• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    Multi-rotor drone with cross-reactive stability system. The drone of the invention materializes in a hexacóptero in which the main rotors are distributed according to two parallel alignments of three engines, so that the engines are embodied in thermal engines, synchronized with each other so that the chassis (1) of the drone is keep at all times in horizontal position, which significantly improves the stability of the whole. To move horizontally, it is provided that under the main propellers (3) are established perpendicular to its axis of rotation, flaps (5) controlled by servo-motors, and governed by a control unit, which is fed through generators associated with the axes of the thermal engines. The chassis includes means for control of rotation and yaw with respect to the horizontal plane, as well as an additional system of security against gusts of wind or failure of one of the engines, distributing the load, preferably tanks (8) of water, vertically in the direction of thrust of each rotor, which also helps in the stability of the drone during its displacements. (Machine-translation by Google Translate, not legally binding)
    公开号:ES2666270A1
    申请号:ES201830077
    申请日:2018-01-29
    公开日:2018-05-03
    发明作者:Pablo Flores Peña
    申请人:Drone Hopper S L；Drone Hopper SL；
    IPC主号:
    专利说明:

    OBJECT OF THE INVENTION
    The present invention relates to a multi-rotor drone, and more specifically to a hexacopter, whose special structuring makes it extremely stable in its displacements, ideal for the transport of heavy loads, such as water intended for firefighting .
    The object of the invention is therefore to provide a multi-rotor drone with high load capacity and reduced weight, which maintains horizontality at all times, regardless of the direction in which it travels, all with cross reactive stability systems. in case of gusts, turbulence or failure of any engine, which allows to ensure said stability at all times, which is decisive when transporting loads such as fluids or other loads of high inertia.
    BACKGROUND OF THE INVENTION
    In the practical scope of the invention, that of multi-rotor drones, these types of devices, although when they move exclusively in the vertical direction, maintain their horizontality, in order to move in a direction with a horizontal component, they achieve said horizontal component of force by tilting the device.
    This solution is dangerous to air bursts and turbulence, due to its low stability, stability that is affected to a greater extent when the drone is destined to transport certain loads, and even more so when these loads are not static, such as when the Drone is intended for firefighting, where the water load is likely to move inside the tanks, very negatively affecting the stability of the drone.
    Trying to avoid this problem, drones such as the one described in US 5890441 are known, in which a drone consisting of a chassis with two main propellers moved by one or two thermal motors for takeoff and vertical thrust is described, with propellers for horizontal thrust, so that the drone is not necessary
    5 that tilts during its movement.
    Although this device under normal conditions solves the problem described above, if one of the main rotors fails, it will become unbalanced, and will irreversibly lose.
    10 This problem (referring to the failure of one of the rotors) is significantly increased when the drone is intended to carry heavy loads, in which the inertia of said weight is decisive.
    15 DESCRIPTION OF THE INVENTION
    The multi-rotor drone that is recommended solves in a fully satisfactory way the problem previously exposed, based on a structuring that guarantees in all
    20 moment the horizontality of its chassis or frame, and consequently of the load, regardless of the direction in which said drone moves, being able to stabilize perfectly before strong gusts of wind or even the failure of one of its rotors.
    To do this, and more specifically, the drone of the invention is constituted from a
    25 essentially rectangular chassis in which two parallel alignments of three thermal motors each are established, coupled to respective main propellers of the device, and whose axis of rotation is associated in opposition to said propellers to respective small electric generators, whose function will be exposed with later.
    30 The motors will be synchronized with each other and controlled by an electronic control unit through which the drone will be controlled remotely.
    The aforementioned rotation synchronization of the six propellers guarantees the horizontality of the device whether it moves vertically, horizontally or diagonally, so that to control the displacements with horizontal component it is provided that under each of the propellers, and in arrangement perpendicular to its axis of rotation, respective flaps assisted by servo motors are arranged, and controlled by the said control unit.
    Thus, the flaps will be distributed on the frame in two directions perpendicular to each other.
