized by a portable information device such as a general tablet terminal that runs a computer program. The drone 100 according to the present invention is controlled to perform autonomous flight, but may be capable of manual operation during basic operations such as takeoff and return, and in an emergency. In addition to the portable information device, an emergency operation device (not shown) having a function dedicated to emergency stop may be used (the emergency operation device has a large emergency stop button or the like so that a quick response can be taken in an emergency. It may be a dedicated device equipped with). The actuator 401 and the drone 100 perform wireless communication by Wi-Fi or the like.

The field 403 is a rice field, a field, or the like that is the target of chemical spraying by the drone 100. In reality, the terrain of the field 403 is complicated, and the topographic map may not be available in advance, or the topographic map and the situation at the site may be inconsistent. Normally, field 403 is adjacent to houses, hospitals, schools, other crop fields, roads, railroads, and the like. In addition, obstacles such as buildings and electric wires may exist in the field 403.

The base station 404 is a device that provides a master unit function for Wi-Fi communication, etc., and may also function as an RTK-GPS base station so that it can provide an accurate position of the drone 100 (Wi-). The base unit function of Fi communication and the RTK-GPS base station may be independent devices). The farming cloud 405 is typically a group of computers and related software operated on a cloud service, and may be wirelessly connected to the actuator 401 by a mobile phone line or the like. The farming cloud 405 may analyze the image of the field 403 taken by the drone 100, grasp the growing condition of the crop, and perform a process for determining the flight route. In addition, the topographical information of the stored field 403 and the like may be provided to the drone 100. In addition, the history of the flight and captured images of the drone 100 may be accumulated and various analysis processes may be performed.

Normally, the drone 100 takes off from the departure / arrival point 406 outside the field 403 and returns to the departure / arrival point 406 after spraying the chemicals on the field 403 or when the chemicals need to be replenished or charged. The flight route (approach route) from the departure / arrival point 406 to the target field 403 may be stored in advance in the farming cloud 405 or the like, or may be input by the user 402 before the start of takeoff.

FIG. 7 shows a block diagram showing a control function of an embodiment of the drug spraying drone according to the present invention. The flight controller 501 is a component that controls the entire drone, and may be an embedded computer including a CPU, memory, related software, and the like. The flight controller 501 uses motors 102-1a and 102-1b via control means such as ESC (Electronic Speed Control) based on the input information received from the controller 401 and the input information obtained from various sensors described later. , 102-2a, 102-2b, 102-3a, 102-3b, 104-a, 104-b to control the flight of the drone 100. The actual rotation speeds of the motors 102-1a, 102-1b, 102-2a, 102-2b, 102-3a, 102-3b, 104-a, 104-b are fed back to the flight controller 501, and normal rotation is performed. It is configured so that it can be monitored. Alternatively, the rotary blade 101 may be provided with an optical sensor or the like so that the rotation of the rotary blade 101 is fed back to the flight controller 501. The flight controller 501 is an example of a flight control unit.

The software used by the flight controller 501 can be rewritten through a storage medium or the like for function expansion / change, problem correction, etc., or through communication means such as Wi-Fi communication or USB. In this case, protection is performed by encryption, checksum, electronic signature, virus check software, etc. so that rewriting by malicious software is not performed. In addition, a part of the calculation process used by the flight controller 501 for control may be executed by another computer located on the controller 401, the farming cloud 405, or somewhere else. Due to the high importance of the flight controller 501, some or all of its components may be duplicated.

The battery 502 is a means of supplying power to the flight controller 501 and other components of the drone and may be rechargeable. The battery 502 is connected to the flight controller 501 via a fuse or a power supply unit including a circuit breaker or the like. The battery 502 may be a smart battery having a function of transmitting its internal state (storage amount, total usage time, etc.) to the flight controller 501 in addition to the power supply function.

The flight controller 501 communicates with the actuator 401 via the Wi-Fi slave unit 503 and further via the base station 404, receives necessary commands from the actuator 401, and receives necessary information from the actuator 401. Can be sent to. In this case, the communication may be encrypted so as to prevent fraudulent acts such as interception, spoofing, and device hijacking. The base station 404 has the function of an RTK-GPS base station in addition to the communication function by Wi-Fi. By combining the signal from the RTK base station and the signal from the GPS positioning satellite, the GPS module 504 makes it possible to measure the absolute position of the drone 100 with an accuracy of about several centimeters. Since GPS module 504 is so important, it may be duplicated / multiplexed, and each redundant GPS module 504 should use a different satellite to cope with the failure of a specific GPS satellite. It may be controlled.

