Unmanned aerial vehicles

Abstract

To provide an unmanned flying object movable in a stable posture and changeable in direction during moving with respect to an upper structure.SOLUTION: An unmanned flying object 10 comprises; a main body part 12; lifting-power generating means 13 that generates lifting power; an information obtaining part 16 that obtains information on at least above the main body part 12; travelling means 20 that can travel while being made to contact a structure S positioned over the main body part 12, by lifting power applied by the lifting-power generating means 13; and propulsion-power generating means 22 that generates propulsion power in a horizontal direction with the travelling means 20 contacting the structure S. The travelling means 20 has a driving wheel 20a that aids propulsion power generated by the propulsion-power generating means 22 and a steering wheel 20b that sets a direction of movement.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to an unmanned aerial vehicle equipped with a lift generating means. [Background technology]

[0002] Conventionally, in the investigation and inspection of tunnels or bridges, a ground penetrating radar system is used to investigate the thickness of concrete, cavities, and the condition of reinforcing bars. In such investigations, aerial work vehicles or temporary scaffolding are used to carry out measurements manually or by setting up special jigs.

[0003] The underground radar system is made up of an antenna and a controller that are manufactured separately, and these antennas and controllers are connected by cables to transmit and receive power and data. Measurement requires at least four people to operate the system, including the antenna operator, the controller operator, the vehicle driver, and a support worker.

[0004] For this reason, in recent years, a method has been used in which a measuring device is mounted on an unmanned aerial vehicle such as a drone, and the operator of the unmanned aerial vehicle acts as the measuring person, thereby reducing the number of personnel. That is, an information acquisition unit is provided in the main body of the unmanned aerial vehicle, and the unmanned aerial vehicle is moved along a structural part such as an area to be surveyed, and information on the structural part is acquired by the information acquisition unit.

[0005] In this regard, in order to stabilize the attitude of the unmanned aerial vehicle relative to the structural part, a mechanism that comes into contact with the structural part is known to protrude from an upper part of the main body (see, for example, Patent Document 1).

[0006] However, in this configuration, when moving the unmanned aerial vehicle, the rotation speed of the rotors located at the front and rear is changed to generate a propulsive force in the forward and backward directions, which causes the main body to tilt forward when moving in the forward and backward directions. This makes it difficult to maintain the measuring device mounted on the main body in a parallel position to the structure, which reduces the accuracy of information acquisition by the measuring device.

[0007] In this regard, there is also known an unmanned aerial vehicle that travels along a structural part above it using drive wheels that are in contact with the structural part (see, for example, Patent Document 2).

[0008] However, in this configuration, since the vehicle runs with the front and rear pairs of drive wheels pressed against the structure, it is not easy to change direction while running. In this regard, while it is possible to change direction by changing the rotation speed of the rotors located diagonally on the main body of the unmanned aerial vehicle, when the drive wheels are in contact with the structure, the grip force is affected and it is not easy to change direction. [Prior art documents] [Patent documents]

[0009] [Patent Document 1] JP 2015-223995 A [Patent Document 2] JP 2016-211878 A Summary of the Invention [Problem to be solved by the invention]

[0010] As such, there is a demand for a device that can move in a stable position relative to the structure above and that can easily change direction when moving.

[0011] The present invention has been made in consideration of these points, and aims to provide an unmanned aerial vehicle that can move in a stable posture relative to an upper structural part while easily changing direction during movement. [Means for solving the problem]

[0012] The unmanned aerial vehicle according to claim 1 includes a main body, a lift generating means for generating lift, and an information acquiring unit for acquiring information about at least an area above the main body. is integrally disposed on the main body portion,a propulsion generating means for generating a propulsive force in a horizontal direction while the propulsion means is in contact with the structural part located above the main body part, and the propulsion generating means generates a propulsive force in a horizontal direction while the propulsion means is in contact with the structural part, the information acquisition unit is capable of adjusting a position in a vertical direction with respect to the main body unit in accordance with unevenness of the structure unit, The traveling means is When the thrust generated by the thrust generating means is insufficient, The thrust generated by the thrust generating means is supplemented. It works like this The vehicle has drive wheels, a steering wheel that is rotatably supported and that sets the direction of travel by turning, and a turning means for driving the turning of the steering wheel.

[0013] An unmanned aerial vehicle according to claim 2 is the unmanned aerial vehicle according to claim 1, in which the steering wheel is a non-driven driven wheel.

