JP7645499B2 - Unmanned aerial vehicles and their storage devices - Google Patents

Description

This disclosure relates to unmanned aerial vehicles and storage devices for the same.

In recent years, unmanned aerial vehicles known as drones have been used in a variety of locations. For example, Patent Document 1 discloses the structure of a drone whose arms can be folded for storage, etc.

Patent No. 6976304

The present disclosure was devised in consideration of the conventional situation described above, and aims to realize an unmanned aerial vehicle with improved ease of handling.

The present disclosure provides an unmanned aerial vehicle comprising a main body, a plurality of arms connected to the main body by a first connecting member and extending from the main body, and a propeller rotated by a motor disposed on the free end side of each of the plurality of arms, each of the plurality of arms being configured to be foldable around a rotation axis of the first connecting member that is defined in the horizontal direction, and the propeller of each of the plurality of arms being positioned closer to the center of the main body than the arm when the associated arm is folded.

The present disclosure also provides a storage device that stores an unmanned aerial vehicle, an operation terminal for operating the unmanned aerial vehicle, a cable winding device for winding a power cable connected to the unmanned aerial vehicle, and a power supply device that supplies power to the unmanned aerial vehicle via the power cable, in which the unmanned aerial vehicle includes a main body, a plurality of arm sections that are connected to the main body by a first connecting member and extend from the main body, and a propeller that rotates by a motor that is disposed on the free end side of each of the plurality of arm sections, each of the plurality of arm sections being configured to be foldable around a rotation axis of the first connecting member that is horizontally defined, and the propellers of each of the plurality of arm sections are located closer to the center of the main body than the arm sections when the provided arm sections are folded, the unmanned aerial vehicle is stored in the storage device with the power cable connected, and the unmanned aerial vehicle is usable with the cable winding device and the power supply device stored in the storage device.

This disclosure makes it possible to realize an unmanned aerial vehicle that is easier to handle.

FIG. 1 is an external view of an unmanned aerial vehicle according to an embodiment of the present invention (folded state); FIG. 1 is an external view of an unmanned aerial vehicle according to an embodiment of the present invention (folded state); FIG. 1 is an external view of an unmanned aerial vehicle according to an embodiment of the present invention (folded state); FIG. 1 is an external view of an unmanned aerial vehicle (with arms deployed) according to an embodiment of the present invention; FIG. 1 is an external view of an unmanned aerial vehicle (with propellers deployed) according to an embodiment of the present invention; FIG. 1 is an external view of an unmanned aerial vehicle (deployed state) according to an embodiment of the present invention; FIG. 1 is an external view of an unmanned aerial vehicle (deployed state) according to an embodiment of the present invention; 1 is an external view of an arm portion according to an embodiment of the present invention; FIG. 1 is an external view of a leg according to an embodiment of the present invention; FIG. FIG. 1 is an external view showing an example of a storage state in a storage device according to an embodiment of the present invention;

(How the contents of each embodiment were arrived at)
In recent years, the number of places where unmanned aerial vehicles such as drones equipped with various parts such as cameras are used is expanding, and one example is disaster relief sites. In such sites, in order to respond to situations that change from moment to moment, it is necessary to quickly set up and start operating the unmanned aerial vehicle. In addition, at disaster relief sites, workers may wear protective clothing that is not suitable for delicate work for their own protection, so there is a demand for unmanned aerial vehicles to be easily set up without the need for delicate work.

The following embodiment therefore describes an example of an unmanned aerial vehicle that can be installed more quickly and easily.

Below, with reference to the drawings as appropriate, each embodiment specifically disclosing the unmanned aerial vehicle and storage device according to the present disclosure will be described in detail. However, more detailed explanation than necessary may be omitted. For example, detailed explanation of already well-known matters and duplicate explanation of substantially identical configurations may be omitted. This is to avoid the following explanation becoming unnecessarily redundant and to facilitate understanding by those skilled in the art. Note that the attached drawings and the following explanation are provided to enable those skilled in the art to fully understand the present disclosure, and are not intended to limit the subject matter described in the claims.