    From this structuring, when the flaps are arranged in a vertical arrangement, they will be minimally affected by the flow of air propelled by the propellers, while when they adopt an inclined arrangement they will suffer a thrust from the air flow generated by the propellers It will determine a horizontal force component that will cause horizontal drone displacement, a configuration that, unlike conventional multi-rotor drones, will ensure that the device moves by adopting a completely horizontal layout, significantly improving vehicle stability.
    Although from this structure it is possible to control the drone movement in all directions, to control its rotation and yaw with respect to the horizontal plane, corresponding pairs of electric turbines have been incorporated in correspondence with the two ends of the frame of the device, with its axis of rotation in horizontal arrangement, and that are fed through the energy generated by the generators associated with each of the main rotors of the device, and also controlled by the control unit.
    Optionally, these small turbines could also be replaced by small thermal engines associated with smaller propellers.
    It should be noted that since the thermal motors are aligned with the air flow generated by the propellers, they will have optimum cooling, being an ideal solution for the purpose of the present invention, the transport of high water loads or other type of load, since they do not need heavy batteries as in the case of electric motors, being able to offer extremely high load capacities, depending on the power of said thermal motors.
    Another factor that decisively affects the stability of the drone is that the load instead of being distributed evenly across the entire surface of the chassis of the device, is divided into six independent tanks of identical weight and capacity, which are distributed vertically and centered under the axis of rotation of each thermal motor, affecting its stability decisively when the load is aligned with the thrust direction.
    In accordance with another of the essential features of the invention, it is envisioned that the drone has a safety or emergency system against decompensations due to wind gusts, turbulence or failure of one of the rotors, so that the main chassis, essentially rectangular configuration, presents in correspondence with
    10 its vertices four small electric turbines, of vertical axis, that will be fed in case of destabilization through the generator associated to the opposite thermal motor which contributes to maintaining the horizontality of the device. These turbines produce a powerful moment of almost instantaneous rotation that adds to the one created by obtaining the electric energy of the opposing rotor, thus multiplying its effect.
    The device of the invention is preferably designed for extinguishing fires, although it could be used for the transport of other types of cargo, so that the aforementioned water tanks, as previously stated, are arranged by adopting a vertically elongated arrangement under the thermal motors, the
    20 fuel tank of said thermal motor, properly insulated, submerged in said tanks, for greater safety, set that will be duly protected by an aerodynamic fairing, so that they are discharged in a controlled way through its lower extremity, by any controllable system electrically through the switchboard, with the advantage that, when the water outlet is under the air flow
    25 of driving the device, said flow causes the fogging of the discharged water, which optimizes the consumption of said fluid, in order to maximize the surface to be treated.
    The deposits themselves serve as support elements or legs when landing the device.
    30 Once the water load has been unloaded, the device itself could be used to transport wounded or any other type of load that is necessary, for which the main frame of the drone will include in its lower area anchoring means for fixing stretchers or Charge in question.
    The independence of the tanks and the selective control of their emptying can also be used to stabilize the aircraft in the event of failure of one of its rotors, allowing it to discharge only partially or totally, as necessary, the
    5 content of this one. This feature allows you to change the center of gravity of the drone dynamically, so that it adapts to the engine configuration resulting after the fault.
    In this way a light, low cost and easily scalable device is achieved in
    10 function of the load needs of each case, extremely stable in its displacements, which is decisive when transporting fluids, given their inertia.
    15 DESCRIPTION OF THE DRAWINGS
    To complement the description that will then be made and in order to help a better understanding of the characteristics of the invention, according to a preferred example of practical implementation thereof, it is accompanied as an integral part
    20 of said description, a set of drawings where, for illustrative and non-limiting purposes, the following has been represented:
    Figure 1 shows a schematic top plan view of a multi-rotor drone made in accordance with the object of the invention.
    Figure 2.- Shows an elevation view of the assembly of the previous figure.
