Unmanned aerial devices

Abstract

The present invention aims to provide an unmanned aerial device that can reduce the landing speed of the unmanned aerial device and reduce the possibility of contact with buildings, etc. even when the rotor blades are stopped. The unmanned aerial device (1) of the present invention comprises: a main body (11); arms (12) as a plurality of support parts extending from the main body (11) and supporting the rotor blades (13); a cloth member (51) folded on the side of the main body (11) and maintained in a standby state; and an unfolding mechanism (60) arranged on the arm (12) and moving a part of the cloth member (51) in a direction away from the main body (11) so that the cloth member (51) in the standby state is in an unfolded state in which it is spread between the arms (12) when viewed from above.

Description

Technical Field

[0001] The invention relates to an unmanned flying device. Background Art

[0002] Conventionally, the following technology is known: in the case of a rotor failure or a rotor stop, a parachute is deployed to reduce the landing speed of the unmanned aerial device. For example, such technology is described in Patent Document 1. Patent Document 1 describes an unmanned aerial device that stops a plurality of rotors and deploys a parachute from a launch mechanism when a collision between the device and an obstacle is detected.

[0003] Prior Art Literature

[0004] Patent Literature

[0005] Patent Document 1: International Publication No. 2017 / 086234 Summary of the invention

[0006] [Problems to be solved by the invention]

[0007] Although the use of a parachute can reduce the landing speed, there is also the possibility that the deployed parachute will get caught on trees or tall buildings. From the perspective of reducing the contact possibility during landing, there is still room for improvement.

[0008] The present invention has been made in view of such a situation, and an object of the present invention is to provide an unmanned aerial device that can reduce the landing speed of the unmanned aerial device and reduce the possibility of contact with buildings and the like even when the rotor blades are stopped.

[0009] [Technical means to solve the problem]

[0010] An unmanned aerial device according to one aspect of the present invention comprises: a main body; a plurality of support portions extending from the main body and supporting a rotary wing; a cloth member folded and held in a standby state on the side of the main body; and an unfolding mechanism disposed on the support portions and configured to move a portion of the cloth member in a direction away from the main body so as to bring the cloth member in the standby state into an unfolded state in which the cloth member is spread between the support portions in a plan view.

[0011] [Effects of the Invention]

[0012] According to the present invention, it is possible to provide an unmanned aerial device that can reduce the landing speed of the unmanned aerial device and reduce the possibility of collision with a building or the like even when the rotor is stopped. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a top view showing an unmanned aerial vehicle according to an embodiment of the present invention.

[0014] Figure 2 It is a plan view showing a state in which the cloth-like member of the unmanned aerial device according to the present embodiment is deployed.

[0015] Figure 3 It is a side view showing the configuration of the cloth-like member and the deployment mechanism in the standby state of the unmanned aerial device according to the present embodiment.

[0016] Figure 4 It is a side view showing the configuration of the cloth-like member and the deployment mechanism of the unmanned aerial device according to the present embodiment in the deployed state.

[0017] Figure 5 This is a block diagram showing an electrical configuration related to deployment control of the unmanned aerial vehicle according to the present embodiment.

[0018] Figure 6 It is a plan view showing the unfolded state of the cloth-like member in the low-speed mode of the unmanned aerial vehicle according to the present embodiment.

[0019] Figure 7 It is a plan view showing the unfolded state of the cloth-like member in the medium-speed mode of the unmanned aerial vehicle according to the present embodiment.

[0020] Figure 8 It is a plan view showing the unfolded state of the cloth-like member in the high-speed mode of the unmanned aerial vehicle according to the present embodiment. DETAILED DESCRIPTION

[0021] Hereinafter, non-limiting but illustrative embodiments of the present invention will be described with reference to the drawings. Figure 1 It is a top view showing the unmanned aerial device 1 according to one embodiment of the present invention.

[0022] Figure 1 The unmanned aerial device 1 shown is a drone capable of flying without human passengers. The term “capable of flying without human passengers” means that the drone can fly without human passengers, including not only autonomous flight but also remote control of the drone.