[0014] The unmanned aerial vehicle described in claim 3 is an unmanned aerial vehicle described in claim 1 or 2, in which the information acquisition unit has a housing forming at least a part of the outer shell, the drive wheels are positioned away from the housing on one side in a specified direction within the width of the housing, and the steering wheels are positioned away from the housing on the other side in the specified direction within the width of the housing.

[0015] The unmanned aerial vehicle according to claim 4 is the unmanned aerial vehicle according to claim 3, wherein the information acquisition unit protects the housing against the structural unit. Wheel Equipped with a housing guard The driving wheels and steering wheels have a larger diameter than the housing guard. It is something.

[0016] The unmanned aerial vehicle described in claim 5 is an unmanned aerial vehicle described in any one of claims 1 to 4, in which the driving wheels are front wheels, the steering wheels are rear wheels, and the thrust generating means generates thrust in the forward direction.

[0017] The unmanned aerial vehicle according to claim 6 is the unmanned aerial vehicle according to any one of claims 1 to 5, in which a plurality of drive wheels are provided and only one steering wheel is provided. 。

[0018] Claim 7 The unmanned aerial vehicle described in claims 1 to 6In any one of the unmanned aerial vehicles described above, the lift generating means further includes a guard member arranged around the main body to protect the lift generating means against obstacles. Effect of the Invention

[0019] According to the present invention, it is possible to move in a stable posture relative to an upper structural part, and it is also easy to change direction during movement. [Brief description of the drawings]

[0020] [Figure 1] 1 is a side view showing an unmanned aerial vehicle according to one embodiment of the present invention. [Diagram 2] FIG. [Diagram 3] FIG. [Figure 4] FIG. 2 is an explanatory diagram of an investigation system including the unmanned aerial vehicle. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0021] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0022] 1 to 3, reference numeral 10 denotes an unmanned aerial vehicle. The unmanned aerial vehicle 10 is called a drone or a UAV (Unmanned Aerial Vehicle). The unmanned aerial vehicle 10 includes a main body 12. The main body 12 constitutes the center of the unmanned aerial vehicle 10.

[0023] The unmanned aerial vehicle 10 is equipped with a lift generating means 13 that generates lift. The lift generating means 13 has the function of floating (hovering) the unmanned aerial vehicle 10 by applying lift that balances the gravity acting on the unmanned aerial vehicle 10. As an example, the lift generating means 13 is a rotor (horizontal rotor) that has a rotation axis along the vertical direction and is rotated by a motor, and applies lift to the main body unit 12 by rotation. A plurality of lift generating means 13 are provided. The lift generating means 13 are preferably arranged evenly or approximately evenly around the main body unit 12. In other words, a plurality of lift generating means 13 are arranged surrounding the periphery of the main body unit 12. Preferably, the lift generating means 13 are arranged in pairs on opposite sides of each other with respect to the main body unit 12 when viewed from above or below.

[0024] In this embodiment, the lift generating means 13 is attached to an arm 14 formed on the main body 12. The arm 14 extends horizontally from the main body 12. A guard member 15 that protects the lift generating means 13 against obstacles is attached to the arm 14. The guard member 15 extends outward from the lift generating means 13. The guard member 15 extends outward beyond the operating range of the lift generating means 13. In other words, in this embodiment, the guard member 15 is located outside the rotation range of the rotor that constitutes the lift generating means 13.

[0025] Moreover, in this embodiment, the unmanned aerial vehicle 10 is equipped with an information acquisition unit 16. The information acquisition unit 16 acquires information on at least the upper side of the main body unit 12. The information acquisition unit 16 is located at the upper part of the main body unit 12. In this embodiment, the information acquisition unit 16 is located protruding above the main body unit 12. In the illustrated example, the information acquisition unit 16 is attached to a support member 18 that is supported on the upper part of the main body unit 12 via a frame 17 that serves as a support body. Not limited to this, the information acquisition unit 16 may be housed in the main body unit 12.

[0026] In this embodiment, the information acquisition unit 16 has a housing 16a and a detection unit 16b arranged inside the housing 16a. The housing 16a forms at least a part of the outer shell of the information acquisition unit 16. In this embodiment, the housing 16a is formed in a rectangular box shape and forms the outer shell of at least the upper surface, the front surface, the rear surface, and both side surfaces of the information acquisition unit 16. The upper surface of the housing 16a is formed in a flat shape. In the following, for clarity of explanation, the direction indicated by the arrow FR in FIG. 1 is the forward direction, the direction indicated by the arrow RR is the rear direction, and the direction intersecting or perpendicular to the front-rear direction is the left-right direction. In the illustrated example, the housing 16a is longer in the front-rear direction than in the left-right direction.