The 6-axis gyro sensor 505 is a means for measuring the acceleration of the drone body in three directions orthogonal to each other (further, a means for calculating the velocity by integrating the acceleration). The 6-axis gyro sensor 505 is a means for measuring the change in the attitude angle of the drone aircraft in the above-mentioned three directions, that is, the angular velocity. The geomagnetic sensor 506 is a means for measuring the direction of the drone body by measuring the geomagnetism. The barometric pressure sensor 507 is a means for measuring barometric pressure, and can also indirectly measure the altitude of the drone. The laser sensor 508 is a means for measuring the distance between the drone body and the ground surface by utilizing the reflection of the laser light, and may be an IR (infrared) laser. The sonar 509 is a means for measuring the distance between the drone aircraft and the ground surface by utilizing the reflection of sound waves such as ultrasonic waves. These sensors may be selected according to the cost target and performance requirements of the drone. In addition, a gyro sensor (angular velocity sensor) for measuring the inclination of the aircraft, a wind power sensor for measuring wind power, and the like may be added. Further, these sensors may be duplicated or multiplexed. If there are multiple sensors for the same purpose, the flight controller 501 may use only one of them, and if it fails, it may switch to an alternative sensor for use. Alternatively, a plurality of sensors may be used at the same time, and if the measurement results do not match, it may be considered that a failure has occurred.

The flow rate sensor 510 is a means for measuring the flow rate of the drug, and is provided at a plurality of locations on the path from the drug tank 104 to the drug nozzle 103. The liquid drain sensor 511 is a sensor that detects that the amount of the drug has fallen below a predetermined amount. The multispectral camera 512 is a means of photographing the field 403 and acquiring data for image analysis. The obstacle detection camera 513 is a camera for detecting a drone obstacle, and is a device different from the multispectral camera 512 because the image characteristics and the lens orientation are different from those of the multispectral camera 512. The switch 514 is a means for the user 402 of the drone 100 to make various settings. The obstacle contact sensor 515 is a sensor for detecting that the drone 100, in particular, its rotor or propeller guard part, has come into contact with an obstacle such as an electric wire, a building, a human body, a standing tree, a bird, or another drone. .. The cover sensor 516 is a sensor that detects that the operation panel of the drone 100 and the cover for internal maintenance are in the open state. The drug inlet sensor 517 is a sensor that detects that the inlet of the drug tank 104 is in an open state. These sensors may be selected according to the cost target and performance requirements of the drone, and may be duplicated or multiplexed. Further, a sensor may be provided at the base station 404, the actuator 401, or some other place outside the drone 100, and the read information may be transmitted to the drone. For example, a wind power sensor may be provided in the base station 404 to transmit information on the wind power and the wind direction to the drone 100 via Wi-Fi communication.

The flight controller 501 transmits a control signal to the pump 106 to adjust the drug discharge amount and stop the drug discharge. The current status of the pump 106 (for example, the number of revolutions) is fed back to the flight controller 501.

The LED 107 is a display means for informing the drone operator of the state of the drone. As the display means, a display means such as a liquid crystal display may be used instead of the LED or in addition to the LED. The buzzer 518 is an output means for notifying the state of the drone (particularly the error state) by an audio signal. The Wi-Fi slave unit function 503 is an optional component for communicating with an external computer or the like for transferring software, for example, in addition to the actuator 401. Instead of or in addition to the Wi-Fi slave function, other wireless communication means such as infrared communication, Bluetooth (registered trademark), ZigBee (registered trademark), NFC, or wired communication means such as USB connection You may use it. The speaker 520 is an output means for notifying the state of the drone (particularly the error state) by means of recorded human voice, synthetic voice, or the like. Depending on the weather conditions, it may be difficult to see the visual display of the drone 100 in flight. In such cases, voice communication is effective. The warning light 521 is a display means such as a strobe light for notifying the state of the drone (particularly the error state). These input / output means may be selected according to the cost target and performance requirements of the drone, and may be duplicated or multiplexed.

As shown in FIGS. 1 to 5, the diameters of the lower rotor blades 101-1b, 101-2b, 101-3b, 101-4b are the diameters of the upper rotor blades 101-1a, 101-2a, 101-3a, 101. It is smaller than the diameter of -4a, about 90%. The elevation angles of the lower rotary blades 101-1b, 101-2b, 101-3b, 101-4b are smaller than the elevation angles of the upper rotary blades 101-1a, 101-2a, 101-3a, 101-4a. By making the configurations of the upper and lower rotors different in this way, the swirling flow can be canceled.