[0023] The unmanned aerial device 1 includes a main body 11 , an arm 12 as a support portion extending from the main body 11 , a rotary wing 13 supported by the arm 12 , and a sail deployment device 50 that operates in an emergency or the like.

[0024] The main body 11 is located at the center of the UAV 1 in a plan view and includes a control device 100 and sensor electronic devices such as cameras (eg, a computer device having a CPU, a memory, etc. and executing a control program).

[0025] The arm portion 12 is connected to the main body portion 11 at one end and is provided with a support portion for the rotary blade 13 at the other end (hereinafter referred to as the front end). In the present embodiment, four (or more) arms 12 extend radially (in the radial direction) from the main body portion 11 in a plan view. The four arms 12 are spaced at equal intervals in the circumferential direction in a plan view.

[0026] The rotary wing 13 is held by the main body 11 via the arm 12. Specifically, the rotary wing 13 is rotatably arranged on the upper surface of the front end of the arm 12. A rotary wing motor 15 connected to the rotary wing 13 is built into the front end of the arm 12. The rotary wing 13 rotates by the rotation of the rotary wing motor 15, thereby generating a lift for making the unmanned aerial device 1 fly.

[0027] Sail deployment device 50 includes cloth-like members 51 a to 51 d functioning as sails, and deployment mechanisms 60 a to 60 h functioning as drive units for switching cloth-like members 51 from a standby state to a deployed state.

[0028] During normal flight, cloth-like members 51a to 51d are folded on the main body 11 side and are in a standby state.

[0029] The standby state will be described. The cloth-like member 51 is made of a material that can make the plan view area in the standby state smaller than the plan view area in the deployed state.

[0030] The cloth-like members 51a to 51d are provided with folds so as to be folded in a wave shape in the standby state. In the standby state, folded portions 52 formed by folding the ends of the cloth-like member 51 are formed at both ends on the front end side. The folded portions 52 can provide a margin for the length of the front end side of the cloth-like member 51 in the unfolded state.

[0031] The cloth-like members 51a to 51d can be formed of various materials such as elastic members in the form of stretchable films, cloth made of fibers, nonwoven fabrics, plastic films having a layer that can be filled with air, etc. The creases or folded portions 52 in this embodiment may be removed depending on the stretchability, folds, and standby states of the materials constituting the cloth-like members 51a to 51d. As described above, as long as the cloth-like members 51 in the standby state can be smaller than the cloth-like members 51 in the unfolded state, appropriate materials and methods can be used.

[0032] In contrast, in Figure 2In the expanded state shown, the gaps between the arms 12 in the circumferential direction are blocked when viewed from above. The expansion of each of the cloth-like members 51a to 51d is performed by a pair of expansion mechanisms 60a to 60h arranged on both sides of each of the cloth-like members 51a to 51d. In addition, the so-called expanded state refers to a state in which the area of ​​the cloth-like member 51 in the plan view is larger between the arms 12 than in the standby state. The gaps between the arms 12 arranged in the circumferential direction are blocked by the cloth-like members 51a to 51d in the expanded state. In addition, in the present embodiment, the expanded state is not limited to a state in which the entire area between the arms 12 in the circumferential direction is blocked, and also includes a state in which gaps are left between the arms 12 and the cloth-like members 51a to 51d.

[0033] exist Figure 1 and Figure 2 In the explanation, if the letters are indicated in the order of clockwise rotation, cloth-like member 51a is driven by a pair of unfolding mechanisms 60a and 60b. Similarly, cloth-like member 51b is driven by a pair of unfolding mechanisms 60c and 60d, cloth-like member 51c is driven by a pair of unfolding mechanisms 60e and 60f, and cloth-like member 51d is driven by a pair of unfolding mechanisms 60g and 60h. In the present embodiment, the number of unfolding mechanisms 60 corresponding to one cloth-like member 51 is two. Therefore, the number of unfolding mechanisms 60a to 60h corresponding to four cloth-like members 51a to 51d is eight.