In the following description, when there are multiple equivalent parts, the suffixes a, b, ... are added to the reference numerals, and when these are described individually, the suffixes are clearly stated. On the other hand, when these are described in common, the suffixes are omitted. In the following description, expressions such as "first" and "second" are merely used to distinguish from other components, and are not intended to be interpreted as being limited to specific parts. Therefore, these expressions can be interpreted as appropriate depending on the configuration, etc. In addition, in the drawings used in the following description, a three-dimensional coordinate system is shown, and the orientation of these corresponds in each drawing. In the three-dimensional coordinate system, the X-axis indicates the front-rear direction, the Y-axis indicates the width direction (left-right direction), and the Z-axis indicates the height direction.

<First embodiment>
[Equipment configuration]
1 to 7 are perspective views for explaining the appearance and state of an unmanned aerial vehicle 1 according to this embodiment. The unmanned aerial vehicle 1 according to this embodiment includes a main body 10, an arm 20, legs 30, and a camera 40. Inside the main body 10, for example, a control device, a storage device, a battery, a communication device, a sensor device, evacuation equipment, and the like (not shown) are provided.

The control device (not shown) may be configured, for example, using a CPU (Central Processing Unit), a GPU (Graphical Processing Unit), an MPU (Micro Processing Unit), a DSP (Digital Signal Processor), or an FPGA (Field-Programmable Gate Array). The control device realizes various functions, for example, by reading various programs and data stored in a storage device (not shown). The storage device is a storage unit for storing various data and programs, and may be configured, for example, from a volatile/non-volatile storage device such as a RAM (Random Access Memory), a ROM (Read Only Memory), or a flash memory.

The battery is a power source for supplying power to each part in the main body 10 and each motor provided in the arm 20. The communication device is a part for wireless communication with an external terminal (for example, an operation terminal described later), and may use any combination of communication standards and frequency bands such as Wi-Fi (registered trademark) and Bluetooth (registered trademark). The sensor device is a part for detecting information on the state of the unmanned aerial vehicle 1 and the surrounding environment, and may include multiple types of sensors. Examples of sensors include a position sensor, a distance sensor, a pressure sensor, a gyro sensor, an acceleration sensor, a magnetic sensor, and a sound sensor. The position sensor performs positioning using a Global Navigation Satellite System (GNSS), represented by the Global Positioning System (GPS). The evacuation equipment includes, for example, a parachute device, which is used when an abnormality occurs.

The unmanned aerial vehicle 1 is provided with multiple arm units 20 that can be opened and closed. In the configuration of this embodiment, an example is shown in which four arm units 20a, 20b, 20c, and 20d are provided. However, this is not limited to this, and three or less or five or more arm units 20 may be provided as long as stable flight is possible. A more detailed configuration example of the arm unit 20 will be described later using FIG. 7. The unmanned aerial vehicle 1 is provided with multiple leg units 30 that can be opened and closed. In the configuration of this embodiment, an example is shown in which two leg units 30a and 30b are provided. However, this is not limited to this, and one or three or more leg units 30 may be provided as long as stable installation and landing are possible. A more detailed configuration example of the leg unit 30 will be described later using FIG. 8.

The camera 40 is an imaging device for acquiring images of the surroundings of the unmanned aerial vehicle 1. The camera 40 is mounted on the main body 10 via a three-axis gimbal, and enables capturing images while suppressing vibrations during flight, etc. The camera 40 can also pan, tilt, and zoom within a predetermined range based on instructions from the control device. The camera 40 may be an optical camera or an infrared camera. The unmanned aerial vehicle 1 according to this embodiment is equipped with a power cable 50, as will be described in detail later. In response to this configuration, the camera 40 may have its capturing parameters (angle of view, etc.) adjusted so that the power cable 50 is not included in the captured image.

