• 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:
    This system for supplying electric power to a drone comprises at least one AC-DC converter supplied with electrical energy, at least one power unit installed on the drone and able to supply the drone with electrical energy, a cable ( 12) connecting the converter and the power block, a winder comprising a winding drum of the cable and an electric motor for driving the drum, and a control unit (32) which drives the electric motor in direct current. The operation of the electric motor of the reel is controlled by the mechanical tension (T) of the cable between the reel and the drone.
    公开号:FR3033256A1
    申请号:FR1551749
    申请日:2015-03-02
    公开日:2016-09-09
    发明作者:Timothee Penet；Marliave Guilhem De
    申请人:Elistair；
    IPC主号:
    专利说明:

    [0001] The present invention relates to a system for supplying electric energy to a drone.
    [0002] In the field of drones and UAV power systems, it is known to equip a drone, driven by a user on the ground, at least one battery pack on board the drone. This gives the drone great freedom of movement but, on the other hand, induces significant limitations. A drone equipped with a battery pack has a relatively high weight and needs a powerful engine to fly, resulting in high power consumption and reduced battery life. In addition, such a drone has a free flight time that strongly depends on the capacity of its battery pack. In this regard, it is known to use a wired power system for a user controlled drone. In practice, a power cable is connected on the one hand to a ground-based power supply unit and on the other hand to the drone in flight. In this case, the user deals at the same time with the piloting of the drone and the placement of the cable on the ground. This last task is complicated for the user, because it is desirable to wind the cable so as not to create a node so that its progress is fast. To do this, it is also known to use a wired power system equipped with a reel for the cable. The cable is unrolled or rolled up depending on the position of the drone in flight. A drone powered by such a wired system can generally perform only upward and downward vertical movements, which is not always practical for the various areas of use of drones. The winder of such a power system is sometimes equipped with an electromechanical device for controlling the unwinding of the cable, which requires knowing the position of the drone with respect to the winder. This position is measured using a position sensor disposed on the drone. The result of the measurement is sent to a microcontroller of the winder which determines the winding or unwinding movements required by the cable. This is not suitable for a wired power system that must be compatible with different drones and is more expensive. It is these drawbacks that the invention intends to remedy more particularly by proposing a new power supply system for a drone which ensures wide mobility to the drone and which is economical, reliable and adaptable to several drones. With this in mind, the invention relates to a system for supplying electric power to a drone, this system comprising at least one DC-DC converter supplied with electrical energy, at least one power unit installed on the drone and capable of supplying the drone with electrical energy, a cable connecting the converter and the power unit, a winder comprising a winding drum of the cable and an electric motor for driving the drum, and a control unit which controls 5 DC current the electric motor. According to the invention, the operation of the electric motor of the winder is controlled by the mechanical tension of the cable between the winder and the drone. Thanks to the invention, the power system does not need to know the position of the drone using a sensor, while it always uses a suitable cable length between the drum and the drone. . This makes it possible to dispense with an onboard position sensor and a position signal transmission line. According to advantageous but non-obligatory aspects of the invention, such a power supply system comprises one or more of the following characteristics, taken in any technically permissible combination: The electric motor is slaved to a DC direct current value supplied by the control unit. - The retractor further comprises at least one support pulley for the cable, this pulley being mounted idle about an axis movable relative to a frame of the reel and a sensor of the position of the axis relative to the chassis, while the control unit 20 adjusts the DC direct current value in particular according to an output signal of the sensor. - The power system comprises at least one backup battery to be mounted on the drone and at least one electrical switch adapted to selectively connect at least one power block or battery backup drone. 