[0034] The deployment mechanisms 60a to 60h have the same structure. The cloth-like members 51a to 51d are also made of the same shape and the same material. Next, the structure of the deployment mechanisms 60a to 60h will be described. In the following description, when describing the common structure of the deployment mechanisms 60a to 60h and the cloth-like members 51a to 51d, letters will be omitted.

[0035] Figure 3 It is a side view showing the configuration of the cloth member 51 and the deployment mechanism 60 in the standby state of the unmanned aerial device 1 according to the present embodiment. Figure 3 The hollow arrow indicates the moving direction of the cloth-like member 51 from the deployed state to the standby state. Figure 4 It is a side view showing the structure of cloth-like member 51 and unfolding mechanism 60 in the unfolded state. Figure 4 The hollow arrow indicates the moving direction of the cloth-like member 51 from the standby state to the deployed state.

[0036] like Figure 3 and Figure 4As shown, the unfolding mechanism 60 includes a unfolding motor 55 , a driving gear 61 , a driven gear 62 , a toothed belt 63 , a rail 64 , a connecting slider 65 , a plurality of driven sliders 66 , and a main body fixing portion 67 .

[0037] The unfolding motor 55 is a driving unit disposed on the arm 12. The unfolding motor 55 is connected to the driving gear 61, and the driving gear 61 rotates by the rotation of the unfolding motor 55. The unfolding motor 55 in this embodiment is configured to be able to adjust its rotation direction and rotation amount. For example, a stepping motor or the like can be used for the unfolding motor 55.

[0038] The driven gear 62 is arranged at a distance from the driving gear 61 in a direction away from the main body 11, and is rotatably held by a mounting member such as a bracket (not shown). The toothed belt 63 is an endless member that is meshed with the driven gear 62 and the driving gear 61 and is hung around both of them. The toothed belt 63 is rotatably supported by the arm 12 in a state where its length direction is along the extension direction of the arm 12.

[0039] The rail 64 is fixed to the arm 12 in a state of being adjacent to the toothed belt 63. The longitudinal direction of the rail 64 is also along the extending direction of the arm 12. The connecting slider 65 and the plurality of driven sliders 66 are engaged with the rail 64 so as to be slidable.

[0040] The connecting slider 65 is arranged closer to the front end side of the arm 12 than the plurality of driven sliders 66. The connecting slider 65 is fixed to the front end side of the cloth-like member 51 and is connected to the toothed belt 63. The connecting slider 65 is guided by the rail 64 and moves along the length direction of the arm 12 as the toothed belt 63 rotates.

[0041] The plurality of driven sliders 66 are fixed to the cloth-like member 51 at intervals. Unlike the connecting slider 65, the driven slider 66 is not connected to the toothed belt 63. Therefore, the driven slider 66 is not directly linked to the rotation of the toothed belt 63.

[0042] Main body fixing portion 67 fixes the base end side of cloth member 51 to main body 11. Thus, even when cloth member 51 is in transition from the standby state to the expanded state, the interval between main body 11 and cloth member 51 is appropriately maintained.

[0043] For example, in Figure 3When the unfolding motor 55 rotates to the right of the drawing, the toothed belt 63 rotates to the right in response, and the connecting slider 65 moves to the right on the right side of the drawing. As the connecting slider 65 moves toward the front end of the arm 12, the cloth-like member 51 moves toward the front end. As the cloth-like member 51 moving toward the front end is stretched, the driven slider 66 also moves toward the front end along the rail 64. Since the driven slider 66 is engaged with the cloth-like member 51, the interval between the cloth-like member 51 and the arm 12 is appropriately maintained during the movement of the cloth-like member 51.

[0044] Similarly, when the unfolding motor 55 rotates to the left of the paper, the connecting slider 65 moves to the left of the paper. As the connecting slider 65 moves to the main body 11 side of the arm 12, the driven slider 66 is also moved to the main body 11 side by the push of the connecting slider 65. The cloth-like member 51 is smoothly folded by the fold formed in advance, and enters the standby state. In the transition from the unfolded state to the standby state, the interval between the cloth-like member 51 and the arm 12 is appropriately maintained by the driven slider 66 engaged with the cloth-like member 51, so that the folding operation is also performed smoothly.