The unmanned aerial vehicle 1 according to this embodiment can be switched by an operator between a flying state (hereinafter also referred to as the "unfolded state") and a state for storing in a storage device 100 (described below) or the like (hereinafter also referred to as the "folded state").

Figure 1 is a view of the unmanned aerial vehicle 1 in a folded state, as seen from the front. Figure 2 is a view of the unmanned aerial vehicle 1 in a folded state, as seen from the side. Figure 3 is a view of the unmanned aerial vehicle 1 in a folded state, as seen from below. Figure 4 shows the unmanned aerial vehicle 1 in a folded state, with the four arms 20a, 20b, 20c, and 20d unfolded from the folded state of Figure 1. Figure 5 shows the unfolded state of the propellers 25 provided on each of the four arms 20a, 20b, 20c, and 20d from the state of Figure 4. Figure 6 shows the unfolded state of the two legs 30a and 30b from the state of Figure 5.

Figure 7 is an external view of the unmanned aerial vehicle 1 in the deployed state, seen from the rear. A power cable 50 is connected to the rear side of the unmanned aerial vehicle 1 so that power can be supplied from the outside. Therefore, the unmanned aerial vehicle 1 in this embodiment corresponds to a so-called wired drone. By providing the power cable 50, it is possible to fly for a longer period of time than when only the battery in the main body unit 10 is used. Note that the battery in the main body unit 10 may be omitted, and the unmanned aerial vehicle 1 may be operated only by power supply via the power cable 50. In this embodiment, the unmanned aerial vehicle 1 is allowed to fly within a predetermined range based on the position of the storage device 100 described below, and the length of the power cable 50 may be specified corresponding to this range.

(Arm section)
FIG. 8 is an external view showing a configuration example of the arm unit 20 provided in the unmanned aerial vehicle 1 according to this embodiment. As described above, the unmanned aerial vehicle 1 according to this embodiment has four arm units 20a, 20b, 20c, and 20d, all of which have the same configuration. The arm unit 20 is configured to extend from the main body unit 10 and is connected to the main body unit 10 via the connecting unit 21. The connecting unit 21 is configured to be rotatable along a rotation axis defined in the horizontal direction, and this allows the arm unit 20 to transition between the state shown in FIG. 1 and the state shown in FIG. 4. The connecting unit 21 includes a rotation restriction member 21a that restricts the range of rotation. The connecting unit 21 can rotate to a position where the rotation restriction member 21a contacts the main body unit 10. The rotation restriction member 21a may be provided on the main body unit 10 side.

The connecting part 21 is connected to one end of the columnar member 22, and the fixing member 23 is connected to the other end. The columnar member 22 is configured in a cylindrical shape, and power lines and the like can be passed through its interior. The motor part 24 is installed on the fixing member 23. The motor part 24 receives a power supply (control signal) from the main body part 10 side via a power line (not shown) passing through the columnar member 22, and performs a rotation operation. The type of the motor part 24 is not particularly limited, and for example, a brushless DC (Direct Current) motor or the like may be used. The motor part 24 is provided with a propeller 25. In this example, an example in which two propellers 25a and 25b are provided is shown. When the motor part 24 performs a rotation operation, the propellers 25a and 25b connected thereto also rotate. In the unmanned flying object 1 according to this embodiment, in the deployed state, the propeller 25 is installed vertically below the motor part 24. Therefore, when in the folded state as shown in FIG. 1, the propeller 25 is positioned so that it faces inward, i.e., toward the center of the main body 10.

