[Problem] To provide a flying body having a new structure capable of improving flight efficiency. [Solution] The problem is addressed by a flying body capable of traveling along at least a first direction and comprising an airframe part and an auxiliary part wherein the airframe part has a body part and a lift generating part, the body part having a right part and a left part extending along the first direction and a connecting part whereby the ends of the right part and the left part in a second direction opposing to the first direction are connected. The flying body is thus configured so as to create a surrounded space surrounded by the left part, the right part, and the connecting part when seen from a third direction perpendicular to the first direction.

The present disclosure pertains to a multi-rotor unmanned aerial vehicle (UAV). Aspects of the present disclosure provide a UAV that includes at least four arms, each configured with a co-axial pair of contra rotating propellers, wherein each propeller has capability of rotating reversibly with associated reversal of direction of thrust, and an autopilot control system that controls rotational direction and speed of the at least four co-axial pairs of propellers to maintain yaw stability, roll stability and pitch stability of the UAV, wherein in an event of failure of any one co-axial pair out of the at least four co-axial pairs of propellers, the autopilot control system reverses direction of rotation and thereby direction of thrust of at least one propeller of any functional pair.

An unmanned aerial vehicle (UAV) includes a body that supports one or more rotors, the one or more rotors each driven by a motor and configured to provide lift to the body. The UAV further includes a parts handler coupled to the body, the parts handler configured to grasp a payload, and rotate the payload with respect to an external structure to couple the payload to, or decouple the payload from, the external structure. The UAV includes a stabilizing mechanism extending from the body, the stabilizing mechanism configured to contact the external structure without transferring entire weight of the UAV to the external structure and prevent rotation of the body when the part-handler rotates the payload.

Presently disclosed subject matter integrates a method of using thousands of semi-autonomous unmanned aerial vehicles, herein called drones, to deliver vastly superior amounts of fire retardant over substantially larger and variably-shaped drop patterns. Each drone is able to swap its own batteries with freshly charged batteries and each drone is able to refill its container with water or fire retardant. Once launched, a swarm of drones can perform repeated trips from the water/retardant source to the fire without human involvement other than the high-level tasking of where to drop the retardant. Once a general drop destination and drop pattern shape is designated, the swarm can transport retardant to that location, form itself into the desired drop shape, and deploy retardant. The drone body is designed to be modular so different components can be attached with ease and no special training or knowledge required.

A rotary wing vehicle includes a body structure having an elongated tubular backbone or core, and a counter-rotating coaxial rotor system having rotors with each rotor having a separate motor to drive the rotors about a common rotor axis of rotation. The rotor system is used to move the rotary wing vehicle in directional flight.

A rotorcraft includes a body and a plurality of rotary-wing parts. The body has a front-end portion, a rear-end portion, two side portions, and a reference plane passing through the front-end portion, the rear-end portion, and the two side portions. The plurality of rotary-wing parts are disposed to the body. Each of the rotary-wing parts includes at least one blade and a shaft coupled to the at least one blade. The at least one blade is rotated around an axis of the shaft. An angle between the axis of the shaft and a normal line of the reference plane is between 5 and 30 degrees. The rotorcraft can provide additional lift force, to help reduce the weight of the rotorcraft.

A rotorcraft includes a body and a plurality of rotary-wing parts. The body has a front-end portion, a rear-end portion, two side portions, and a reference plane passing through the front-end portion, the rear-end portion, and the two side portions. The plurality of rotary-wing parts are disposed to the body. Each of the rotary-wing parts includes at least one blade and a shaft coupled to the at least one blade. The at least one blade is rotated around an axis of the shaft. An angle between the axis of the shaft and a normal line of the reference plane is between 5 and 30 degrees. The rotorcraft can provide additional lift force, to help reduce the weight of the rotorcraft.

Described herein are methods and systems for picking up, transporting, and lowering a payload coupled to a tether of a winch system arranged on an unmanned aerial vehicle (UAV). For example, the winch system may include a motor for winding and unwinding the tether from a spool, and the UAV's control system may operate the motor to lower the tether toward the ground so a payload may be attached to the tether. The control system may monitor an electric current supplied to the motor to determine whether the payload has been attached to the tether. In another example, when lowering a payload, the control system may monitor the motor current to determine that the payload has reached the ground and responsively operate the motor to detach the payload from the tether. The control system may then monitor the motor current to determine whether the payload has detached from the tether.

Described herein are methods and systems for picking up, transporting, and lowering a payload coupled to a tether of a winch system arranged on an unmanned aerial vehicle (UAV). For example, the winch system may include a motor for winding and unwinding the tether from a spool, and the UAV's control system may operate the motor to lower the tether toward the ground so a payload may be attached to the tether. The control system may monitor an electric current supplied to the motor to determine whether the payload has been attached to the tether. In another example, when lowering a payload, the control system may monitor the motor current to determine that the payload has reached the ground and responsively operate the motor to detach the payload from the tether. The control system may then monitor the motor current to determine whether the payload has detached from the tether.

A discharge apparatus for discharging contents in an aerosol container, comprising, a first flow channel connected to an aerosol container; a second flow channel connected to the first flow channel; a support configured to support at least a part of the second flow channel; and a change unit configured to change a shape of the second flow channel, wherein the support changes a support position of the second flow channel in response to a change in a shape of the second flow channel, is provided. In addition, an unmanned aerial vehicle on which the discharge apparatus is mounted is provided.