[0045] The deployment control of the deployment mechanisms 60 a - 60 is controlled by the control device 100 . Figure 5 This is a block diagram showing an electrical configuration related to deployment control of the unmanned aerial device 1 according to the present embodiment.

[0046] The control device 100 is a computer that performs various control processes necessary for the flight of the unmanned aerial device 1. The control device 100 is electrically connected to a detection unit that detects various information, such as a camera 110, a gyro sensor 111, and an acceleration sensor 112, and a communication device 105 that transmits and receives signals to and from an external device such as a control controller or a GPS.

[0047] The control device 100 of this embodiment includes an abnormality determination unit 101 for determining whether an abnormality has occurred in the unmanned aerial vehicle 1, and an expansion control unit 102 for controlling the sail deployment device 50. The abnormality determination unit 101 and the expansion control unit 102 include a part of a program stored in the control device 100.

[0048] The abnormal state determination unit 101 determines whether an abnormal state has occurred in the unmanned aerial device 1 based on various information indicating abnormal states input to the control device 100. The abnormal state determined by the abnormal state determination unit 101 is, for example, a state in which the rotor 13 and other parts of the unmanned aerial device 1 are faulty or malfunctioning, a state in which stable flight cannot be achieved due to strong winds, a state in which the battery level is reduced due to a long flight time, etc. The type of abnormal state is not particularly limited, and various states can be set as abnormal states in the control device 100.

[0049] An example of a method for determining an abnormal situation will be described. The abnormal situation determination unit 101 can determine whether an abnormal situation has occurred based on a detection signal of a sensor that detects a drive current or rotation failure of the rotary wing motor 15. In addition, it is also possible to determine whether an abnormal situation has occurred based on the flight state of the unmanned aerial device 1 obtained from information from various sensors such as the camera 110, the gyro sensor 111, and the acceleration sensor 112. It is also possible to combine the various information to determine whether an abnormal situation has occurred.

[0050] Furthermore, when the user determines that the UAV 1 is difficult to continue flying, the occurrence of an abnormality may be determined based on information input from an external device such as a remote control device for the UAV 1. The abnormality determination unit 101 may use various information to determine the occurrence of an abnormality.

[0051] The deployment control unit 102 will be described. When the abnormality determination unit 101 determines that an abnormality has occurred, the deployment control unit 102 controls the deployment mechanisms 60a to 60h to deploy the fabric member 51. In the following description, letters corresponding to the deployment mechanisms 60a to 60h are assigned to the deployment motor 55, and the case where the deployment motors 55a to 55h are controlled separately will be described.

[0052] The unfolding motors 55a to 55h can be controlled independently of each other. The unfolding motors 55a to 55h are configured to be able to adjust the rotation direction and the driving amount, thereby adjusting the moving direction and the moving amount of the connecting slider 65.

[0053] In addition, the deployment control unit 102 can selectively control the deployment motors 55a to 55h according to the status of the unmanned aerial device 1. In the present embodiment, the deployment motor 55a and the deployment motor 55b, the deployment motor 55c and the deployment motor 55d, the deployment motor 55e and the deployment motor 55f, and the deployment motor 55g and the deployment motor 55h can be synchronously controlled.

[0054] An example of the deployment control unit 102 will be described. In the present embodiment, the deployment control unit 102 controls each of the deployment motors 55a to 55h based on the abnormal state determined by the abnormal state determination unit 101.

[0055] When the unmanned aerial device 1 is landed without specifying a landing location while the rotary wing motor 15 of the unmanned aerial device 1 is stopped or malfunctioning, the deployment motors 55a to 55h are driven so that all the cloth-like members 51a to 51e are in the deployed state. Figure 2The circumferential gaps between the arms 12 are completely blocked. In addition, the case of an unspecified landing location is, for example, the following case: the abnormal situation determination unit 101 determines that the current position of the unmanned aerial device 1 is in an unmanned area or an area without dangerous objects or buildings at the time when the abnormal situation is determined to have occurred.