[0027] The information acquisition unit 16 is a known underground radar antenna device that reflects electromagnetic waves from the detection unit 16b towards the object to be inspected via the upper surface of the housing 16a, which serves as the detection surface, and detects the reflected waves at the position of the detection unit 16b, thereby investigating the presence or absence and thickness of voids G (Figure 4) inside the concrete of the ceiling surface of the object to be inspected, which is an artificial structure such as a tunnel or bridge, i.e., within the structural part S (inspected part), but is not limited to this and may be any type of sensor or camera.

[0028] Furthermore, the position of the information acquisition unit 16 is vertically adjustable relative to the main body 12. Therefore, the positions of the upper surface of the housing 16a and the detection unit 16b move vertically relative to the main body 12. In the illustrated example, the information acquisition unit 16 moves vertically relative to the support member 18. In this embodiment, the information acquisition unit 16 is adjustable so that the distance from the structure S is within a predetermined distance range (for example, 0.8 cm to 5.0 cm).

[0029] Preferably, the information acquisition unit 16 has a housing guard 16c that protects the housing 16a against the structural part S. The housing guard 16c is disposed on the upper surface of the housing 16a. In the illustrated example, the housing guard 16c is disposed on each of the upper corners of the housing 16a. The housing guard 16c may be sled-shaped, but is more preferably a wheel that can rotate in the forward and backward directions. The housing guard 16c is a driven wheel that can rotate in contact with the structural part S, and suppresses the ground resistance to the structural part S. The diameter of the housing guard 16c is set to, for example, 3 cm.

[0030] The information acquisition unit 16 may also include a storage unit for storing the acquired information. As the storage unit, a removable device such as a USB memory is preferably used.

[0031] Furthermore, the unmanned aerial vehicle 10 is equipped with a running means 20 that enables the unmanned aerial vehicle 10 or the main body 12 to run. The running means 20 enables the unmanned aerial vehicle 10 to run along the structural part S above by rotating.

[0032] The traveling means 20 has driving wheels 20a and steering wheels 20b.

[0033] The drive wheel 20a assists the movement of the unmanned aerial vehicle 10 or the main body 12 by the propulsion generating means 22 described below. The drive wheel 20a is driven by a drive means which is an actuator such as a motor. The drive wheel 20a is located away from the housing 16a of the information acquisition unit 16 on one side in a predetermined direction. In this embodiment, the drive wheel 20a is located away from the housing 16a forward. In the illustrated example, the drive wheel 20a is supported by the front end of the support member 18. That is, the drive wheel 20a is a front wheel. The drive wheel 20a is located outward from the top surface of the housing 16a of the information acquisition unit 16.

[0034] The drive wheel 20a has a rotation axis located below the upper surface of the housing 16a, and an upper end protrudes above the upper surface of the housing 16a. The drive wheel 20a is preferably formed with a large diameter. In this embodiment, the drive wheel 20a is formed with a diameter larger than the housing guard 16c of the information acquisition unit 16. In the illustrated example, the drive wheel 20a has a diameter equal to or larger than the height of the housing 16a of the information acquisition unit 16. Preferably, the drive wheel 20a has an outer periphery formed of an elastic member such as a tire made of synthetic resin, and is capable of elastically contacting the structural part S.

[0035] The drive wheels 20a are arranged in pairs in a direction intersecting the running direction. In this embodiment, the drive wheels 20a are arranged on both sides of the center line of the casing 16a in the left-right direction. The drive wheels 20a are arranged so as not to protrude outward beyond the both side surfaces of the casing 16a. In other words, the drive wheels 20a are arranged within the width of the casing 16a.

