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: 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 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: 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: 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.

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 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: A flight interference apparatus enabling it to block intrusion by a miniature unmanned aerial vehicle which is remotely piloted by radio communication into an area to be protected, suppress influence on communication within and outside the area, and reduce the number of required antenna devices. The flight interference apparatus includes one or a plurality of antenna devices which radiate a jamming signal from a directional antenna, and the directional antenna includes a radiating element which radiates a jamming signal of a predetermined frequency band and a reflector which gives directionality to the jamming signal in its radiation direction.

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 aerial vehicle is capable of keeping the airframe level on the water surface and is capable of taking off from and landing on water smoothly. The problem is solved by an unmanned aerial vehicle that includes: a plurality of rotary wings; and a plurality of arms radially extending from an airframe center portion of the unmanned aerial vehicle. The arms include floating portions extending downward from the respective arms. The floating portions include air chambers in the respective floating portions, the air chambers each including a hollow and hermetic space.

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: 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.