[0056] Next, a description will be given of a case where the landing direction and landing speed are controlled when the rotary wing motor 15 of the unmanned aerial vehicle 1 is stopped or fails. The case where the landing direction and landing speed are controlled is, for example, the following case: the abnormal event determination unit 101 determines that, at the time when the abnormal event is determined to have occurred, the current position of the unmanned aerial vehicle 1 is in an unmanned area, or an area with dangerous objects or buildings.

[0057] Figure 6 FIG. 2 is a plan view showing the unfolded state of the cloth-like members 51a to 51d in the low-speed mode of the unmanned aerial vehicle 1 according to the present embodiment. Figure 6 In the figure, the direction of travel is shown by the hollow arrow, and the upper side of the paper is the direction of travel. Figure 6 As shown in FIG. 1 , in the low speed mode, among a plurality of fabric members 51a to 51d, except for fabric member 51b located on the set traveling direction side, fabric members 51a, 51c, and 51d are placed in the deployed state. Fabric member 51b located on the traveling direction side is placed in the standby state or in the state indicated by the chain line in which the deployed amount is smaller than that in the deployed state. The deployed amount of fabric member 51 is adjusted according to the current position and condition of unmanned aerial device 1.

[0058] By making the deployment amount of fabric member 51b on the traveling direction side smaller than the deployment amounts of other fabric members 51a, 51c, 51d, the air resistance on the traveling direction side is relatively reduced, so that unmanned aerial device 1 lands while moving forward in the set traveling direction.

[0059] Figure 7 FIG. 2 is a plan view showing the unfolded state of the fabric members 51a to 51d in the medium speed mode of the unmanned aerial vehicle 1 according to the present embodiment. Figure 7 In the figure, the direction of travel is indicated by the hollow arrow, and the direction of travel is on the upper left side of the paper. Figure 7 As shown, in the medium speed mode, the extending direction of one arm portion 12 among the plurality of arms 12 is set as the traveling direction.

[0060] In the medium speed mode, the two cloth-like members 51c and 51d on both sides of the arm 12 disposed on the side opposite to the arm 12 on the traveling direction side are placed in the deployed state, and the two cloth-like members 51a and 51b on both sides of the arm 12 on the traveling direction side are placed in the standby state or in the state indicated by the chain line with a deployment amount smaller than that in the deployed state. Figure 6 In the low speed mode shown, the difference in air resistance between the traveling direction and the opposite side becomes larger, and the landing speed of the unmanned aerial device 1 becomes relatively faster. In addition, the deployment amount of the cloth-like member 51 is adjusted according to the current position and condition of the unmanned aerial device 1.

[0061] Figure 8 FIG. 2 is a top view showing the unfolded state of the cloth-like members 51a to 51d in the high-speed mode of the unmanned aerial vehicle 1 according to the present embodiment. Figure 8 As shown in FIG. 1 , in the high-speed mode, only the cloth-like member 51d located on the side opposite to the traveling direction is in the deployed state, and the remaining cloth-like members 51a, 51b, and 51c are in the standby state or in the state indicated by the chain line in which the deployed amount is smaller than that in the deployed state. The deployed amount of the cloth-like member 51 is adjusted according to the current position and condition of the unmanned aerial device 1.

[0062] For example, by using the medium speed mode or the high speed mode when the unmanned aerial vehicle 1 is in a non-landing area, it is easy to escape from the area, thereby improving the safety of the unmanned aerial vehicle 1 when landing.

[0063] As apparent from the above description, each embodiment of the present invention exhibits advantageous effects through the following configurations.

[0064] The unmanned aerial device (1) of the embodiment of the present invention comprises: a main body (11); a plurality of support parts (12) extending from the main body (11) and supporting a rotary wing (13); a cloth member (51) folded on the side of the main body (11) and maintained in a standby state; and an unfolding mechanism (60) arranged on the support part (12) and moving a part of the cloth member (51) in a direction away from the main body (11) so that the cloth member (51) in the standby state is in an unfolded state in which it is spread between the support parts (12) when viewed from above. Thus, the cloth member (51) spread between the support parts (12) can function like a flying squirrel's flying membrane and reduce the landing speed due to air resistance. Since the cloth member (51) is spread between the support parts (12), the possibility of contact with trees, buildings, etc. during landing can be greatly reduced compared with a parachute.

