• 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 present invention relates to a drone capable of flying and rolling on the ground. The wings (2,4) pivot to make the transition between the horizontal / flight and vertical / ground position. The flight in flight mode is achieved by means of propellers (7) and electric motors (6), located at the ends of the arms. The movement in ground mode is achieved by means of two wheels (3) with an eccentric motor (19) and rollers (5) on the other two wings (4). The sphere (1) serves as a visual and tactile communication interface with the user and inside compartments are provided for carrying loads. The transition between the flight and ground modes is carried out by means of the thrust of the propellers (7) and is electronically stabilized by means of gyroscopes and accelerometers (11). The device according to the invention is particularly intended for the transport of charges semiautonomously.
    公开号:FR3040689A1
    申请号:FR1501837
    申请日:2015-09-04
    公开日:2017-03-10
    发明作者:Martin Alejandro Rodriguez；Vinay Julien Ortiz；Dan Abramson
    申请人:Rcd Except；
    IPC主号:
    专利说明:

    The present invention relates to an air-landed drone, capable of flying and rolling on the ground. Thanks to its size and its hybrid design between drone and robot, the device is able to interact with users in a simple, friendly and safe way. The invention enables delivery of charges within its interactive interface sphere (1), by taking off from the vertical / ground position with a transition to the horizontal / flight position.
    The device according to the invention is able to roll on the ground by means of its two wheel-wings (2) with its built-in motors (6) and its 2 wings-rollers (4) to ensure stability.
    The patents WO2007130653, US2006016930, EP1810735, DE102004063205 show devices capable of both flying and rolling on the ground, but none of them has both engines adapted for propellers and motors dedicated in the drive wheels. Nor are they designed for delivery of loads with interaction with the receiver. This interaction may be in a particular embodiment, a medical-pharmaceutical interaction.
    No other airland device is equipped with an interactive sphere (1) of communication and no longer a textile envelope (21) which improves its aerodynamics and lightness.
    The device according to the invention makes it possible both to move loads in flight mode quickly, then move on the ground near the receiver of the load and interact with it.
    The wings (2,4) pivot to make the transition between the horizontal / flight and vertical / ground position. The flight in flight mode is achieved by means of propellers (7) and electric motors (6), located at the ends of the arms (2,4). The movement in ground mode is achieved by means of two wheels (3) with an eccentric motor (19) and rollers (5) on the other two wings (4).
    The sphere (1) serves as a visual and interactive communication interface with the user and within the sphere of the compartments (8) are provided for carrying charges.
    The transition between the flight and ground modes is achieved by means of the thrust of the propellers (7) and is stabilized electronically thanks to gyroscopes and accelerometers
    The present invention will be better understood from the study of a particular embodiment taken by way of non-limiting example and illustrated by the appended drawings, in which:
    Figure 1: Exploded system
    Figure 2: Takeoff Sequence
    Figure 3: Sequence of landing
    Figure 4: Wing-wheel detail
    Figure 5: Drone with textile skin in flight mode
    Figure 6: Drone with textile skin in ground mode
    Figure 7: Flight Mode Perspective View
    Figure 8: Top View Flight Mode
    Figure 9: Flight Mode Side View
    Figure 10: Wing-roll detail
    Figure 11: Perspective mode takeoff / landing view
    Figure 12: Ground mode perspective view
    Figure 13: View of the ground mode side
    Figure 14: Semi-open sphere perspective view
    With reference to these drawings, the device is composed of: (1) Interactive sphere (2) Wing-wheel (3) Wheel (4) Wing-roller (5) Roller (6) Propeller motor (7) Propeller (8) Tray delivery (9) Cylinder (10) Compression spring (11) Electronics (controller, gyro, accelerometer, connections) (12) Power module and dimmers (13) GPS and radio module (14) Outer cover (15) Lower tray ( 16) Battery (17) Roller (18) Rim (19) Wheel Motor (20) Tire (21) Textile Envelope (22) Sphere Motor
    Referring to Figure 1, the drone is a quadrocopter composed of four propellers (7) powered by an electric motor (6) each. The motors (6) rest on the wings (2,4) via arms that come from them. The wings are connected to the plate (14) thanks to two fasteners, the first of which is located under the wing arm thus connecting it to a gas cylinder (9) which is connected to the outer cover (14), the second point hook is located opposite the wheels (3), which connects the dampers (10) to the plate (14). The wheels of the drone (3) are fixed on the arm (2) to the wings with a "U" fastener passing under the arms. The body of the drone is composed of an interactive sphere (1) that will allow communication between the drone and the user; an upper tray (8) with compartments that contain the load to be delivered; a lower plate (15) with all the electronics necessary for the operation of the drone above (batteries, controller, GPS, power module, ...).