(leg)
FIG. 9 is an external view showing an example of the configuration of the leg 30 provided in the unmanned aerial vehicle 1 according to this embodiment. As described above, the unmanned aerial vehicle 1 according to this embodiment has two legs 30a and 30b, both of which have the same configuration. The leg 30 is connected to the main body 10 via the connecting portion 31. The connecting portion 31 is configured to be rotatable along a rotation axis defined in the horizontal direction, and this allows the leg 30 to transition between the state shown in FIG. 4 and the state shown in FIG. 5. The connecting portion 31 is provided with a rotation restriction member 31a that restricts the range of rotation. In addition, a rotation restriction member 31b is also provided on the main body 10 side. The connecting portion 31 can rotate to a position where the rotation restriction member 31a contacts the main body 10. In the opposite direction, the connecting portion 31 can also rotate to a position where a part of the connecting portion 31 contacts the rotation restriction member 31b on the main body 10 side.

A connecting portion 31 is connected to one end of the columnar member 32, and a connecting member 33 is connected to the other end. The connecting member 33 connects the columnar member 32 to the columnar member 34. The columnar member 34 has a certain bent shape, and cushioning members 35 are installed on both ends. The cushioning members 35 cushion the impact when the unmanned aerial vehicle 1 lands.

The material of each part of the unmanned aerial vehicle 1 is not particularly limited. It may be configured to achieve durability and light weight, taking into account the conditions at the site where it will be used. For example, the pillar-shaped member 22 of the arm section 20 and the pillar-shaped member 32 of the leg section 30 may be made of carbon. Furthermore, the cushioning member 35 of the leg section 30 may be made of a sponge material such as polyurethane foam or polyethylene foam.

[Storage in storage device]
The unmanned aerial vehicle 1 according to the present embodiment is used together with a cable winding device 2, a power supply device 3, and an operation terminal 4. The cable winding device 2 is a device for winding up a power cable 50 connected to the unmanned aerial vehicle 1, which is a wired drone. The cable winding device 2 detects slack or tension in the power cable 50 and controls winding or releasing the power cable. The power supply device 3 supplies power to the cable winding device 2 and the unmanned aerial vehicle 1 via the power cable 50. The power supply device 3 only needs to have a device configuration and function related to power supply to the unmanned aerial vehicle 1 and the cable winding device 2, and the configuration is not particularly limited. The power supply device 3 may be an AD/DC converter or a DC/DC converter. The operation terminal 4 is an information processing terminal for controlling the operation of the unmanned aerial vehicle 1. The unmanned aerial vehicle 1 performs, for example, flight control and camera control based on instructions from an operator via the operation terminal 4. The operation terminal 4 may be, for example, a tablet terminal equipped with a touch panel display, a mobile terminal such as a POS terminal, or the like.

Figure 10 shows an example of a configuration in which an unmanned aerial vehicle 1, a cable winding device 2, a power supply device 3, and an operation terminal 4 are stored together in a box-shaped storage device 100. For example, at a disaster site, if each device is managed separately, convenience for emergency response decreases. Therefore, each device in this embodiment is configured to be able to be stored in a single storage device 100. In the storage device 100, cushioning material 5 is installed between each device, and it is configured to prevent contact between the devices.

Although omitted in FIG. 10, the cable winding device 2 and the power supply device 3 are connected in a state in which electricity can be conducted. Furthermore, even when the unmanned aerial vehicle 1 is in the stored state (folded state), the power cable 50 is connected, and the unmanned aerial vehicle 1 and the power supply device 3 are connected in a state in which electricity can be conducted via the power cable 50.

When using the unmanned aerial vehicle 1, the unmanned aerial vehicle 1 and the operation terminal 4 are removed, and the unmanned aerial vehicle 1 is manually deployed as shown in FIG. 6. The desired flight operations can then be performed by operating the unmanned aerial vehicle 1 via the operation terminal 4. Therefore, when using the unmanned aerial vehicle 1, there is no need to remove the cable winding device 2 and the power supply device 3 from the storage device 100.