    Figure 3.- Shows a profile view of the drone of the previous figures.
    30 Figure 4.- It shows, finally, an enlarged and sectional detail of the drone at the level of one of its water tanks.
    PREFERRED EMBODIMENT OF THE INVENTION
    In view of the figures outlined, it can be seen how the drone of the invention is constituted from an essentially rectangular chassis (1), in which two parallel alignments of three thermal motors (2) each, coupled to respective ones, are established main propellers (3), whose axis of rotation is associated in opposition to said propellers to
    5 respective small electric generators, so that the motors are synchronized with each other and controlled by an electronic control unit through which the drone is controlled remotely, all the electrical and electronic elements participating in the device being powered by the generators associated with thermal motors (2).
    10 The number of thermal motors (2) chosen, specifically six, is decisive, given that the device can be scaled according to the required load capacity, even the main propellers (3) can be arranged at different heights to allow closer approximation. each other said motors, said number assuring the survival of the
    15 device before the failure of one of the engines and being optimal against the use of a larger number of engines of smaller power and size, while the use of a smaller number of engines would not allow stabilizing the aircraft in case one of Such rotors will fail.
    20 In any case, and as stated above, the synchronization in rotation of the six main propellers (3) guarantees the horizontality of the device whether it moves vertically, horizontally or diagonally, provided that under said propellers, have respective f1aps (5) whose axis of rotation is perpendicular to the axis of rotation of the propellers, assisted by servo motors, and controlled by the said control unit.
    25 Said flaps (5) are arranged in two directions perpendicular to each other to control the movement in the horizontal plane, although, to control the rotation and rotation of the device it is provided that the frame (1) has at its ends with respective pairs of horizontal axis electric turbines (6) that feed through energy
    30 generated by the generators associated with each of the main rotors of the device, and also controlled by the control unit.
    Optionally, these small turbines could also be replaced by small thermal engines associated with respective smaller propellers.
    As an emergency system in case of wind gusts, turbulence or failure of a rotor, it is provided that the main chassis, essentially rectangular in configuration, has four small vertical axis electric turbines (7) corresponding to its vertices, which are fed into case of destabilization through the generator associated with the opposite thermal motor, ensuring at all times the horizontality of the device. These turbines produce a powerful moment of almost instantaneous rotation that adds to the one created by obtaining the electric energy of the opposing rotor, thus multiplying its effect.
    As previously stated, the load is divided into six tanks (8) of identical weight and capacity, elongated vertically and that are aligned with the thrust direction of each thermal motor (2), which has a very positive influence on The stability of the device.
    As can be seen in the detail of figure 4, each tank (8) will be disposed inferiorly to the respective thermal engine (2), so that its fuel tank (9), properly insulated, could even be submerged in the water contained in the tank (8), as an additional safety element.
    The set will be assisted by an aerodynamic fairing (10), which will also act as legs or support means at the landing, counting said deposits in its lower area with opening means (11) electronically controlled by the switchboard that allow the exit controlled of the water, which, as it has been said before, being arranged under the flow of supply air of the device, said flow causes the fogging of the discharged water, which optimizes the consumption of said fluid, in order to maximize the burned surface to cover. In this sense, no additional pumping systems are necessary, since the water falls by gravity, and by the effect of dynamic pressure suction.
    In the event of the failure of any of the engines / rotors, the device may selectively empty the water tank associated therewith, by virtue of its independent discharge means, in order to facilitate the self-stabilization maneuvers of the aircraft. This feature allows you to change the center of gravity of the drone dynamically, so that it adapts to the engine configuration resulting after the fault.
    It only remains to point out finally that the chassis or frame (1) will incorporate at strategic points anchoring means (12) that could be used to transport wounded or any other type of load that was necessary, once the water contained in its
    5 deposits
    The device thus described is easily scalable according to the specific needs of each case, being able to develop devices with high load capacity based on the inclusion of high-power thermal motors, and can therefore reach
    10 devices with a load capacity equal to or greater than that of a seaplane.