    Flight mode:
    With reference to FIGS. 7, 8 and 9, in flight mode the device moves thanks to the propellers (7) actuated by means of the electric motors (6). The propellers (7) are located at the end of the wings (2, 4) in a symmetrical arrangement. The propellers (7) located on the same axis rotate in the same direction that is to say that two propellers (7) rotate clockwise while the other two rotate in the opposite direction. This makes it possible to cancel the torque induced by the rotation of the propellers (7).
    The controller (11) is responsible for the rotational speed of each engine (6,19) according to the direction, desired flight speed and its environment (wind, obstacles).
    The drives (12) are used to control the speed of the engine (6) and thus allow the drone to take off and maneuver.
    The batteries (16) feed all the electronics of the device. The device uses Lithium batteries in the polymer state which makes them safer than Lithium-Ion batteries. These batteries are lighter, more efficient than Ni-Mh batteries, because the intensities achieved are higher.
    The radio transmission module (13) receives the pilot commands and sends the information on the position and flight parameters of the device.
    The GPS module (13) determines the position of the device and sends the information to the controller.
    Ground mode:
    With reference to FIGS. 12 and 13, in order to move on the ground, the device is provided with two motorized wheel wings (2) (FIG. 4) and two non-motorized roller wings (4) (FIG. 10). Propulsion is provided by a motor (6) driving a toothed belt which is secured to the tire-wheel (20) polyurethane for more grip. The guide of the rotating wheel is provided by the rollers (5) which are fixed on the wheel-rim (18). The wheel rim (18) is attached to the wing arm (2) by means of a "U" fastener engaged with the spokes of the wheel rim (3).
    To advance or retreat, the controller (11) changes the speed of rotation of the motors (19) of the two wheels (3) simultaneously in the same direction. The rollers ^) prevent the drone from losing its balance. To make a turn, the controller (11) increases the rotational speed of one of the motors (19) relative to the motor of the opposite wheel (19), thereby creating a speed differential allowing the drone to orient itself in a direction. meaning or in another.
    Landing - takeoff:
    The ground-to-flight transition allows the drone to move from an aircraft state to a ground vehicle state. Indeed, this transition (Figure 11) was designed so that the drone can pass from one state to another without hindrance and without human assistance. To do so we must differentiate two phases: takeoff and landing.
    For takeoff, as shown in Figure 2, the drone is standing upright / ground. An operator loads the drone of these parcels to be delivered then sends the take-off order. The drone is moving towards the take-off platform. With reference to FIGS. 5 and 6, a system releases the propellers (7) by pulling the fabric and the motors (6) located on the wheel-flanges (2) increase in power. These will rise to be horizontal. The rise of the wheel wings (2) is accompanied by gas cylinders (9) thus limiting the speed of rise thereof. The full power is emitted on the propellers (7) in position and the drone begins to rise while the controller (11) sends the order of starting propellers (7) which are not yet in flight position. The drone thus takes off to its delivery points.
    For landing, as shown in Figure 3, the drone is stationary position above the ground at a certain height. At first, the controller (11) will reduce the rotational speed of the propellers (7) which will thus move to the vertical / ground position. The descent into the road position of the wings (2) is slowed by the cylinders (9) fixed on the wings (2) thus allowing a smooth descent. Once the wheels (3) in position, the drone begins its descent to the ground, then the stability of the drone is provided by a set of gyroscopes and accelerometers (11) which controls the engine torque (19) of the wheels and the speed of rotation of the propellers (7) still in flight position thus preventing the drone from falling. The controller (11) can now lower the two roller wings (4) thus allowing the drone to no longer have to stabilize via a gyro servo system (11) and thus optimize the consumption of the battery (11) .
    Delivery :
    Once the drone is on the ground and close to the user, the sphere (1) opens by pivoting on itself thanks to a motor (22) located on the axis of the sphere (1) (Figure 14). one side and the other a rotation guide allowing complete opening. The packages are stored in the delivery tray (8). The user only has to recover the load. Once the package is removed, the sphere (1) closes and the drone can take flight to the next delivery point or base.
    Interaction with the user: The interaction is provided via the interactive sphere (1). At first, the drone will request an authentication of the recipient of the package, then the sphere (1) will open to access the load. In a particular embodiment, the drone is adapted to the transport of drugs. Instructions will be displayed on the interactive sphere (1) to assist the user in taking medication.