The unmanned aerial vehicle 1 is stored in the storage device 100 in the folded state shown in Figures 1 to 3. In the folded state, the arm section 20 and the leg section 30 are configured so as not to interfere with each other. In addition, the unmanned aerial vehicle 1 is configured so that the propeller 25 side of the arm section 20, i.e., the side to be inserted into the storage device 100, is narrowed in the folded state. In other words, the rotatable range of the connecting section 21 is designed so that the propeller 25 side of the arm section 20 is located closer to the center of the main body section 10 than the connecting section 21 side. In other words, in the folded state, the tip of the arm section 20 is located closer to the center of the main body section 10 than the connecting section 21 when viewed from the vertical direction (Z-axis direction). Similarly, the rotatable range of the connecting section 31 is designed so that the connecting member 33 side of the leg section 30 is located closer to the center of the main body section 10 than the connecting section 31 side. At this time, as shown in FIG. 3, it is preferable to arrange the arm unit 20 so that the tip of the propeller 25 side is hidden within the range of the leg unit 30 when viewed from below. By configuring it in this way, it is possible to arrange it so that the leg unit 30 prevents the tip of the arm unit 20 from contacting the storage device 100 when storing the unmanned aerial vehicle 1 in the storage device 100. Also, since the propeller 25 is located on the inside in the folded state, it is possible to prevent contact with the propeller 25 from the side when storing the unmanned aerial vehicle 1 in the storage device 100.

Also, as shown in FIG. 2, the lengths of the arm section 20 and the leg section 30, more specifically, the lengths of the columnar member 22 of the arm section 20 and the columnar member 32 of the leg section 30, are determined so that the tip of the arm section 20 on the propeller 25 side is closer to the main body section 10 than the position of the leg section 30 in the folded state in the height direction.

As described above, the unmanned aerial vehicle (e.g., unmanned aerial vehicle 1) according to this embodiment includes a main body (e.g., main body 10), a plurality of arms (e.g., arms 20a, 20b, 20c, 20d) that are connected to the main body by a first connecting member (e.g., coupling member 21) and extend from the main body, and a propeller (e.g., 25) that rotates by a motor (e.g., 24) disposed on the free end side of each of the plurality of arms, each of which is configured to be foldable around the rotation axis of the first connecting member defined in the horizontal direction, and the propellers of each of the plurality of arms are located closer to the center of the main body than the arm when the arm is folded. This configuration makes it possible to provide an unmanned aerial vehicle with improved handling convenience. In particular, it is possible to make the size of the unmanned aerial vehicle compact when stored. Furthermore, it is possible to easily remove the unmanned aerial vehicle from the storage device while suppressing contact with the propellers.

The unmanned aerial vehicle is connected to the main body by a second connecting member (e.g., coupling portion 31) and has legs (e.g., legs 30) extending from the main body, and the legs are configured to be foldable around the rotation axis of the second connecting member, which is defined in the horizontal direction. This configuration makes it possible to make the size of the unmanned aerial vehicle compact when stored.

In addition, the multiple arms and legs are configured so that they do not interfere with each other when folded. This configuration prevents interference between the arms and legs when folded, making it possible to prevent damage, etc.

In addition, when each of the multiple arms is folded, the free end is located closer to the center of the main body than the first connecting member. This configuration makes it easier to remove and store the arms from the storage device.

In addition, when the legs are folded, the free ends are located closer to the center of the main body than the second connecting member. This configuration makes it easier to remove and store the legs from the storage device.

The unmanned aerial vehicle also includes a power cable (e.g., power cable 50) for receiving power from an external source during flight, and a camera (e.g., camera 40), and the camera's imaging range is configured so as not to include the power cable. This configuration allows the camera's imaging range to be determined in accordance with the presence of the power cable.

The storage device (e.g., storage device 100) stores an unmanned aerial vehicle (e.g., unmanned aerial vehicle 1), an operation terminal (e.g., operation terminal 4) for operating the unmanned aerial vehicle, a cable winding device (e.g., cable winding device 2) for winding up a power cable (e.g., 50) connected to the unmanned aerial vehicle, and a power supply device (e.g., power supply device 3) that supplies power to the unmanned aerial vehicle via the power cable, and the unmanned aerial vehicle is stored in the storage device with the power cable connected, and the unmanned aerial vehicle can be used with the cable winding device and power supply device stored in the storage device. This configuration makes it possible to provide a storage device that can improve the convenience of handling the unmanned aerial vehicle.

