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: 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: 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: 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: 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: 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: 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 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.

Abstract: A multicopter equipped with a fall prevention device enabling it to prevent the airframe from falling even in case the multicopter has become unable to fly normally for various reasons. A multicopter includes a multicopter main body having rotors which are driven by a power source, a plurality of emergency rotors which are driven by an emergency power source which is different from the power source, abnormality detection sensors for detecting abnormality of the multicopter main body, and an emergency control device, the multicopter being configured such that, when the abnormality detection sensors have detected abnormality of the multicopter main body, the emergency control device performs control to deactivate operation of the rotors and drive the emergency rotors by the emergency power source to prevent a rapid fall of the multicopter.

Abstract: To provide a multicopter that enables it to prevent generation of a vortex ring state of a rotor and control lift and thrust efficiently and elaborately. This is solved by a multicopter having a plurality of rotors installed radially to a frame, wherein at least one of the plurality of rotors is provided with a cylindrical duct surrounding and enclosing the rotor; and the duct is formed in a shape making an air flow from an air intake side to an air outlet side of the rotor imbalanced in a circumferential direction of the duct.

Abstract: A water level measurement system including: a water level gauge including a scale part which is installed to extend upward at a predetermined angle of inclination from a water surface; and an unmanned aerial vehicle including image capturing means for capturing the scale part from above and a plurality of rotary wings, and is also solved by a water level control system including the water level measurement system and water level adjustment equipment capable of adjusting an amount of water in a water area in which the water level gauge is installed, wherein the unmanned aerial vehicle includes the water level determining unit and water level control means for remotely operating the water level adjustment equipment through wireless communication, as well as a water level measurement method and a water level control method using the above systems.

Abstract: An unmanned moving vehicle piloting method and an unmanned moving vehicle watching device enabling it to pilot an unmanned moving vehicle, while keeping in visual contact with the vehicle from the vicinity of the vehicle from a third person viewpoint. In the vicinity of an unmanned moving vehicle, a watching aircraft is positioned, which is an unmanned aerial vehicle and includes a single or a plurality of rotors and image capturing means capable of capturing an image of surroundings of the watching aircraft and is able to stand still at one point in the air and piloting the unmanned moving vehicle, while viewing a third person viewpoint image captured by the watching aircraft. Moreover, the watching aircraft includes accompanying flight means for causing the watching aircraft to fly automatically, following movement of an unmanned moving vehicle. This enables the manipulator to concentrate solely on piloting the unmanned moving vehicle.

Abstract: 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 electricity generating apparatus capable of efficiently and safely charging a storage battery in an unmanned aerial vehicle during its flight and an unmanned aerial vehicle equipped with such apparatus. The apparatus is mounted in the vehicle, including a fuel tank which is a container body to reserve fuel, an electric generator unit connected to the fuel tank, tilt measurement means capable of measuring a tilt of the fuel tank, and electricity generation control means for controlling operation of generating electricity by the electric generator unit, wherein the electric generator unit is capable of charging a storage battery in the vehicle during flight, and the electricity generation control means drives the electric generator unit when a tilt angle of the fuel tank indicated by the tilt measurement means is within a safe angle which is a predetermined threshold angle, as well as an unmanned aerial vehicle equipped with such apparatus.

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 apparatus for controlling a still position in the air, allowing a miniature unmanned aerial vehicle equipped with a plurality of rotors to move swiftly to a given position in the air and make its airframe hover stably in that position, the apparatus including a miniature unmanned aerial vehicle equipped with a plurality of rotors, a stationary plane from which and on which the miniature unmanned aerial vehicle takes off and lands, and a plurality of string-like members which link the miniature unmanned aerial vehicle with the stationary plane, wherein the plurality of string-like members are stretched to a length for all the members to become tense when the miniature unmanned aerial vehicle has come to a specified position which is a given position in the air. Also, it is preferable that the plurality of string-like members include at least three string-like members.