25 - The electrical switch is capable of selectively connecting up to three power blocks or battery backup to the drone. - The power system includes four power blocks, two backup batteries and two electrical switches, each electrical switch being adapted to selectively connect two power blocks or a battery backup drone. The AC-DC converter comprises a current sensor configured to detect a fault in the AC power supply of the AC-DC converter. - The power block comprises a current sensor configured to detect a fault in the electrical power supply of the power block. The cable comprises a pipe for the circulation of a fluid and / or an optical fiber or a pair of electrical conductors for the transmission of digital data. The invention also relates to an assembly comprising a drone equipped with a location for receiving a drone power supply battery in free flight configuration, a drone piloting remote control and a power supply system for the drone. According to the invention, the power system is as described above and the power unit of the power system is mounted on the drone in the receiving location of the battery pack. The invention will be better understood and other advantages thereof will appear more clearly in the light of the following description of a power system according to the invention, given solely by way of non-limiting example. and with reference to the appended drawings, in which: FIG. 1 is a view of an assembly comprising a drone and an electric energy supply system for the drone, according to a first embodiment of the invention, the drone being in flight; FIG. 2 is a perspective view on a larger scale of a ground unit of the feed system in FIG. 1; - Figure 3 is a schematic side view of a winder of the ground unit of Figure 2; FIG. 4 is an enlarged and broken view of box IV in FIG. 1; FIG. 5 is a schematic representation of an electrical circuit belonging to all of FIGS. 1 to 4; Figure 6 is an electrical diagram of an electrical switch visible in Figure 4; FIG. 7 is a schematic representation similar to FIG. 5, for a second embodiment of the invention; and - Figure 8 is a schematic representation similar to Figure 5, for a third embodiment of the invention.
    [0003] The assembly 1 shown in FIGS. 1 to 6 comprises a drone 2, a piloting remote control 3 and a power supply system 4. In a manner known per se, the drone 2 comprises, among other things, motor drive motors 202. 204. The drone is equipped with two receiving slots 6 each of a battery, not shown, for feeding the drone 2 when the latter is in the free flight configuration, that is to say when it can fly without being connected to the ground by a cable, being fed only by the batteries. The slots 6 are equipped with unrepresented electrical connectors, configured to electrically connect the battery packs to the drone 2. The battery packs 5 are thus arranged to power the drone when it is in free flight configuration and is piloted. via the remote control 3 by a user on the ground. In free flight configuration, the power system 4 is not necessary for the power supply of the drone 2 and is thus disconnected from the drone 2. On the contrary, when the power system 4 is connected to the drone 2 which is 10 always controlled via the remote control 3 by the user on the ground, the drone 2 is in wired flight configuration and the battery packs are not mounted on the drone 2. The power system 4 is thus configured to provide the 2. This system 4 comprises a unit 8 disposed on the ground, two power blocks 10, a cable 12, a backup battery 14 and an electrical switch 16. The ground unit 8 comprises a frame 17, two converters 18 AC-DC, a winder 20 and a 22 current sensor. As a variant, the ground unit 8 comprises a plurality of current sensors 22. The AC-DC converters 18 are supplied with electrical energy, for example via a distribution network, which is not shown. By way of non-limiting example, the distribution network supplies the converters 18 with an AC voltage V1 of 220 volts. The AC-DC converters 18 are configured to supply a DC voltage V2, referred to as high, in particular of the order of 400 volts. The current sensor 22 is arranged upstream of the converters 18 and configured 25 to detect a fault in the power supply of the converters 18. In particular, when the converters 18 do not receive the AC voltage V1, the current sensor 22 indicates to the user on the ground, for example by means of the remote control 3, that a problem concerning the power supply has occurred upstream of the converters 18.
    [0004] The reel 20 comprises a cable winding drum 24 and an electric drive motor 26 of the winding drum 24. The reel 20 further comprises an idler pulley 28 against which the cable rolls and presses. 12, a position sensor 30 and a control unit 32. The winding drum 24 has a cylindrical shape, as can be seen in FIG. 3, and is integral with an output shaft of the electric motor 26. The axis of rotation of the drum 24 is noted X24, which is also the axis of the output shaft of the motor 26. The winding drum 24 also comprises a deflection blade 38, configured to ensure a correct winding of the cable 12 on the drum 24. The blade 38 is controlled by a second electric motor and adapted to move parallel to the axis X24 of the drum 24, on two bars integral with the frame 17. The electric motor 26 is, for example, a DC motor, such as a brushless motor. The electric motor 26 is driven in direct current by the control unit 32. In practice, the electric motor 26 is slaved to a direct current reference value supplied by the control unit 32.
