• 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:
    The drone body (10) comprises a frame (12) integral with an arms (14) connected to propulsion units (16), an electronic card (24) carrying components as well as accelerometric, inertial and altimetric sensors. support for this card, and an elastic interface (26) between chassis and card holder, for filtering and absorbing mechanical vibrations. The card holder is a plate (22) of electrically conductive metal material. The plate carries on a back side of the thermally conductive pads at locations opposite the heat sink electronic components mounted on the back side card. The plate is also electrically connected to a ground potential of the card so as to form electromagnetic shielding screen. It is also mechanically connected to the frame with decoupling by the elastic interface (26) interposed between the plate and the frame.
    公开号:FR3020282A1
    申请号:FR1453712
    申请日:2014-04-24
    公开日:2015-10-30
    发明作者:Christine Caubel；Flavien Morra
    申请人:Parrot SA；
    IPC主号:
    专利说明:

    [0001] The invention relates to rotary wing drones, such as quadcopters. These drones comprise a drone body and a plurality of propulsion units each with a propeller driven by an individual engine. Each thruster block is mounted at the end of a respective link arm to the body of the drone. A typical example of such a drone is AR.Drone 2.0 from Parrot SA, Paris. The drone body comprises, internally, a chassis secured to the connecting arms to the propulsion units, as well as an electronic card carrying various components and sensors, in particular an inertial unit making it possible to determine at any moment the exact attitude of the aircraft. drone and its position in space, to control different engines differently in order to follow the changes desired by a user or controlled by an autopilot.
    [0002] This electronic card is mounted on a support which is connected to the chassis of the drone by an elastic interface comprising a filter material and absorption of mechanical vibrations caused by the motors and propellers, so that these vibrations do not come to disturb the operation of the sensors including the inertial unit.
    [0003] No. 2011/058255 A1 (Parrot) describes more precisely such an electronic card support structure, in which the elastic interface is in the form of a foam ring attached to a corresponding shoulder of the chassis of the drone. The electronic navigation card is suspended from the attachment piece by connecting feet, without direct mechanical contact with a vibrating part of the drone. It is thus possible to eliminate through the mechanical absorbing interface the parasitic vibrations generated by the powertrains by preventing them from disturbing the operation of the navigation sensors, and without the need for filtering. the signal collected by these sensors. Recently, the improvements made to these drones have led to an increase in the complexity of the circuits, and also their sensitivity to different external parasites, whether mechanical noise (vibration, sharp changes drone attitude, etc. .) or electrical (disturbances induced by surrounding electromagnetic fields, especially those produced by rotating motors). These parasitic phenomena may affect not only the operation of the electronic circuits, but also the image taken by the onboard camera of the drone, because the vibrations produce oscillations of low amplitude and high frequency of the drone and, consequently, , from the axis of the camera. After scanning the camera sensor, these oscillations are reflected on the image obtained by a so-called wobble effect where the straight lines seem broken and form zigzags.
    [0004] Even if the amplitude of this deformation is not very important, it is very visible and degrades the final quality of the image, especially when it is captured in high resolution, typically in HD resolution (1920 x 1080 pixels) . Finally, in another aspect, the use of digital components executing more and more complex operations at a high clock frequency leads to a significant heating of these components, which may lead to thermal drifts which will have to be detected and compensated. Finally, the obvious constraints of lightness, specific to any aircraft, impose to limit the mechanical structures and equipment to the minimum from the point of view of their mass, without altering their rigidity and robustness. The object of the invention is to solve all the difficulties mentioned above, by proposing a new internal structure for a drone body. More specifically, the invention applies to a rotary wing drone such as that disclosed by the aforementioned WO 2011/058255 A1, namely a drone comprising, in a manner known per se, a drone body and a plurality of propulsion units mounted at the end of respective link arms. The drone body comprises: a frame, secured to the link arms to the propulsion units; an electronic card, carrying electronic components as well as accelerometric, inertial and altimetric sensors; a support of the electronic card; and an elastic interface between the frame and the card support, comprising a material capable of filtering and absorbing mechanical vibrations from the propulsion units. In a characteristic manner of the invention, the drone body comprises a platinum of electrically conductive metal material, this platen forming said electronic card support, the electronic card being fixed on a front side of this platen. The plate carries on a back side thermally conductive pads in locations opposite to at least one electronic heat sink component mounted on the electronic board on the back side, and is electrically connected to a ground potential. of the electronic card so as to form an electromagnetic shielding screen for this electronic card. The plate is mechanically connected to the chassis with decoupling by said elastic interface interposed between the plate and the frame. According to various advantageous subsidiary characteristics: the electrically conductive metallic material of the platinum comprises magnesium and its alloys; - The resilient interface comprises a plurality of support spacers interposed between the plate and the frame, each spacer comprising a pad of elastomeric material with a first end connected to the plate and a second end, opposite, connected to the frame; the plate is a continuous monoblock plate, with the exception of orifices for the passage of connecting wires and / or sensor signals of the electronic card; the platen further comprises longitudinal flanges forming lateral shielding with respect to electronic components mounted on the back side of the electronic card; the plate comprises, on the reverse side, a cavity for access to connectors for connection to an auxiliary electronic circuit, in particular a circuit comprising at least one radiofrequency antenna component; the drone further comprises a video camera, mechanically solidary of the electronic card; the at least one electronic heat sink component mounted on the back side of the electronic card is one of: a microcontroller, a memory component, a video camera; the drone body supports a removable rechargeable battery for powering the drone, and the plate also comprises at least one loop for the passage of a fixing flange of this removable battery. An embodiment of the invention will now be described with reference to the appended drawings in which the same references designate elements that are identical or functionally similar from one figure to another.