[0036] The steering wheel 20b sets the direction of travel of the unmanned aerial vehicle 10 or the main body 12 by the thrust generating means 22. The steering wheel 20b is located at a position away from the other side of the housing 16a of the information acquiring unit 16 in a predetermined direction. That is, the steering wheel 20b is located on the opposite side of the driving wheel 20a with respect to the housing 16a of the information acquiring unit 16. In this embodiment, the steering wheel 20b is located at a position away from the rear of the housing 16a. Also, the steering wheel 20b is attached so as to be rotatable in the left-right direction with respect to a support shaft along the up-down direction. The rotation of the steering wheel 20b is driven by a rotation means which is an actuator such as a motor. The steering wheel 20b may be driven, but is preferably a non-driven driven wheel. In this embodiment, the rotation of the steering wheel 20b around the rotation shaft is a driven rotation, and the rotation around the support shaft is driven. In the illustrated example, the steering wheel 20b is supported at the rear end of the support member 18. That is, the steering wheel 20b is a rear wheel. The steering wheel 20b is located outward from the upper surface of the housing 16a of the information acquisition unit 16.

[0037] The steering wheel 20b has a rotation axis located below the upper surface of the housing 16a, and an upper end protrudes above the upper surface of the housing 16a. The steering wheel 20b is preferably formed with a large diameter. In this embodiment, the steering wheel 20b is formed with a larger diameter than the housing guard 16c of the information acquisition unit 16. In the illustrated example, the steering wheel 20b has a diameter equal to or larger than the height of the housing 16a of the information acquisition unit 16. In addition, the steering wheel 20b has a diameter equal to that of the driving wheel 20a. Furthermore, the steering wheel 20b has a width equal to that of the driving wheel 20a. Preferably, the steering wheel 20b has an outer periphery formed of an elastic member such as a tire made of synthetic resin, and is capable of elastically contacting the structural part S.

[0038] The number of steering wheels 20b is smaller than that of driving wheels 20a, and only one is provided in this embodiment. In this embodiment, the support shaft of steering wheel 20b is provided on the center line in the left-right direction of housing 16a. Also, steering wheel 20b is provided so as not to protrude outward beyond both side surfaces of housing 16a. In other words, steering wheel 20b is provided within the width of housing 16a.

[0039] Furthermore, the unmanned aerial vehicle 10 is equipped with a propulsion generating means 22 that generates a horizontal propulsive force to move the unmanned aerial vehicle 10 when the traveling means 20 is in contact with the structural part S. The propulsion generating means 22 is, for example, a rotor (vertical rotor) having a rotation axis along the front-rear direction and driven by a motor, and imparts a forward propulsive force to the unmanned aerial vehicle 10 by rotation. The propulsion generating means 22 may be singular or plural. In the illustrated example, the propulsion generating means 22 is attached to a leg 27 formed on the main body 12. The leg 27 is a part that is placed on the ground when the unmanned aerial vehicle 10 lands. The leg 27 extends downward from the main body 12. In this embodiment, the leg 27 is arranged in pairs on the left and right, and the propulsion generating means 22 is located on a beam member 27a that connects these legs 27. That is, in this embodiment, the rotation axis of the thrust generating means 22 is located below the rotation axis of the lift generating means 13 .

[0040] Further, the thrust generating means 22 is located on the other side in the predetermined direction, that is, on the rear side in this embodiment, with respect to the housing 16a of the information acquiring unit 16. That is, the thrust generating means 22 is located on the rear side, which is the same side as the steering wheel 20b, with respect to the housing 16a of the information acquiring unit 16. Therefore, the thrust generating means 22 is located below the steering wheel 20b.

[0041] The unmanned aerial vehicle 10 also includes a control unit 29. The control unit 29 is disposed in the main body unit 12. The control unit 29 controls the operation of the lift generating means 13, the driving of the drive wheels 20a of the traveling means 20, the steering of the steering wheels 20b of the traveling means 20, and the thrust generating means 22. For example, the control unit 29 controls the operation of the lift generating means 13, the driving of the drive wheels 20a of the traveling means 20, the steering of the steering wheels 20b of the traveling means 20, and the thrust generating means 22 in response to an operation signal input by an operator PO shown in FIG. 4 via a predetermined controller C. That is, the unmanned aerial vehicle 10 is remotely operated by the operator PO. The controller C is preferably capable of wireless communication with the control unit 29, but is not limited thereto, and may be configured to communicate with the control unit 29 by wire. When investigating a dark place such as the inside of a tunnel, the operator PO usually performs the investigation together with a work assistant PA. The work assistant PA assists the operator PO in operating the unmanned aerial vehicle 10, for example, by illuminating the unmanned aerial vehicle 10 and the structural part S. In addition, the control unit 29 may control the operation of the information acquisition unit 16, and may have the function of storing and analyzing information acquired by the information acquisition unit 16.