    [0005] According to a first mode of use, which is not shown in the figures, the setpoint value supplied by the control unit 32 remains constant. According to a second mode of use, which is represented in the figures, the control unit 32 regulates the direct current reference value as a function, in particular, of an output signal S30 of the position sensor 30.
    [0006] The bearing pulley 28 is rotatably mounted at a first end of an arm 34. The other end of the arm 34 is articulated to the frame 17. The axis of articulation of the arm 34 is noted on the chassis 17. The axis X34 is parallel to the axis X24 of the drum. The articulation between the arm 34 and the frame 17 allows the arm 34 to oscillate about the axis X34, as represented by the double arrow F34 in FIG.
    [0007] X28 is the axis of rotation of the pulley 28 which is parallel to the axes X24 and X34. The pulley 28 is thus mounted idle about the axis X28, which is movable relative to the frame 17. Thus, the pulley 28 is rotatable about the axes X28 and X34 to accompany the cable 12 in its winding on the drum 24 or its course. In a variant not shown in the figures, the winder comprises two or more support pulleys for the cable 12. The position sensor 30 is configured to measure the position of the axis X28 with respect to the frame 17. In practice, the sensor 30 is able to measure the position of the arm 34 around the axis X34. The position sensor 30 is, for example, a linear potentiometer.
    [0008] In practice, the arm 34 which carries the pulley 28, oscillates about the axis X34 as a function of the mechanical tension T of the cable 12. In effect, the mechanical tension T of the cable 12 drives the pulley 28 and consequently , the arm 34 around the axis X34. The higher the tension T, the more the cable 12 tends to lift the pulley 28, in a direction that turns the arm 34 clockwise in FIG. 3. In contrast, if the pressure decreases, the weight of the pulley tends to turn the arm 34 in the opposite direction, that is to say in the trigonometric direction in FIG. 3. The position sensor 30 thus detects the position of the pulley 28 and sends its output signal S30 This signal S30 comprises information on the position of the pulley 28. After calibration, the control unit 32 is able to calculate the mechanical tension of the cable 12 as a function of the information that it receives from the sensor 30 on the position of the pulley 28. Next, it determines the direction of rotation to be printed of the drum 24, either a winding or unwinding, to adjust the length of the portion of the cable 12 which extends in the air between the winder 20 and the drone 2. The unit 32 pilot the 1 0 motor 26 to maintain the voltage T between two threshold values, respectively high and low. If the voltage T detected through the sensor 30 may exceed the high threshold value, the motor 26 rotates the drum 24 to unwind the cable 12. In contrast, the motor 26 rotates the drum 24 to wind the cable 12 if the voltage T decreases. Thus, the operation of the electric motor 26 of the winder 20 is slaved to the mechanical tension T of the cable 12 between the winder 20 and the drone 2 The power blocks 10 are configured to receive the high voltage V2 and output a DC voltage V3, called low, in particular of the order of 24 volts. The power blocks 10 are electrically connected to the electrical switch 16. The power blocks 10 each comprise a current sensor, not shown in the figures. These current sensors are configured to detect a fault in the electrical power supply of the power blocks 10. The cable 12 is configured to connect the unit to the ground 8 with the drone 2. The cable 12 comprises a protective sheath 40 . The protective sheath 40 is made of synthetic insulating material. Inside the protective sheath 40, the cable 12 has a first pair 42 of electrical conductors, a pipe 44 for the circulation of a fluid and an optical fiber 46 for the transmission of digital data. In a variant, the cable 12 comprises a plurality of optical fibers 46. In a variant, the electric cable 12 comprises a second pair of electrical conductors for transmitting digital data, in place of the optical fiber 46.