    The device according to the invention is particularly intended for the transport of loads in a semi-autonomous manner
    权利要求:
    Claims (5)
    [1" id="c-fr-0001]
    1. Landing and vertical take-off airborne drone comprising: a. a frame (14) b. two wing-wheels (2) each comprising: a propeller (7), an electric motor (6) for driving the propeller (7), a wheel rim (18), a tire (20) and an engine electric (19) for driving the rim of the wheel (18). vs. two roller wings (4) each comprising: a propeller (7), an electric motor (6) for driving the propeller (7), a roller (5) to provide stability and guidance. d. An interactive sphere of interaction (1) e. A housing for the load located inside the sphere (8) f. A flexible fabric fairing (21)
    [2" id="c-fr-0002]
    2. Air-land drone according to claim 1, characterized in that the device has four different modes: a. a land vehicle mode: The device moves on the ground by means of the wheels (3) located in the motorized wing-wheels (2). The electric motors (19) drive the wheels, the controller (11) changes the rotational speed of each wheel according to the desired direction. The roller wings (4) ensure the stability of the device. b. a takeoff mode (Figure 2): The device starts from the vertical position, placed on the 4 wings (2,4), then the engines of the propellers (6) located in the wings-rollers (4) start and the wings go to the horizontal position, which entails the takeoff of the drone. The controller (11), by means of the gyroscope information (11), ensures stability by means of the impulses of the motors (19) in the wheels (3) and controlled variations in the speed of the propeller motors (6). The engines of the propellers (6) located in the wing-wheels (2) start once the drone has reached a predefined height, which causes the horizontal positioning of the wheel-wings (2). vs. a landing mode (Figure 3): Conversely in the take-off mode, the motors of the propellers (6) of the wheel-wings (2) reduce its speed to a complete stop, which causes the descent of the wheel-wings (2). In contact with the ground, the controller (11), by means of the information of the gyro (11) ensures the stability thanks to the pulses of the motors (19) located in the wheels (3) and the controlled reduction of the speed of the motors of the propellers (6) roller wings (4). d. an airborne vehicle mode: the device moves thanks to the propellers (7), actuated by means of the engines of the propellers (6). The propellers (7) are located at the end of the wings (2, 4) in a symmetrical arrangement. The propellers (7) located on the same axis rotate in the same direction that is to say that two propellers (7) rotate clockwise while the other two rotate in the opposite direction.
    [3" id="c-fr-0003]
    3. Air-landed drone according to claims 1 and 2, characterized in that a load can be transported in the delivery tray (8), located inside the interactive sphere (1). Said sphere (1) pivoting on itself thanks to a motor (20) located on the axis of the sphere on one side and the other a rotation guide a complete opening.
    [4" id="c-fr-0004]
    4. Airland drone according to claims 1 and 2, comprising a multifunction interactive sphere (1). The sphere (1) communicates with the user by means of graphic and symbol representations.
    [5" id="c-fr-0005]
    5. air-landed drone according to claims 1 and 2, comprising a flexible textile skin fairing (21). The textile skin (21) covers the propellers (7) in ground mode and by means of a drive system discovers the propellers (7) in the takeoff / landing and aerial modes.
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    同族专利:
    公开号 | 公开日
    FR3040689B1|2018-08-31|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US4505346A|1982-03-29|1985-03-19|Leonard E. Mueller|Rolling vehicle|
    DE102004063205B3|2004-12-23|2006-05-04|Julian Kuntz|Aircraft for transporting persons, has rotors/propellers with sheathings, which enable independent drive movement of aircraft on land according to function of wheel rims based on direct power transmission from aircraft to land|
    WO2012130856A1|2011-03-29|2012-10-04|Institut Supérieur De L'aéronautique Et De L'espace|Remotely controlled micro/nanoscale aerial vehicle comprising a system for traveling on the ground, vertical takeoff, and landing|
    WO2013182708A1|2012-06-07|2013-12-12|Witold Mielniczek|Propulsion system for a vehicle or a toy vehicle|
    US20140034776A1|2012-08-02|2014-02-06|Neurosciences Research Foundation|Vehicle capable of in-air and on-ground mobility|CN106621351A|2017-02-24|2017-05-10|武汉蛋玩科技有限公司|Novel toy robot|
    EP3266730A3|2016-06-15|2018-11-28|Nickel Holding GmbH|Device for storing and transporting components and method for supplying at least one processing device with components|
    AT520463A1|2017-09-28|2019-04-15|Werner Dipl Ing Holzer|SPELL AND HUB-FREE WHEEL WITH INTEGRATED ELECTRICALLY DRIVEN PROPELLERS|
    法律状态:
    2016-08-23| PLFP| Fee payment|Year of fee payment: 2 |
    2017-03-10| PLSC| Search report ready|Effective date: 20170310 |
    2017-12-13| PLFP| Fee payment|Year of fee payment: 3 |
    2018-09-04| PLFP| Fee payment|Year of fee payment: 4 |
    2020-10-16| ST| Notification of lapse|Effective date: 20200910 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1501837A|FR3040689B1|2015-09-04|2015-09-04|DRONE AEROTERRESTRE DELIVERY|
    FR1501837|2015-09-04|FR1501837A| FR3040689B1|2015-09-04|2015-09-04|DRONE AEROTERRESTRE DELIVERY|
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