    权利要求:
    Claims (2)
    [1]

    [18 ]
    18 ._ Dran multi-rolor with cross reactive stability system, characterized in that it is constituted from a chassis (1) in which two parallel alignments of three thermal motors (2) each, motors associated with respective main propellers are established (3), whose axis of rotation is in turn associated with respective electric generators, thermal motors (2) synchronized with each other and controlled by an electronic control unit, with the particularity that as means of horizontal displacement under the main propellers (3) f1aps (5) are established whose axis of rotation is perpendicular to the axis of rotation of the main propellers (3), f1aps (5) controlled by servo motors, and governed by the control unit, the chassis being provided to include means of turn and yaw control with respect to the horizontal plane at least one of its ends, as well as an emergency system in case of gusts of wind, turbulence or failure of one of the motorcycles res, based on four small vertical axis electric turbines (7), arranged in correspondence with the four vertices of the rectangle that forms the chassis (1), fed in case of destabilization through a generator associated with the thermal motor that is available in opposition on said chassis (1).
    2a._ Oran multi-rotor with cross reactive stability system, according to claim 1, characterized in that it includes six tanks (8) of identical weight and capacity, elongated vertically and that are aligned with the thrust direction of each thermal motor (2) , tanks equipped with independent discharge control means for each one.
    3a ._ Multi-rotor Oron with cross reactive stability system, according to claim 1a, characterized in that the turning and yaw control means with respect to the horizontal plane materialize in pairs of horizontal axis electric turbines (6), arranged in each one of the ends of the chassis (1) And fed through the energy generated by the generators associated with each of the main rotors of the device.
    4a ._ Multi-rotor Oron with cross reactive stability system, according to claim 1, characterized in that the turning and yaw control means with respect to the horizontal plane are embodied in small horizontal axis thermal motors and associated with the corresponding propellers.
    5a._ Multi-rotor Oron with cross reactive stability system, according to claim 2a, characterized in that the fuel tank (9) of each thermal engine (2) is insulated and submerged in the water contained in the tank (8) located under this one.
    5 6a._ Multi-rotor Oron with cross reactive stability system, according to claim 2, characterized in that each water tank (8) is assisted by an aerodynamic cowl (10) as a means of landing support, counting each tank (8 ) in its lower zone with opening means (11) and expulsion of electronically controlled water through the control unit.
    10 7a._ Multi-rotor Oron with cross reactive stability system, according to claim 1a, characterized in that the chassis or frame (1) will incorporate in means strategic points of anchorage (12) for fixing loads.
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    同族专利:
    公开号 | 公开日
    WO2019145584A1|2019-08-01|
    ES2666270B2|2019-02-21|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US5890441A|1995-09-07|1999-04-06|Swinson Johnny|Horizontal and vertical take off and landing unmanned aerial vehicle|
    US20100076625A1|2006-11-30|2010-03-25|Raphael Yoeli|Flight control cockpit modes in ducted fan vtol vehicles|
    US9676477B1|2014-08-25|2017-06-13|Amazon Techonlogies, Inc.|Adjustable unmanned aerial vehicles|
    WO2017141069A1|2016-02-17|2017-08-24|Ardn Technology Limited|Multicopter with different purpose propellers|
    法律状态:
    2019-02-21| FG2A| Definitive protection|Ref document number: 2666270 Country of ref document: ES Kind code of ref document: B2 Effective date: 20190221 |
    优先权:
    申请号 | 申请日 | 专利标题
    ES201830077A|ES2666270B2|2018-01-29|2018-01-29|DRON MULTI-ROTOR WITH CROSS REACTIVE STABILITY SYSTEM|ES201830077A| ES2666270B2|2018-01-29|2018-01-29|DRON MULTI-ROTOR WITH CROSS REACTIVE STABILITY SYSTEM|
    PCT/ES2019/070017| WO2019145584A1|2018-01-29|2019-01-14|Multi-rotor drone with reactive cross-stability system|
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