Abstract: To provide an unmanned aerial vehicle that eliminates or minimizes the laboriousness involved in optimal pitch adjustment of propellers while eliminating or minimizing complexity and instability in airframe structure and/or flight programs. This object is solved by an unmanned aerial vehicle that is provided with a plurality of rotors and that includes: a center frame that is a central portion of an airframe of the unmanned aerial vehicle; and a plurality of arms extending radially from the center frame in plan view. A plurality of motors that are driving sources of the respective rotors are provided in the center frame. The plurality of rotors are supported by the respective arms. Each arm of the arms has a hollow cylindrical structure. A motive power transmission member configured to transmit a driving force of each motor of the motors to the each rotor is provided in the each arm.

Abstract: In order to provide an unmanned aircraft capable of minimizing damage due to a crash caused by malfunction or the like during flight, a flight route is set on map information including a fall avoidance area, control is performed such that the aircraft flies on a set flight route, and information at each position during flight on the flight route is acquired in relation to the map information in real time to determine whether or not the aircraft is approaching the fall avoidance area. In a case where it is determined that the aircraft is approaching the fall avoidance area, control is performed so as to increase a flight speed.

Abstract: A rotary wing aerial vehicle including: first and second rotary wings including fixed pitch propellers. A rotational frequency of the first wing has a lower limit, which is controlled at or above the lower limit while flying. A rotational frequency of the second wing is decreasable to or below a frequency where gyro effect or lift force is lost. Also: a plurality of horizontal rotary wings with fixed pitch propellers; and a controller including: all driving mode wherein the vehicle flies with all horizontal wings; and partial driving mode wherein: a rotational frequency of one or more of the horizontal wings is decreased to or below a frequency where gyro effect or lift force is lost; and the vehicle flies using the other wings. If the rotational frequency of a horizontal wing becomes less than a predetermined threshold in all driving mode, the controller automatically switches to partial driving mode.

Abstract: To provide an unmanned aerial vehicle that eliminates or minimizes the laboriousness involved in optimal pitch adjustment of propellers while eliminating or minimizing complexity and instability in airframe structure and/or flight programs. This object is solved by an unmanned aerial vehicle that is provided with a plurality of rotors and that includes: a center frame that is a central portion of an airframe of the unmanned aerial vehicle; and a plurality of arms extending radially from the center frame in plan view. A plurality of motors that are driving sources of the respective rotors are provided in the center frame. The plurality of rotors are supported by the respective arms. Each arm of the arms has a hollow cylindrical structure. A motive power transmission member configured to transmit a driving force of each motor of the motors to the each rotor is provided in the each arm.

Abstract: An unmanned aerial vehicle having an airframe whose horizontal dimension is efficiently reduced. This object is solved by an unmanned aerial vehicle that includes: a rotor; an arm; and an arm connector. The arm connector includes an arm holder that is a fixing member holding a part of the arm in a longitudinal direction of the arm. The part of the arm held by the arm holder is changeable by sliding the arm in the longitudinal direction of the arm relative to the arm holder. The arm holder is a movable member movable in directions in which the arm is turned upward and downward and/or rightward and leftward. The object is also solved by an unmanned aerial vehicle that includes: a rotor; an arm; and an arm connector. The arm is provided with a hinge on which the arm is foldable at a middle portion of the arm.

Abstract: An unmanned aerial vehicle includes a plurality of propellers and an airframe. The airframe includes a body having a hollow portion, and a plurality of through holes connected to the hollow portion and formed on an outer peripheral surface of the body. The airframe also includes a plurality of arms supporting the plurality of propellers, and each arm of the plurality of arms includes a base end portion disposed at a body side in a longitudinal direction of the respective arm. The base end portion is inserted in a corresponding through hole of the plurality of through holes and supported by the body. Each arm of the plurality of arms is configured to be stored in the hollow portion of the body by being retracted into the body via the through hole, and expanded out of the body by being pulled out of the body via the through hole.