(Other Modifications)
In the above embodiment, an example is shown in which two legs are provided, each of which is T-shaped. However, this is not limited thereto, and for example, three or more legs may be provided, each of which is I-shaped. In addition, a plurality of legs may be connected, and a portion connecting the legs may be configured to be expandable when switching between the folded state and the unfolded state. In such a configuration, for example, a portion where a buffer member is provided (corresponding to the connection member 33) may be configured in a circular or rectangular loop shape.

Furthermore, the storage of the unmanned aerial vehicle 1 and its peripheral devices in the storage device 100 is not limited to the configuration in FIG. 10, and the arrangement may be adjusted as appropriate. For example, when the power supply device 3 is connected to an external power supply source, the storage device 100 may be configured so that a cable for this connection can be further arranged inside the storage device 100. Therefore, the storage device 100 may be configured to have openings and interfaces for connecting to external devices, taking into consideration dustproofing, waterproofing, fireproofing, etc.

In addition, in the above embodiment, an example was shown in which the shooting parameters were adjusted so that the power cable 50 would not be included in the image captured by the camera 40. This is not limited to this, and for example, image processing may be performed to remove the area of the power cable from the captured image, or the orientation of the unmanned aerial vehicle 1 itself may be changed so that the power cable is not included in the captured image.

The present disclosure also covers programs and storage media that realize the functions of the devices of the above-mentioned embodiments and that are supplied to the device via a network or various storage media and that are read and executed by a computer within the device.

Although various embodiments have been described above with reference to the drawings, it goes without saying that the present disclosure is not limited to the examples described. It is clear to a person skilled in the art that various modifications, revisions, substitutions, additions, deletions, and equivalents may be made within the scope of the claims, and it is understood that these also naturally fall within the technical scope of the present disclosure. Furthermore, the components in the various embodiments described above may be combined in any manner as long as they do not deviate from the spirit of the invention.

(Additional Note)
The above description of the embodiments discloses the following techniques.
(Technique 1)
A main body portion,
a plurality of arms connected to the main body by a first connecting member and extending from the main body;
A propeller rotated by a motor disposed on a free end side of each of the plurality of arm portions;
Equipped with
Each of the plurality of arm portions is configured to be foldable around a rotation axis of the first connection member that is defined in a horizontal direction,
An unmanned aerial vehicle in which the propellers on each of the multiple arm sections are positioned closer to the center of the main body section than the arm sections when the arm sections are folded.
This configuration makes it possible to provide an unmanned aerial vehicle that is easier to handle. In particular, it makes it possible to reduce the size of the unmanned aerial vehicle when stored. Furthermore, it makes it easier to remove the unmanned aerial vehicle from the storage device while preventing contact with the propeller.

(Technique 2)
a leg portion connected to the body portion by a second connecting member and extending from the body portion;
The unmanned aerial vehicle described in Technology 1, wherein the leg is configured to be foldable around a rotation axis of the second connecting member which is defined horizontally.
This configuration allows the unmanned aerial vehicle to be compact when stored.

(Technique 3)
The unmanned aerial vehicle described in Technology 2 has a configuration in which the multiple arm sections and the legs do not interfere with each other when the multiple arm sections and the legs are folded.
With this configuration, when the device is folded, interference between the arms and legs does not occur, making it possible to prevent damage, etc.

(Technique 4)
An unmanned aerial vehicle described in any of Technology 1 to Technology 3, wherein, when folded, the free end side of each of the multiple arm portions is located closer to the center of the main body portion than the first connecting member side.
This configuration makes it possible to easily remove the device from and store it in the storage device.