    [0005] Figure 1 is an exploded perspective view of a drone according to the invention showing, dissociated, the various internal elements of the body of the demon. Figure 2 is a perspective view from above of the specific metal plate implemented by the invention.
    [0006] Figure 3 shows the same plate, in perspective seen from below. Figure 4 is a longitudinal section of the plate of Figures 2 and 3, with the electronic card and its components mounted thereon. In Figure 1, there is shown a quadrocopter type drone, with a drone body 10 comprising in the lower part a frame 12 secured to four monobloc link arms 14 radiating from the frame.
    [0007] Each arm is equipped at its distal end with a propellant unit 16 comprising a motor rotating a propeller 18 extending in an approximately horizontal plane above the arm 14. In the lower part, the propulsion unit 16 is extended by a stirrup forming a foot 20 on which may rest the ground stationary drone.
    [0008] The drone body comprises a support 22 intended to receive the main electronic card 24 of the drone. This support 22 is in the form of a plate, which will be described in more detail with reference to FIGS. 2 to 4. The plate 22 is not secured to the chassis, but is connected thereto via an elastic interface consisting of a plurality of support brackets 26 interposed between the frame 12 and the plate 22. Each spacer 26 comprises a pad 28 of elastomeric material, with an upper end 30 connected by a non-rigid connection to the plate 22, for example by extending a shoulder in the upper part of the elastomeric pad in a corresponding recess 32 (Figures 3 and 4) formed in the lower part of the plate 22. At its opposite end, lower, the pad 28 is provided with a shoulder 34 fitting into the frame 12. The connection between the frame 12 and the pad 28 is for example formed by means of a pin 36, screwed in the upper part to the plate at the center of the block 50, passing freely through the stud and having, in the lower part, a threaded rod passing through the frame and which will be screwed below this frame a wide threaded part 37 comparable to a nut. This system rod / wide nut must in no way be linked to the frame 12 under penalty of retransmitting the vibrations to the plate, and it also has an anti-tearing function of the interfaces 26 of elastomeric material. We will now describe in more detail the configuration of the support plate 22. This plate receives, as indicated above, the electronic card 24, which is secured to the plate 22 by means of screws such as 38 (Figure 1 ) received in tapped housings 40 (Figure 2) opening in the upper part of the plate. FIGS. 2 and 3 show the upper and lower faces 42 of the plate 22 respectively. This plate 22 is a monobloc element made of light metal material, for example magnesium or magnesium alloy chosen for its light weight and its mechanical robustness. It is in the form of a plate provided with two longitudinal lateral flanges 46 and various internal ribs such as 48. Typically, the metal plate constituting the plate 22 has in the upper part flat surfaces such as 52 (FIG. 2) able to come into contact with components such as 54 (FIG. 4) mounted on the inside of the electronic card 24. These surfaces 52 will function as heat transfer elements, to evacuate excess calories, generated by the components in contact with these surfaces, to cooling fins such as 56 formed in the lower part of the plate 22 (Figures 3 and 4) vis-à-vis the contact surfaces 52 formed in the upper part. This will avoid excessive heating of the components most likely to heat, such as microcontroller, memory components or even video camera if necessary. The plate constituting the plate 22 is made in the form of an uninterrupted continuous monobloc element, with the sole exception of small openings such as 58, 59 or 60. The window 58 serves as a window for an ultrasonic altimetric sensor mounted on the lower face of the electronic card 24, and the window 59 serves as a window for the transformer of the same sensor, mounted on the underside of the electronic card to gain thickness. The window 60 makes it possible to pass a flat cable 63 (FIG. 1) for connection to a vertical aiming camera 65 situated under the plate 22 and whose body rests on the podium 67 (FIG. 3) formed on the lower face of the 22. The plate forming the plate 22, once connected to the ground of the electronic circuit of the card 24, will act as an electromagnetic shielding screen for this electronic card against the surrounding parasitic radiation, in particular those generated by the motors of the propulsion units 16, which will be protected, due to the presence of the longitudinal lateral edges 46, the most sensitive components mounted on the underside of the electronic card 24. The areas where these sensitive components are implanted on the electronic board (at the front of the drone for the power section and at the rear for the logic part) with respect to the plate 22 have been shown schematically in 61. None of the lat walls rales, front or rear in these areas have an opening. On its lower face, the plate 22 is provided with a large window such as 62 to allow the passage of connecting cables of the electronic card 24 to the motors of the propulsion units 16, as well as connecting cables to an auxiliary electronic card, in particular a card carrying one or more VViFi antenna components, which will not be affected by the electromagnetic shielding effect. In sum, this large window 62 will be positioned above connectors taking place on the underside of the electronic card 24 to be able to link different components not requiring the shielding of the plate (vertical camera, coaxial cables to antenna cards, connectors to other auxiliary cards, motor cables ...). Finally, the plate 22 may be provided on one of its lateral faces 46 with a loop or eyelet 64 for receiving a flange 66 (Figure 1) for closing a removable rechargeable battery 68 for feeding the drone. With regard to the block carrying the camera 70 on board the drone (FIG. 1), the latter is secured to the plate 22, for example by means of screws 72 inserted into tapped holes 74 of the plate (FIG. 2). and screws 76 inserted in orifices 78. In this way, the camera 70 is mechanically decoupled from the frame 12 thanks to the intermediate elastic spacers 26, which eliminates almost all the vibrations generated by the motors, and therefore the wobble effect mentioned above.