Abstract: An unmanned aerial vehicle having an airframe whose horizontal dimension is efficiently reduced. This object is solved by an unmanned aerial vehicle that includes: a rotor; an arm; and an arm connector. The arm connector includes an arm holder that is a fixing member holding a part of the arm in a longitudinal direction of the arm. The part of the arm held by the arm holder is changeable by sliding the arm in the longitudinal direction of the arm relative to the arm holder. The arm holder is a movable member movable in directions in which the arm is turned upward and downward and/or rightward and leftward. The object is also solved by an unmanned aerial vehicle that includes: a rotor; an arm; and an arm connector. The arm is provided with a hinge on which the arm is foldable at a middle portion of the arm.

Abstract: An attachable-detachable unit and a sensor calibrating method using the same such that the attachable-detachable unit and the sensor calibrating method make calibration work on sensors of an unmanned aerial vehicle efficient and unitize the control functions of the unmanned aerial vehicle. The problem is solved by: an attachable-detachable unit including a base made of a case or a board that is attachable and detachable to and from an airframe of an unmanned aerial vehicle, wherein a magnetic sensor constituting an electronic compass is mounted on the base; and a sensor calibrating method including a procedure for calibrating the electronic compass and/or the inertia measurement device by, with the attachable-detachable unit removed from the unmanned aerial vehicle, manually rotating the attachable-detachable unit or manually keeping the attachable-detachable unit at a predetermined posture.

Abstract: To provide an unmanned rotorcraft and a method for measuring a distance to a circumjacent objet around the rotorcraft, enabling it to prevent its airframe from colliding with a circumjacent object when flying and prevent its airframe from falling down when landing, while suppressing an increase in airframe cost. This is solved by an unmanned rotorcraft including a distance sensor to measure a distance between its airframe and a circumjacent object around it, the distance sensor and its detection direction being fixed to the airframe, and a method for measuring a distance to a circumjacent objet around the rotorcraft, adapted to watch or watch out for a circumjacent object around the airframe by turning the airframe automatically in a yaw direction under predefined conditions or to measure a difference of elevation at landing points of all legs of the airframe.

Abstract: An underwater exploration system enables signal transmission and reception to and from an underwater vehicle through wireless communication, that enables carriage of the underwater vehicle to a survey point and collection of the underwater vehicle, and, further, that enables a quick change of the survey point. The underwater exploration system includes: an underwater exploration unit including: a floating member including a first antenna and configured to support the first antenna above a water surface; and an underwater vehicle connected to the first antenna via a signal line; a communication device including a second antenna configured to transmit and receive a wireless signal to and from the first antenna; and an unmanned aerial vehicle configured to carry the underwater exploration unit and drop the underwater exploration unit to the water surface.

Abstract: To provide an unmanned aerial vehicle that is optimized for freight purposes and that efficiently performs loading and unloading of freight and efficiently performs airframe management. This object is solved by an unmanned aerial vehicle that includes a plurality of propellers. An airframe of the unmanned aerial vehicle includes: a body having a freight chamber that is a hollow portion and that is integral with the body; and a plurality of arms supporting each of the plurality of propellers. A combination of the one arm and the one propeller or plurality of propellers supported by the one arm constitute a retractable propeller. The retractable propeller is partially or entirely storable in the freight chamber.

Abstract: An unmanned aerial vehicle includes a plurality of propellers and an airframe. The airframe includes a body having a hollow portion, and a plurality of through holes connected to the hollow portion and formed on an outer peripheral surface of the body. The airframe also includes a plurality of arms supporting the plurality of propellers, and each arm of the plurality of arms includes a base end portion disposed at a body side in a longitudinal direction of the respective arm. The base end portion is inserted in a corresponding through hole of the plurality of through holes and supported by the body. Each arm of the plurality of arms is configured to be stored in the hollow portion of the body by being retracted into the body via the through hole, and expanded out of the body by being pulled out of the body via the through hole.

Abstract: An unmanned aerial vehicle includes: a plurality of rotary wings; a load object disposed on an airframe of the unmanned aerial vehicle, the load object being an external device or a piece of goods disposed at an outside of the airframe; and an air bag device configured to protect the external device. The air bag device includes: a sensor configured to detect a collision and/or a fall of the airframe; an air bag inflatable by a supply of gas; and an inflator configured to supply the gas to the air bag. The air bag includes a plurality of buffers each being a bag body inflatable into an approximately columnar shape. The plurality of inflated buffers are aligned in their radial direction such that the plurality of inflated buffers cover an outer surface of the load object.