[0042] Furthermore, the unmanned aerial vehicle 10 includes a power supply unit. The power supply unit serves as a power source for the lift generating means 13, the drive wheels 20a of the traveling means 20, the propulsion generating means 22, and the control unit 29. The power supply unit may also serve as a power source for the information acquisition unit 16. The power supply unit may be a rechargeable secondary battery, a replaceable primary battery, or a device that draws power from an external power source via a wire. For example, the power supply unit is disposed in the main body unit 12 shown in FIG. 1.

[0043] When moving through the air, the unmanned aerial vehicle 10 can move forward / backward, left / right, and up / down by utilizing the propulsion generated by the lift generating means 13 and / or the propulsion generating means 22 controlled by the control unit 29.

[0044] On the other hand, in this embodiment, when the unmanned aerial vehicle 10 is to investigate an upper structural part S, for example, as shown in Figs. 1 to 3, the driving wheels 20a and steering wheels 20b of the traveling means 20 are pressed against the structural part S by the upward lift force of the lift generating means 13, and the unmanned aerial vehicle 10 moves along the structural part S at a predetermined speed, for example, about 4 km per hour, using the propulsion force generated by the propulsion generating means 22, while acquiring information on the structural part S by the information acquiring unit 16. When the propulsion force generated by the propulsion generating means 22 is insufficient, the driving wheels 20a of the traveling means 20 are driven to supplement it. In addition, when changing direction while traveling, the steering wheels 20b of the traveling means 20 are rotated along the rotation axis, making it possible to easily change direction with a relatively small turning radius.

[0045] That is, in the case of this embodiment, when moving along the structural part S, the lift difference of the lift generating means 13 between the front and rear or the left and right, for example, the propulsive force in the front and rear or left and right directions generated by the difference in rotation speed of the rotor blades is not used, but the upward lift is used, and the propulsive force is basically generated in the forward direction by the propulsive force generating means 22, and assisted by the driving wheel 20a as necessary. Therefore, the unmanned aerial vehicle 10 basically moves forward. In other words, the unmanned aerial vehicle 10 moves along the structural part S with the driving wheel 20a on the front side, and as necessary, the steering wheel 20b is turned to change the forward direction by the propulsive force generated by the propulsive force generating means 22.

[0046] As a result, without tilting the main body 12 back and forth relative to the structural part S as in the conventional case in which the unmanned aerial vehicle 10 is moved along the structural part S by using the difference in rotational speed of the rotor blades, the unmanned aerial vehicle 10 can be moved along the structural part S above while maintaining a stable posture relative to the structural part S above with a simple configuration, and direction changes during movement can be easily made.

[0047] That is, when the traveling means 20 is pressed against the structural part S by the lift generated by the lift generating means 13, the ground resistance is large, and changing direction is not easy by conventionally changing direction by controlling the rotation speed of the lift generating means 13. Therefore, in this embodiment, when moving along the structural part S, direction is basically changed by the steering wheel 20b, making direction change easy, while direction change by controlling the rotation speed of the lift generating means 13 is basically not used, so that a simple configuration can be used for system control.

[0048] Therefore, when the information acquisition unit 16 for acquiring information on the upper side of the main body unit 12 is provided, the information acquisition unit 16 can move along the structural unit S while maintaining a state in which it is facing the structural unit S, so that information on the structural unit S can be acquired with high accuracy by the information acquisition unit 16. In other words, since the structural unit S can be investigated by the information acquisition unit 16 mounted on the unmanned aerial vehicle 10, there is no need to prepare a measurement vehicle, workers at height, temporary scaffolding, etc., compared to conventional measurement methods, which makes it possible to reduce the number of workers, time, and costs.

[0049] By making the steering wheel 20b a non-driven wheel, an actuator such as a motor for driving the steering wheel 20b is not required, making the unmanned aerial vehicle 10 simpler and lighter.

[0050] By arranging the driving wheel 20a and the steering wheel 20b within the width of the housing 16a of the information acquisition unit 16, it is possible to eliminate the portion protruding in the width direction of the housing 16a at the position of the information acquisition unit 16. Therefore, it is difficult to get caught on obstacles, etc., and it is possible to move in a narrow position. In addition, by arranging the driving wheel 20a away from the housing 16a on one side in a predetermined direction and arranging the steering wheel 20b away from the housing 16a on the other side in a predetermined direction, the amount of upward protrusion from the information acquisition unit 16 is reduced, even if the driving wheel 20a and the steering wheel 20b have a large diameter, compared to the case where the driving wheel 20a or the steering wheel 20b is attached to the housing 16a, and the upper surface of the housing 16a, which is the detection surface of the information acquisition unit 16, is not covered by the driving wheel 20a and the steering wheel 20b. Therefore, the large diameter drive wheels 20a and steering wheels 20b make it easier to overcome protrusions and steps on the structural part S, resulting in stable driving performance, without reducing the detection accuracy of the structural part S above by the information acquisition unit 16.