    [0009] Optical fiber 46 is optional. In addition, the pipe 44 is optional. It is used to feed the drone 2 with a spray fluid, when the drone is used to spray such a fluid, for example in the phytosanitary field or to paint objects of great height. This fluid can be a liquid or a gas.
    [0010] In practice, the first pair of electrical conductors 42 is configured to electrically connect the AC-DC converters 18 to the power blocks 10 which are mounted on the drone 2 in the receiving locations 6. The electrical switch 16 is able to connect selectively the power blocks 10 or the backup battery 14 to the engine 202. In practice, the electrical switch 16 is a safety relay, which allows to feed the drone 2 with the battery backup 14 in case a problem This technique occurs on the supply system 4, for example downstream of the converters 18 or at the level of the ground unit 8, the cable 12 or the locations 6. By way of non-limiting example, the switch 16 comprises a transistor TR, a first diode D1, a second diode D2, an electrical capacitance C and a return resistor R. The transistor TR is, for example pMOS, or even a P-type MOSFET (from the English Metal Oxide Semiconductor Field Effect Transistor). As shown in FIG. 6, the transistor TR has its gate connected to the power blocks 10, thus powered by the low voltage V3, its source connected to the backup battery 14 and its drain connected to the first diode D1. When the voltage V3 is different from zero, that is to say when no technical problem has occurred, the gate-source voltage difference is greater than a threshold voltage of the transistor TR and the second diode D2 is on; the voltage V3 then supplies the drone 2. When the voltage V3 is equal to zero, the return resistor R imposes the ground on the switch 16 and the gate-source voltage difference is lower than the threshold voltage of the transistor TR. The transistor TR becomes conducting, as well as the diode D1; the backup battery 14 supplies the drone 2. The electrical capacitor C avoids sudden voltage variations in the power supply of the drone 2. According to a variant not shown in the figures, the power supply system 4 comprises a single converter 18 and a single power block 10 and the electrical switch 16 is capable of selectively connecting the power unit 10 or the backup battery 14 to the drone 2 and its motor 202. Figures 7 and 8 show two other embodiments of the invention . The elements of the set 1 of these embodiments which are analogous to those of the first embodiment bear the same references and are not described in detail, since the above description can be transposed to them. According to the second embodiment of the invention, which is represented in FIG. 7, the power supply system comprises three AC-DC converters 18, connected in parallel and arranged in the ground unit 8, and three power blocks. 10, 35 which are mounted on the drone 2 in the receiving locations 6 also usable for batteries when the drone is used in free flight. As described above, the AC-DC converters 18 are configured to convert the AC voltage V1 from 220 volts to a high voltage V2 of 400 volts. The power blocks 10 are configured to convert the high voltage V2 from 400 volts to a low voltage 5 V3 of 24 volts. The electrical switch 16 is capable of selectively connecting the three power blocks 10 or the backup battery 14 to the drone 2. According to the third embodiment of the invention, which is shown in FIG. comprises four AC-DC converters 18, four power blocks 10, two backup batteries 14 and two electrical switches 16. The converters 18 are connected in parallel and are configured, as described above, to convert the AC voltage V1 high voltage V2. The power blocks 10, as described above, are configured to convert the high voltage V2 to a low voltage V3. In addition, each electrical switch 16 is able to selectively connect two power blocks 10 or one of the backup batteries 14 to the drone 2. According to a variant not shown in the figures, the power supply system 4 comprises six power blocks 10, the electrical switches 16 being capable of selectively connecting three power blocks 10 or the backup battery 14 or drone 2. The embodiments and variants envisaged above can be combined with each other to generate new embodiments of the invention.