Abstract: A living body search system includes an unmanned moving body and a server connected to the unmanned moving body through a communication network. The unmanned moving body includes a camera, a moving means, and an image data processor. The image data processor is configured to detect a presence of a face of the living individual in an observation image taken by the camera, retrieve image data of the observation image, and transmit the retrieved image data to the server for facial recognition. The server includes a database configured to store individual identification information of the searched-for object, and an individual identifying means configured to compare the image data with the individual identification information to determine whether the living individual in the image data is the searched-for object.

Abstract: To provide such an unmanned aircraft and such a moving object capturing system that quickly disable an unidentified object that has intruded into a predetermined airspace. The problem is solved by an unmanned aerial vehicle that includes a plurality of rotary wings, a capturing net launching device, and a launching direction controller. The capturing net launching device is configured to launch and spread a capturing net. The launching direction controller is configured to hold the capturing net launching device to control an aiming direction of the capturing net launching device independently of a direction in which an airframe of the unmanned aerial vehicle is pointed. The problem is also solved by a moving object capturing system that includes a monitor configured to monitor a predetermined space, the unmanned aerial vehicle according to the present invention, and an intermediate processor communicable with the monitor and the unmanned aerial vehicle.

Abstract: An unmanned moving body includes: a receiver configured to receive a wireless signal; a controller configured to process the wireless signal that has been received; and a position information obtainer configured to detect a current position of the unmanned moving body. The wireless signal includes target area information indicating a position range. The controller is configured to determine whether to accept or disregard the wireless signal based on the position of the unmanned moving body and the target area information. The above object is also solved by an unmanned moving body system that includes: the unmanned moving body according to the present invention; and a transmitter configured to transmit the wireless signal simultaneously to a plurality of the unmanned moving bodies.

Abstract: In order to provide an unmanned aircraft capable of minimizing damage due to a crash caused by malfunction or the like during flight, a flight route is set on map information including a fall avoidance area, control is performed such that the aircraft flies on a set flight route, and information at each position during flight on the flight route is acquired in relation to the map information in real time to determine whether or not the aircraft is approaching the fall avoidance area. In a case where it is determined that the aircraft is approaching the fall avoidance area, control is performed so as to increase a flight speed.

Abstract: A method for setting a flight altitude and such an unmanned aerial vehicle system that efficiently set the flight altitude in a flight plan based on undulation and/or inclination of a ground surface or a ground object. The method includes: an undulation research step of making the unmanned aerial vehicle fly and measuring a height of a ground surface or a ground object; and an altitude setting step of, during preparation of a flight plan that is setting data including a specification of a path on which the unmanned aerial vehicle is made to fly autonomously, automatically setting the flight altitude on the path in the flight plan based on the height of the ground surface or the ground object measured in the undulation research step. An unmanned aerial vehicle system capable of performing the method.

Abstract: A robot arm that can be suitably used in aerial vehicles and an unmanned aerial vehicle equipped with the robot arm. The robot arm includes: an arm unit includes a plurality of joints; arm controlling means for controlling driving of the joints; and a displacement detector configured to detect a change of a position and inclination of the arm unit. The arm unit has a base end connected to the aerial vehicle. At least a leading end of the arm unit is exposed to an outside of the aerial vehicle. When the displacement detector has detected a position error that is an unexpected change of the position or inclination of the arm unit, the arm unit controlling means is configured to cause the joints to absorb the position error so as to prevent the position error from being transmitted to a side of the leading end of the arm unit.

Abstract: A robot arm that can be suitably used in aerial vehicles and an unmanned aerial vehicle equipped with the robot arm. The robot arm includes: an arm unit includes a plurality of joints; arm controlling means for controlling driving of the joints; and a displacement detector configured to detect a change of a position and inclination of the arm unit. The arm unit has a base end connected to the aerial vehicle. At least a leading end of the arm unit is exposed to an outside of the aerial vehicle. When the displacement detector has detected a position error that is an unexpected change of the position or inclination of the arm unit, the arm unit controlling means is configured to cause the joints to absorb the position error so as to prevent the position error from being transmitted to a side of the leading end of the arm unit.