• 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 invention relates to a rotary wing drone (10) comprising a drone body comprising an electronic card controlling the control of the drone, wireless communication means and a plurality of link arms, said wireless communication means being connected to a communication antenna (46), a plurality of propulsion units (36) mounted at the end of respective link arms (34), and at least one support of the drone body (38) adapted to hold the drone body to distance from the ground. The support of the drone body (38) includes an antenna housing (44) provided with means for holding the communication antenna.
    公开号:FR3042884A1
    申请号:FR1560124
    申请日:2015-10-23
    公开日:2017-04-28
    发明作者:Christine Caubel；Guillaume Savoye；Flavien Morra；Arsene Ferrand
    申请人:Parrot SA；
    IPC主号:
    专利说明:

    The invention relates to powered flying machines such as drones, including quadrocopter type rotary wing drones. The AR.Drone 2.0 or the Bebop Drone of Parrot SA, Paris, France are typical examples of such quadricopters. They are equipped with a series of sensors (accelerometers, 3-axis gyrometers, altimeters) and can include at least one camera. These drones are provided with several rotors driven by respective engines able to be controlled in a differentiated manner to control the drone attitude and speed. These drones may include a front video camera capturing an image of the scene to which the drone is directed.
    The front video camera is usable for piloting "immer-sif" mode of the drone, that is to say where the operator uses the image of the camera in the same way as if he were himself even on board the drone. It can also be used to capture sequences of images of a scene towards which the drone is moving, the operator using the drone in the same way as a camera which, instead of being held by hand, would be carried by the drone. The collected images can be recorded, posted on websites, sent to other Internet users, shared on social networks, etc.
    WO 2010/061099 A2, EP 2 364 757 A1 and EP 2 450 862 A1 (Parrot) describe the principle of controlling a drone via a touch screen multimedia tablet or telephone and integrated accelerometers, for example an iPhone type smartphone or an iPad type tablet (registered trademarks).
    In the remainder of the description, the term "tablet" will generally be used to designate this apparatus, but this term should not be understood in its narrow meaning; on the contrary, it also includes functionally equivalent devices, especially all portable devices provided with at least a display screen and wireless data exchange means, such as smartphone, multimedia player not equipped with telephony functions, game console, etc.
    The tablet incorporates the various control devices necessary for the detection of control commands and the bidirectional exchange of data via a Wi-Fi wireless LAN (IEEE 802.11) or Bluetooth wireless link directly established with the drone. Its touch screen displays the image captured by the front camera of the drone, with a number of symbols superimposed allowing control of the flight and the activation of commands by simply touching the finger of the operator on this touch screen.
    The bidirectional wireless radio link comprises an uplink (from the tablet to the drone) and a downlink (from the drone to the tablet) to transmit data frames containing: - (from the tablet to the drone) the control commands , hereinafter simply referred to as "orders", sent at regular intervals and in a systematic manner; - (from the drone to the tablet) the video stream from the camera; and - (drone to the tablet) as needed, flight data established by the drone or status indicators such as: battery level, flight phase (take-off, automatic stabilization, ground-based, etc.) .), altitude, fault detected, etc.
    To enable such communication, the drone comprises a communication means connected to an antenna so as to allow communication with the control device. The antenna is for example a Wi-Fi antenna.
    However, in order for the antenna allowing communication between the drone and the control device to be effective and for the performances to be maximized, it is necessary that the antenna be arranged in an almost vertical manner, away from the metallic elements present in the body of the aircraft. drone and battery.
    To do this, it is known to position the antenna at one of the support legs of the drone and fix it by means of an adhesive.
    This means of fixing the antenna has disadvantages. In particular, in case of impact on the legs of the drone, the antenna can easily detach or be damaged and it is not expected that this antenna can be easily replaced.
    The object of the invention is to overcome these various disadvantages by providing a drone in which the antenna is installed so as to be mechanically robust to shocks. In addition, this integration is lightweight so as to maintain or even improve the autonomy of the drone. In addition, it allows easy replacement of the antenna in case of failure. For this purpose, the invention proposes a rotary wing drone comprising a drone body comprising an electronic card controlling the steering of the drone, wireless communication means and a plurality of link arms, said wireless communication means being connected a communication antenna, a plurality of propulsion units mounted at the end of respective link arms, and at least one support of the drone body adapted to maintain the drone body away from the ground.
    Typically, the support of the drone body comprises an antenna housing provided with means for holding the communication antenna.