[0065] The unmanned aerial device (1) of the embodiment of the present invention further comprises a control device 100 as a control unit, and the control device 100 controls the deployment mechanism (60) to switch the standby state and the deployed state of the cloth-like member (51). Thus, the control device 100 can make the cloth-like member (51) to be deployed at an appropriate time according to the current state of the unmanned aerial device 1.

[0066] In the unmanned aerial device (1) of the embodiment of the present invention, the control device (100) controls the deployment mechanism (60) to switch the cloth-like member (51) from the standby state to the deployed state when an abnormal situation is detected. Thus, once it is determined that an abnormal situation has occurred, the cloth-like member (51) is surely deployed, thereby preventing the unmanned aerial device (1) from free falling in the event of a failure of the rotor (13), thereby further improving safety.

[0067] In the unmanned aerial device (1) of the embodiment of the present invention, the control device (100) adjusts the movement amount of the arm (11) in the extension direction, thereby adjusting the deployment amount of the cloth-like member (51) in the deployed state. Thus, the deployment amount can be adjusted, and the unmanned aerial device (1) can be controlled according to the situation.

[0068] In the unmanned aerial device (1) of the embodiment of the present invention, the cloth-like parts (51a, 51b, 51c, 51d) are respectively arranged between the plurality of support parts (12). In addition, a plurality of deployment mechanisms (60a and 60b, 60c and 60d, 60e and 60f, 60g and 60h) are arranged, and the number of the plurality of deployment mechanisms (60a and 60b, 60c and 60d, 60e and 60f, 60g and 60h) corresponds to the number of the cloth-like parts (51a, 51b, 51c, 51d). Furthermore, the control device (100) selectively switches the plurality of cloth-like parts (51a, 51b, 51c, 51d) to the deployed state. Thus, the deployment degree of the cloth-like parts (51a, 51b, 51c, 51d) can be adjusted in the circumferential direction in a top view, so that the landing direction and landing speed of the unmanned aerial device 1 can be accurately controlled. The landing location of the unmanned aerial device 1 can be controlled in a manner such that it avoids areas with people or areas with dangerous objects, etc., based on dangerous area information input from the camera 110 or external information. In addition, the selective expansion to the deployed state mentioned here also includes the case where all the cloth-like members (51a, 51b, 51c, 51d) are in the deployed state.

[0069] In the unmanned aerial device (1) of the embodiment of the present invention, the deployment mechanism (60) comprises: a deployment motor (55); a driving rotor (61) connected to the deployment motor (55); a driven rotor (62) arranged at a distance from the driving rotor (61) along the extension direction of the support portion (12); an endless member (63) hung around the driving rotor (61) and the driven rotor (62); and a connecting member (65) fixed to the cloth member (51) and fixed to the endless member (63). Thus, the cloth member (51) can be more reliably expanded from the standby state to the deployed state by rotating the endless member (63). In addition, the adjustment of the deployment amount can be more accurately controlled. In addition, by rotating the endless member (63) in the reverse direction, switching from the deployed state to the standby state can be easily performed.

[0070] In the unmanned aerial device (1) of the embodiment of the present invention, the deployment mechanism (60) further comprises: a rail (64) extending along the extension direction of the support portion (12) and the connecting member (65) being slidably engaged therewith; and a plurality of engaging members (66) being slidably engaged with the rail (64) at a side closer to the main body (11) than the connecting member (65) and being fixed to the cloth-like member (51) at intervals. Thus, the cloth-like member (51) can be more smoothly expanded along the extension direction of the support portion (12) without forming a large gap between the cloth-like member (51) and the support portion (12). In addition, in the present embodiment, the plurality of engaging members fixed to the cloth-like member at intervals means that the engaging members are arranged at intervals along the extension direction on the cloth-like member in the deployed state.

[0071] Although the embodiments of the present invention have been described above, the present invention is not limited to the embodiments described above, and modifications, improvements, etc. within the scope that can achieve the object of the present invention are also included in the present invention.