    权利要求:
    Claims (10)
    [0001]
    CLAIMS1.- A system (4) for supplying electric power to a drone (2), this system comprising: - at least one AC / DC converter (18) supplied with electrical energy, - at least one block (10) of power installed on the drone and capable of supplying the drone with electrical energy, - a cable (12) connecting the converter and the power block, a winder (20) comprising a drum (24) for winding the cable and an engine (26) electric drive drum, and a control unit (32) which DC driver the electric motor, the system being characterized in that the operation of the electric motor (26) of the winder (20) is enslaved to the mechanical tension (T) of the cable (12) between the winder and the drone (2).
    [0002]
    2.- System according to claim 1, characterized in that the electric motor (26) is slaved to a DC setpoint value supplied by the control unit (32).
    [0003]
    3.- System according to claim 2, characterized in that the winder (20) further comprises: at least one support pulley (28) for the cable (12), this pulley being mounted idly around a movable axis (X28) (F34) with respect to a frame (17) of the reel (20), and a sensor (30) of the position of the axis relative to the frame, and in that the unit of control (32) adjusts the direct current reference value (26) depending in particular on an output signal (S30) of the sensor.
    [0004]
    4.- System according to one of the preceding claims, characterized in that it comprises at least one backup battery (14) intended to be mounted on the drone (2) and at least one switch (16) electrical capable of connecting selectively at least one power block (10) or drone backup battery (2). 3033256 10
    [0005]
    5. System according to claim 4, characterized in that the electrical switch (16) is capable of selectively connecting up to three power blocks (10) or the backup battery (14) to the drone (2). 5
    [0006]
    6.- System according to claim 4, characterized in that it comprises four power blocks (10), two backup batteries (14) and two electrical switches (16), each electrical switch being able to connect selectively two blocks of power. power or one of the drone backup batteries (2). 10
    [0007]
    7- System according to one of the preceding claims, characterized in that the AC-DC converter (18) comprises a current sensor (22) configured to detect a fault in the electrical power supply of the AC-DC converter (18). ). 15
    [0008]
    8.- System according to one of the preceding claims, characterized in that the power block (10) comprises a current sensor configured to detect a fault in the power supply of the power block.
    [0009]
    9. System according to one of the preceding claims, characterized in that the cable (12) comprises a pipe (44) for the circulation of a fluid and / or an optical fiber (46) or a pair of electrical conductors. for the transmission of digital data.
    [0010]
    10.- assembly (1) comprising: 25 - a drone (2) equipped with a location (6) for receiving a drone power supply battery in free flight configuration, - a remote control (3) for driving the drone and a power supply system (4) for electric power of the drone, the assembly being characterized in that: - the supply system (4) st according to one of the preceding claims, and - the block of power (10) of the power system is mounted on the drone (2) in the location (6) receiving the battery pack.
    类似技术:
    公开号 | 公开日 | 专利标题
    FR3033256A1|2016-09-09|SYSTEM FOR POWERING ELECTRIC POWER FROM A DRONE
    EP3310656B1|2019-08-07|Secure wire-based system for a drone
    EP0554155A1|1993-08-04|Device for winding or unwinding a cable for power transfer or the like
    EP1515426A1|2005-03-16|Fixed frequency electric power generation system and method for controlling it
    EP3055477B1|2018-11-28|Motorised installation for manoeuvring a screen and associated screen device
    FR3037449A1|2016-12-16|DEVICE FOR ELECTRICAL CABLE
