Drones, drone control methods, and drone control programs

摘要

PROBLEM TO BE SOLVED: To provide a highly-safe drone.;SOLUTION: A drone 1 comprises a plurality of rotor blades 101-1a to 101-4b, a plurality of motors 102-1a to 102-4b for driving the rotor blades, a flight control unit 23 for operating the motors, and an operation state detection unit 24 for determining operation states of the motors. The drone includes a plurality of rotor blade sets in which the plurality of rotor blades and the plurality of motors are paired, respectively and are arranged vertically to each other. When the operation state detection unit determines that the operation state of the rotor blade is abnormal, the flight control unit stops the motor driving said rotor blade, continues rotation of the other rotor blade in the rotor blade set having said rotor blade that is determined to be abnormal, stops one of the plurality of rotor blades included in the rotor blade set different from the rotor blade set having said rotor blade that is determined to be abnormal, and continues rotation of the other rotor blade.;SELECTED DRAWING: Figure 6;COPYRIGHT: (C)2020,JPO&INPIT