    [0009] It should also be noted that the support that has just been described plays vis-à-vis the electronic card 24, and all the elements integral with the plate 22, the role of shock absorber landing of the drone , especially to avoid using or damaging components, connectors, etc. arranged on the electronic card 24, as well as the camera 70.
    权利要求:
    Claims (10)
    [0001]
    REVENDICATIONS1. A rotary wing drone comprising a drone body (10) and a plurality of propulsion units (16) mounted at the end of respective link arms (14), the drone body (10) comprising: - a chassis ( 12), secured to the connecting arms to the propulsion units; an electronic card (24) carrying electronic components as well as accelerometric, inertial and altimetric sensors; - a support of the electronic card; and an elastic interface (26) between the frame and the card support, comprising a material capable of filtering and absorbing mechanical vibrations originating from the propulsion units, characterized in that: the drone body comprises a plate (22); ) an electrically conductive metallic material, this plate forming said electronic card support, the electronic card (24) being fixed on a front side of this plate; - The plate carries on one side of the thermally conductive pads (52) at locations located vis-à-vis at least one heat sink electronic component (54) mounted on the electronic card on the back side; the plate is electrically connected to a ground potential of the electronic card so as to form an electromagnetic shielding screen for this electronic card; and - the plate is mechanically connected to the chassis with decoupling by said elastic interface (26) interposed between the plate and the frame. 25
    [0002]
    2. The drone of claim 1, wherein the electrically conductive metal material of the platinum comprises magnesium and its alloys. 30
    [0003]
    3. The drone of claim 1, wherein the elastic interface comprises a plurality of support struts (26) interposed between the plate and the frame, each spacer comprising a stud (28) of elastomer material with a first end (30) connected to the plate and a second end (34), opposite, connected to the frame.
    [0004]
    4. The drone of claim 1, wherein the plate (22) is a continuous one-piece plate, with the exception of orifices (58, 59, 60) for the passage of connecting wires and / or of sensor signals of the electronic card.
    [0005]
    5. The drone of claim 4, wherein the plate (22) further comprises longitudinal edges (22) forming lateral shielding with respect to electronic components mounted on the back side of the electronic card.
    [0006]
    6. The drone of claim 1, wherein the plate comprises on the back side a cavity (62) for access to connectors for connection to an auxiliary electronic circuit.
    [0007]
    7. The drone of claim 6, wherein the auxiliary electronic circuit comprises at least one radiofrequency antenna component.
    [0008]
    8. The drone of claim 1, further comprising a video camera (70) mechanically secured to the electronic card.
    [0009]
    The drone of claim 1, wherein the at least one heat sink electronic component (54) mounted on the back side of the electronic board is one of: a microcontroller, a memory component, a video camera.
    [0010]
    10. The drone of claim 1, wherein the drone body supports a removable rechargeable battery (68) for feeding the drone, and the plate further comprises at least one loop (64) for passage of a fastening flange. (66) of this removable battery.
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    同族专利:
    公开号 | 公开日
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    法律状态:
    2015-04-24| PLFP| Fee payment|Year of fee payment: 2 |
    2015-10-30| PLSC| Publication of the preliminary search report|Effective date: 20151030 |
    2016-04-22| PLFP| Fee payment|Year of fee payment: 3 |
    2016-11-11| TP| Transmission of property|Owner name: PARROT DRONES, FR Effective date: 20161010 |
    2018-01-26| ST| Notification of lapse|Effective date: 20171229 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1453712A|FR3020282B1|2014-04-24|2014-04-24|UNIVERSAL MOUNTING PLATE FOR ROTARY SAIL DRONE|FR1453712A| FR3020282B1|2014-04-24|2014-04-24|UNIVERSAL MOUNTING PLATE FOR ROTARY SAIL DRONE|
    US14/678,761| US20160130015A1|2014-04-24|2015-04-03|Universal mounting panel for a rotary-wing drone|
    EP15163807.9A| EP2937123B1|2014-04-24|2015-04-16|Universal mounting plate for rotary-wing drone|
    CN201510199073.2A| CN105035312A|2014-04-24|2015-04-23|Universal mounting plate for rotary-wing drone|
    JP2015088843A| JP2015209207A|2014-04-24|2015-04-24|Fitting panel for general purpose for rotary wing drone|
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