With reference to FIG. 8, a state in which the swirling currents cancel each other out by the counter-rotating rotary blades will be described. Since the figure is a vertical cross-sectional view, only the front rotors 201-2a, 201-4a in the drone 200 of the related technology and the front rotors 101-2, 101-4 in the drone 100 according to the present invention are shown. However, the same applies to the state of the swirling flow in the rear rotor. Further, the drone 200 shown in FIG. 8A is a drone 200 in which rotary wings having a one-stage configuration are arranged on all sides of the main body 210 by an arm protruding from the main body 210, and the drone except for the number of stages of the rotary wings. It shall be almost the same as 100.

As shown in Fig. 8 (a), the one-stage rotary blades 201-2a and 201-4a in the drone 200 of the related technology have swirling currents 261-2a and 261-4a near the outer circumference of their respective rotation loci, respectively. appear. Therefore, as shown in FIG. 8 (b), the rotary blades 101 are arranged coaxially to form a pair of upper and lower rotary blades 101, and the upper and lower rotary blades 101 are rotated in opposite directions to form the upper stage. The swirling flow 61-2a, 61-4a generated by the rotor blades 101-2a, 101-4a and the swirling flow 61-2b, 61-4b generated by the lower rotor blades 101-2b, 101-4b are in opposite directions. do. With this configuration, the swirling currents generated by the rotary blades 101 can cancel each other out. By canceling the swirling flow, the downward downdraft by the rotor can be made larger.

The diameters of the lower rotors 101-1b, 101-2b, 101-3b, 101-4b are smaller than the diameters of the upper rotors 101-1a, 101-2a, 101-3a, 101-4a. Furthermore, the diameter of the lower rotors 101-1b, 101-2b, 101-3b, 101-4b is 95 of the diameter of the upper rotors 101-1a, 101-2a, 101-3a, 101-4a. It should be less than%. When the diameter of the lower rotors 101-1b, 101-2b, 101-3b, 101-4b is larger than 95% of the diameter of the upper rotors 101-1a, 101-2a, 101-3a, 101-4a, The updraft generated by the lower rotors 101-1b, 101-2b, 101-3b, 101-4b cancels the downdraft of the upper rotors 101-1a, 101-2a, 101-3a, 101-4a. , The total amount of downdraft discharged below the two-stage rotor becomes smaller.

The diameter of the lower rotors 101-1b, 101-2b, 101-3b, 101-4b is 80% of the diameter of the upper rotors 101-1a, 101-2a, 101-3a, 101-4a. It should be large. If the diameter of the lower rotors 101-1b, 101-2b, 101-3b, 101-4b is smaller than 80% of the diameter of the upper rotors, the upper rotors 101-1a, 101-2a, 101-3a , 101-4a reduces the effect of sufficiently canceling the swirling flow. Therefore, the lower rotors 101-1b, 101-2b, 101-3b, 101-4b generate the wind force of the downdraft generated by the upper rotors 101-1a, 101-2a, 101-3a, 101-4a. A shape that produces wind power that cancels the swirling flow without impairing it, that is, smaller than 95% and larger than 80% of the diameter of the upper rotors 101-1a, 101-2a, 101-3a, 101-4a. It is configured. In addition, the rotor blades 101-1b, 101-2b, 101-3b, 101-4b can be made lighter. When the diameter of the lower rotors 101-1b, 101-2b, 101-3b, 101-4b is 90% of the diameter of the upper rotors 101-1a, 101-2a, 101-3a, 101-4a. , The downdraft can be maximized.

By reducing the elevation angles of the lower rotors 101-1b, 101-2b, 101-3b, 101-4b, the wind power generated by the rotors 101-1b, 101-2b, 101-3b, 101-4b is reduced. be able to. Since the swirling flow is generated on the outer circumference of the rotation locus of the rotary blade, if the diameter of the rotary blade is reduced, the region where the swirling flow is generated moves inward in the radial direction. Therefore, if the diameter of the lower rotors 101-1b, 101-2b, 101-3b, 101-4b is made too small, it will be caused by the lower rotors 101-1b, 101-2b, 101-3b, 101-4b. There is a big difference between the region of swirling flow 61-2b, 61-4b and the region where swirling flow 61- is generated by the upper rotors 101-1a, 101-2a, 101-3a, 101-4a, and the swirling flow is effective. Cannot cancel each other out. Therefore, in order to prevent the diameter of the lower rotor from becoming too small, the diameter of the upper rotor is stopped at about 90%, while the elevation angle of the lower rotor is reduced to change the region where the swirling flow occurs. It suppresses the generation of swirling flow.