[0051] In addition, since the driving wheels 20a serve as the front wheels and the steering wheels 20b serve as the rear wheels, the thrust generating means 22 generates thrust in the forward direction, making it easier for the unmanned aerial vehicle 10 to overcome protrusions and steps on the structural part S at the front of the unmanned aerial vehicle 10.

[0052] Furthermore, by arranging multiple drive wheels 20a and only one steering wheel 20b, the weight on the steering wheel 20b side can be reduced and the steering mechanism can be simplified. Also, when moving forward, the multiple drive wheels 20a act as a guard against protrusions on the structural part S, making it difficult for the protrusions to collide with the housing 16a of the information acquisition part 16.

[0053] By protecting the housing 16a of the information acquisition unit 16 from the structural part S with the housing guard 16c, it is possible to prevent the information acquisition unit 16 from being damaged by protrusions or steps on the structural part S. In addition, by making the housing guard 16c into a wheel, it is possible to reduce the ground resistance to the structural part S, and it becomes possible to run more smoothly along the structural part S.

[0054] Since the position of the information acquisition unit 16 can be adjusted vertically relative to the main body 12, the distance of the information acquisition unit 16 from the structural part S can be set to an appropriate distance for acquiring information depending on the protrusions or steps of the structural part S.

[0055] In addition, during flight or when moving along the structural portion S, the multiple lift generating means 13 surrounding the main body portion 12 can be protected from obstacles by the guard member 15. [Explanation of symbols]

[0056] 10 Unmanned Aerial Vehicles 12 Main body 13 Lift generating means 15 Guard material 16 Information acquisition department 16a Case 16c Chassis Guard 20 Means of transportation 20a Drive wheel 20b Steering wheel 22 Means of Propulsion Generation S structure

Claims

1. A main body portion, A lift generating means for generating lift; An information acquisition unit that acquires information on at least an area above the main body unit; a traveling means that is disposed integrally with the main body and is capable of traveling in contact with a structure located above the main body by the lift provided by the lift generating means; a propulsion generating means for generating a propulsive force in a horizontal direction while the traveling means is in contact with the structural portion, the information acquisition unit is capable of adjusting a position in a vertical direction with respect to the main body unit in accordance with unevenness of the structure unit, The traveling means is a driving wheel that operates to supplement the thrust generated by the thrust generating means when the thrust generated by the thrust generating means is insufficient; A steering wheel that is supported so as to be rotatable and that sets a traveling direction by turning; and a turning means for driving the turning of the steering wheel. An unmanned aerial vehicle characterized by

2. The steering wheels are non-driven wheels.

2. The unmanned aerial vehicle according to claim 1 .

3. The information acquisition unit includes a housing that forms at least a part of the outer shell, The drive wheel is located on one side of the housing in a predetermined direction within the width of the housing, The steering wheel is located on the other side of the housing in the predetermined direction within the width of the housing.

3. The unmanned aerial vehicle according to claim 1 or 2.

4. The information acquisition unit includes a housing guard, which is a wheel that protects the housing from the structural unit; The driving wheels and steering wheels have a larger diameter than the housing guard.

4. The unmanned aerial vehicle according to claim 3.

5. The driving wheels are the front wheels, The steering wheels are the rear wheels, The thrust generating means generates thrust in a forward direction.

5. The unmanned aerial vehicle according to claim 1, wherein the unmanned aerial vehicle is a vehicle that is capable of carrying out a control operation.

6. The drive wheels are arranged in a plurality of positions, There is only one steering wheel 6. An unmanned aerial vehicle according to claim 1, wherein the unmanned aerial vehicle is a vehicle having a plurality of wings.

7. The lift generating means is arranged in a plurality around the main body, The lift generating means may further include a guard member for protecting the lift generating means against obstacles.

7. The unmanned aerial vehicle according to claim 1, wherein the unmanned aerial vehicle is a vehicle having a plurality of wings.

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