    WO2017212181A1|2017-12-14|System for supplying power to a captive remote-operated device
    EP3478386B1|2020-07-22|Device for supplying power to a wired drone
    FR2800350A1|2001-05-04|ELECTRIC POWER MANAGEMENT AND ATTITUDE MONITORING SYSTEM FOR SATELLITE
    EP2945263A2|2015-11-18|Uninterruptible power supply system
    FR2937779A1|2010-04-30|Element e.g. banner, hoisting device for pole, has winch, driving electric motor and battery arranged on upper part of pole, and control device connected to motor and remotely controlling motor
    WO2014091135A1|2014-06-19|Self-propelled vessel intended to operate on fixed installed at sea, such as offshore wind turbines
    EP3035145B1|2017-06-21|Control system for the winding of a shutter
    EP0320415B1|1992-07-01|Electric motor compressor unit
    EP2859647B1|2016-04-06|Movable power supplies for emergency use
    EP1719872A1|2006-11-08|Roll-up door and method for controlling the function thereof
    EP1553545A1|2005-07-13|Scrolling display method and apparatus using such
    WO2021122990A1|2021-06-24|Multi-rotor hydraulic drone
    FR2970500A1|2012-07-20|EMERGENCY POWER SUPPLY UNIT FOR ACTUATOR, METHOD FOR CONTROLLING AND INSTALLING SOLAR PROTECTION, CLOSURE OR OCCULTATION COMPRISING SUCH A UNIT
    EP2687718A1|2014-01-22|Hydraulic circuit for gradually adjusting the displacement of a hydraulic apparatus
    FR2890929A1|2007-03-23|Auxiliary moving or braking unit controlling method for e.g. aerial cable transport installation, involves determining curve representative of variation of vehicle speed, and determining value of instantaneous torque
    BE1026837A1|2020-07-01|Electricity generator
    FR3110783A1|2021-11-26|Winding / unwinding device of a link
    FR2616717A1|1988-12-23|TENSION DEVICE FOR MOTOR VEHICLES AND ITS CONTROL
    FR3111155A1|2021-12-10|Electromechanical actuator of a concealment device and concealment device comprising such an electromechanical actuator
    同族专利:
    公开号 | 公开日
    FR3033256B1|2018-06-01|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    FR2701919A1|1993-02-23|1994-09-02|Cr2A|Magazine for the conductor link between a recoverable remotely piloted flying machine and a ground control station|
    FR2712563A1|1993-11-18|1995-05-24|Cr2A|Bidirectional optical signal transmission device for optical cable guided missile|
    WO1999010235A1|1997-08-26|1999-03-04|Jermyn Phillip M|Helicopter with a gyroscopic rotor and rotor propellers to provide vectored thrust|
    US20130233964A1|2012-03-07|2013-09-12|Aurora Flight Sciences Corporation|Tethered aerial system for data gathering|
    US20140263852A1|2013-03-15|2014-09-18|CyPhy Works, Inc.|Spooler for unmanned aerial vehicle system|EP3378768A1|2017-03-20|2018-09-26|RIEDEL Communications International GmbH|Aircraft, wireless network and method for transfering information|
    US10435152B1|2018-05-21|2019-10-08|Superior Essex International LP|Airfoil cables for use with drones|
    IT201800010924A1|2018-12-10|2020-06-10|E Novia S P A|System and method for controlling overhead cables in remotely piloted aircraft systems|
    IT201900009534A1|2019-06-19|2020-12-19|E Novia S P A|Drone and its attitude control method|
    IT201900009522A1|2019-06-19|2020-12-19|E Novia S P A|Drone and its attitude control method|
    法律状态:
    2016-05-30| PLFP| Fee payment|Year of fee payment: 2 |
    2016-09-09| PLSC| Publication of the preliminary search report|Effective date: 20160909 |
    2017-01-10| PLFP| Fee payment|Year of fee payment: 3 |
    2018-03-14| PLFP| Fee payment|Year of fee payment: 4 |
    2020-02-13| PLFP| Fee payment|Year of fee payment: 6 |
    2021-02-11| PLFP| Fee payment|Year of fee payment: 7 |
    2021-12-30| PLFP| Fee payment|Year of fee payment: 8 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1551749|2015-03-02|
    FR1551749A|FR3033256B1|2015-03-02|2015-03-02|SYSTEM FOR POWERING ELECTRIC POWER FROM A DRONE|FR1551749A| FR3033256B1|2015-03-02|2015-03-02|SYSTEM FOR POWERING ELECTRIC POWER FROM A DRONE|
    [返回顶部]