The downdraft from the rotor 101 of the drone 100 flows backward in the direction of travel of the drone 100. This downdraft produces the effect of temporarily knocking down crops in the field. Experiments by the inventor have shown that the crop most affected by the airflow created by the rotor 101 of the drone 100 is behind the direction of travel of the drone 100, with a depression angle of about 60 degrees. .. The crop is an example of an object. In addition to crops, the object may have various configurations that are knocked down by the wind from above.

The drone 100 may be a chemical spraying drone that flies in the field and sprays the chemicals on the roots and tips of the crops that grow in the field, or it may be a growth monitoring drone that monitors the growth of the crops. good. A field is an example of a target area, and chemical spraying and growth monitoring are examples of predetermined work. If the downdraft by the rotary blade 101 is small, the crop cannot be sufficiently laid down, and the drone for spraying the chemical may not be able to sufficiently reach the root of the crop. In addition, with a growth monitoring drone, it may not be possible to properly photograph the root of the crop. According to the drone 100 according to the present invention, since a sufficient downdraft of wind power can be generated, chemical spraying and growth monitoring can be performed more effectively.

The flight control unit may reduce the flight speed during work to a lower speed than during non-work. During work, that is, during chemical spraying or growth monitoring, downdrafts need to lay down crops. As mentioned above, by reducing the flight speed during work, the wind force of the downdraft reaching the crop can be increased and the crop can be laid down.

The flight control unit may lower the altitude during work than during flight during non-work. During work, that is, during chemical spraying or growth monitoring, the downdraft must be used to lay down the crop, so lowering the flight altitude can ensure the downdraft wind force required to lay down the crop. can.

In this description, a drone for spraying chemicals has been described as an example, but the technical idea of the present invention is not limited to this, and can be applied to all air vehicles having rotary wings. This flying object may be capable of autonomous flight or may be manually controllable.

(Technically remarkable effect of the present invention)
In the drone according to the present invention, in a drone having rotary wings, a downdraft can be generated with a stronger wind force.

Claims (9)

With the main body
A plurality of rotor blades arranged around the main body and arranged in pairs vertically,
A drug tank that stores drugs and
A drug nozzle that discharges the drug and
A drone used for spraying chemicals , which is provided with a thrust force generated by a downdraft generated downward of the rotary blade in the lower stage and moves.
The rotor blades in the upper stage and the rotor blades in the lower stage rotate in opposite directions to each other.
The diameter of the rotor blades of the lower stage, rather smaller than the diameter of the rotor blades of the upper,
By overturning a crop having a tip by a downdraft generated by a plurality of the rotary blades, the drug is brought to the root of the crop.
Drone. With the main body
A plurality of rotor blades arranged around the main body and arranged in pairs vertically,
Imaging unit and
It is a drone that moves by generating thrust by the downdraft generated downward of the rotary blade in the lower stage.
The rotor blades in the upper stage and the rotor blades in the lower stage rotate in opposite directions to each other.
The diameter of the rotor blade in the lower stage is smaller than the diameter of the rotor blade in the upper stage.
The roots of the crops are imaged by lodging the crops with tips by the downdrafts generated by the plurality of rotor blades.
Drone. The elevation angle of the rotor blade in the lower stage is smaller than the elevation angle of the rotor blade in the upper stage.
The drone according to claim 1 or 2. The diameter of the rotor blade in the lower stage is smaller than 95% of the diameter of the rotor blade in the upper stage.
The drone according to any one of claims 1 to 3. The diameter of the rotor blade in the lower stage is larger than 80% of the diameter of the rotor blade in the upper stage.
The drone according to claim 4. The diameter of the rotor blade in the lower stage is 90% of the diameter of the rotor blade in the upper stage.
The drone according to any one of claims 1 to 3. A flight control unit that controls the rotation speeds of the plurality of rotary blades and can control the rotation of the upper rotary blade and the lower rotary blade in opposite directions is further provided.
The drone according to any one of claims 1 to 6. The drone can perform predetermined work in the target area and
The flight control unit reduces the flight speed during the work to a level other than during the work.
The drone according to claim 7. The drone can perform predetermined work in the target area and
The flight control unit lowers the altitude during the work than during the work.
The drone according to claim 7 or 8.

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