(Technique 5)
An unmanned aerial vehicle described in any of Technology 2 to Technology 4, wherein, when the leg is folded, the free end side is located closer to the center of the main body portion than the second connecting member side.
This configuration makes it possible to easily remove the device from and store it in the storage device.

(Technique 6)
a power cable for receiving power from an external source during flight;
A camera and
Equipped with
An unmanned aerial vehicle described in any one of Technology 1 to Technology 5, wherein the camera's shooting range is configured so as not to include the power cable.
This configuration enables the camera to define its shooting range in accordance with the presence of the power cable.

(Technique 7)
An unmanned aerial vehicle according to any one of Technology 1 to Technology 6;
An operation terminal for operating the unmanned aerial vehicle;
A cable winding device for winding up a power cable connected to the unmanned aerial vehicle;
a power supply device that supplies power to the unmanned aerial vehicle via the power cable;
A storage device for storing
The unmanned aerial vehicle is stored in the storage device with the power cable connected,
A storage device, wherein the unmanned aerial vehicle can be used with the cable winding device and the power supply device stored in the storage device.
With this configuration, it is possible to provide a storage device that can improve the convenience of handling unmanned aerial vehicles.

This disclosure is useful for unmanned aerial vehicles and their storage devices.

1...Unmanned aerial vehicle 2...Cable winding device 3...Power supply unit 4...Operation terminal 5...Cushioning material 10...Main body 20...Arm 21...Connecting portion 21a...Rotation restriction member 22...Column-shaped member 23...Fixing member 24...Motor unit 25...Propeller 30...Leg 31...Connecting portions 31a, 31b...Rotation restriction member 32...Column-shaped member 33...Connection member 34...Column-shaped member 35...Cushioning member 40...Camera 50...Power cable 100...Storage device

Claims (5)

A main body portion,
a plurality of arms connected to the main body by a first connecting member and extending from the main body;
Two propellers rotated by a motor disposed on the free end side of each of the plurality of arm portions;
a leg portion connected to the body portion by a second connecting member and extending from the body portion;
Equipped with
Each of the plurality of arm portions is configured to be foldable around a rotation axis of the first connection member that is defined in a horizontal direction,
The leg portion is configured to be foldable around a rotation axis of the second connection member that is defined in a horizontal direction,
The free ends of the arms in a folded state are closer to the main body than the legs in a folded state,
The two propellers provided on each of the plurality of arm units are located closer to the center of the main body unit than the arm unit when the arm unit is folded, and the tips of the two propellers both face toward the main body unit,
When the arm portion and the leg portion are folded, the tips of the two propellers are located within an outer diameter range of the leg portion when the main body portion is viewed from below.
When the leg portion is folded, a free end side is located closer to the center of the main body portion than the second connecting member side.
Unmanned aerial vehicle. Further comprising a camera connected to a lower portion of the main body,
The unmanned aerial vehicle of claim 1 , wherein when the multiple arm sections and the legs are folded, the propellers, the legs, and the camera provided on each of the multiple arm sections are configured so as not to interfere with each other. The unmanned aerial vehicle according to claim 1, wherein, when folded, the free end of each of the arms is located closer to the center of the main body than the first connecting member. a power cable for receiving power from an external source during flight;
A camera and
Equipped with
The unmanned aerial vehicle of claim 1 , wherein the camera's field of view is configured so as not to include the power cable. An unmanned aerial vehicle according to any one of claims 1 to 4 ;
An operation terminal for operating the unmanned aerial vehicle;
A cable winding device for winding up a power cable connected to the unmanned aerial vehicle;
a power supply device that supplies power to the unmanned aerial vehicle via the power cable;
A storage device for storing
The unmanned aerial vehicle is stored in the storage device with the power cable connected,
A storage device, wherein the unmanned aerial vehicle can be used with the cable winding device and the power supply device stored in the storage device.

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