[0072] The configuration of the unfolding mechanism 60 in the above-described embodiment can be changed as appropriate. A configuration using a chain as an endless member and using sprockets for the driving rotating body and the driven rotating body can be adopted, or a configuration using a toothless belt for the endless member and using pulleys for the driving rotating body and the driven rotating body can be adopted. In addition, a configuration not using an endless member can be adopted. Alternatively, a configuration that cannot be restored from the unfolded state to the standby state can be adopted. For example, an unfolding mechanism that uses an elastic member such as a spring or gunpowder to unfold the cloth-like member 51 to the unfolded state can be adopted.

[0073] In the above embodiment, four sheets of the cloth-like member 51 are arranged, but the present invention is not limited to this configuration. The cloth-like member may be two, three, or five or more sheets. In addition, the cloth-like member may be a single sheet of cloth surrounding the main body and arranged below the support portion, and may be radially extended from the standby state to the deployed state.

[0074] The unmanned aerial device 1 of the above-described embodiment may also be configured to further include a holding member for holding the cloth member 51 in the standby state. The holding member may be a gripping member for holding the cloth member 51 in the folded state or a storage box for storing the cloth member in the standby state. For example, the cloth member 51 may be configured to fly out of the opening of the storage box when the standby state is changed to the unfolded state.

[0075] In the above embodiment, the control device 100 expands the cloth member 51 from the standby state to the deployed state when it is determined that an abnormal situation has occurred. However, the present invention is not limited to this configuration. The cloth member may be deployed even when the rotor 13 is not stopped.

[0076] [Explanation of Symbols]

[0077] 1 Unmanned aerial vehicle

[0078] 11 Main body part

[0079] 12 Arm (support part)

[0080] 51 Cloth-like parts

[0081] 60 Expand Mechanism

[0082] 100 control device (control unit)

[0083] 61 driving gear (driving rotating body)

[0084] 62 driven gear (driven rotating body)

[0085] 63 Toothed belt (without end parts)

[0086] 65 Connecting slide (connecting part)

[0087] 66 driven slide (engaging part)

Claims

1. An unmanned aerial device, comprising: Body part; A plurality of support parts extending from the main body to support the rotary wings; a cloth-like member held in a standby state folded on the main body side; and The unfolding mechanism is arranged on the side of the supporting part along the extending direction of the supporting part, and moves a part of the cloth-like member in a direction away from the main body so that the cloth-like member in the standby state is put into an unfolded state in which it is spread between the supporting parts in a plan view, wherein The cloth-like member is provided in plurality. The unmanned aerial device further includes a control unit that controls the deployment mechanism to independently switch the standby state and the deployed state of the plurality of fabric members. 2 . The unmanned aerial device according to claim 1 , wherein the control unit switches the cloth-like member from the standby state to the deployed state via the deployment mechanism when an abnormal situation is detected.

3. The unmanned aerial device according to claim 1 or 2, wherein the control unit adjusts the amount of movement of the support unit in the extending direction, thereby adjusting the amount of deployment of the cloth-like member in the deployed state.

4. The unmanned aerial device according to claim 1 or 2, wherein the cloth-like member is disposed between a plurality of the supporting parts, The deployment mechanism is provided in plurality, and the number of the deployment mechanism corresponds to the number of the cloth-like members. The control unit selectively switches the plurality of fabric-like members to an expanded state.

5. The unmanned aerial device according to claim 1 or 2, wherein the deployment mechanism comprises: Motor for deployment; A driving rotating body connected to the unfolding motor; A driven rotating body is arranged at a distance from the driving rotating body along the extending direction of the supporting portion; An endless component, hung around the driving rotating body and the driven rotating body; and The connecting member is fixed to the cloth-like member and to the endless member.

6. The unmanned aerial device according to claim 5, wherein the deployment mechanism further comprises: A track extending along the extension direction and the connecting member slidably engages with the track; and A plurality of engaging members are slidably engaged with the rail on a side closer to the main body than the connecting member, and are fixed to the cloth-like member at intervals.

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