    According to various subsidiary features: the holding means are slide linkage means in which the antenna is slid by translation. - The support of the drone body is fixed on the link arm and is in a direction facing the ground. the support of the drone body is fixed to the end of the link arm below the propulsion unit. - The antenna is slid into the support of the drone body substantially perpendicular to the body of the drone. the antenna housing comprises a polarizer of a given shape, the antenna having a complementary shape polarizer. the polarizer is positioned in the antenna housing opposite the propulsion unit. - The support of the drone body comprises connection means adapted to connect the antenna, the antenna being provided with complementary connection means. the support of the drone body is removable allowing insertion of the antenna into said antenna housing.
    An embodiment of the present invention will now be described with reference to the appended drawings in which the same references designate identical or functionally similar elements from one figure to another.
    Figure 1 is an overview showing the drone and associated remote control device for remote control.
    Figure 2 is an exploded perspective view of a drone showing, dissociated, the various internal elements thereof.
    Figure 3 is an enlarged partial view of the region of the drone showing the support of the drone body incorporating an antenna according to the invention.
    Figure 4 is an exploded view of the end of the connecting arm and the support of the drone body according to the invention.
    An exemplary embodiment and implementation of the invention will now be described.
    In Figure 1, reference numeral 10 generally denotes a drone, which is for example a quadricopter such as the Bebop Drone model of Par-rot SA, Paris, France. This drone comprises four coplanar rotors 12 whose engines are controlled independently by an integrated navigation system and attitude control. It is provided with a front-facing camera 14 for obtaining an image of the scene towards which the drone is oriented.
    The drone also includes a vertical aiming camera (not shown) pointing downwards, capable of capturing successive images of the terrain overflown and used in particular to evaluate the speed of the drone relative to the ground. Inertial sensors (accelerometers and gyrometers) make it possible to measure with a certain accuracy the angular velocities and the attitude angles of the drone, that is to say the angles of Euler (pitch φ, roll Θ and yaw ψ) describing the inclination of the drone with respect to a horizontal plane of a fixed terrestrial reference. An ultrasonic range finder disposed under the drone also provides a measurement of the altitude relative to the ground.
    The drone 10 is controlled by a remote remote control device 16 provided with a touch screen 18 displaying the image embedded by the front camera 14, with a number of symbols superimposed enabling the activation of control commands by simple contact of the The device 16 is provided with radio link means with the drone, for example of the Wi-Fi local network type (IEEE 802.11), for the bidirectional exchange of data of the device. drone 10 to the apparatus 16, in particular for transmitting the image picked up by the camera 14, and the apparatus 16 to the drone 10 for sending pilot commands.
    In Figure 2, there is shown the drone 10, with a drone body 10 comprising in the lower part a frame 32 secured to four connecting arms 34 radiating from the frame. Each arm is equipped at its distal end with a propellant unit 36 comprising a motor driving a propeller 12 in rotation. In the lower part, the propulsion unit 36 is extended by a support of the drone body 38 forming a foot on which it can rest. ground the drone to a stop.
    According to another embodiment, the one or more supports of the drone body 38 are fixed to the frame 32 of the drone body 10.
    According to yet another embodiment, the one or more supports of the drone body 38 are fixed on the link arms 34.
    The drone body comprises a plate 40 intended to receive the electronic card 42 carrying almost all the electronic components of the drone, including the inertial unit thereof and to receive wireless communication means. The plate 40 is in the form of a monobloc element made of light metal material and acts as a cooler to remove excess calories from some highly heat-generating components such as the main processor, the radio chip, the switching MOSFETs. engines, etc.
    According to the invention, at least one support of the drone body 38 comprises an antenna housing 44, the antenna 46 being connected to the wireless communication means of the electronic card 42, in particular via a connection cable. In addition, the antenna housing 44 is provided with holding means of the communication antenna so as to firmly hold the antenna on the support of the drone body 38.
    3 is an enlarged view of a propellant unit 36 and the support of the drone body 38, the latter being mounted at the end of a connecting arm 34. It is shown a support of the drone body 38 incorporating into its antenna housing 44, a communication antenna 46, this subassembly being fixed to the connecting arm 34 under the propulsion unit 36. The communication antenna 46 comprises a notch 48 positioned under the propulsion unit 36 to allow the passage of the cable 50 of the engine of the propulsion unit 36. In this way the congestion related to the integration into the support of the drone body 38 is optimized.
    As shown in FIG. 3, the means for holding the communication antenna are slide linkage means 52 in which the antenna 46 is slid by translation.
    A slide connection provides a single axis of freedom, namely the translational movement in the direction of the slide connection.
    According to the embodiment illustrated in FIG. 3 and in FIG. 4, the slide connection means 48 are composed of stop zones 53 making it possible to produce the slideway. According to the illustrated example, four bumper zones 53 are shown, however, the slide connection means 46 may be made by means of at least two bumper zones 53. However, other holding means may be used to firmly block the antenna in the antenna housing 44.
    The support of the drone body 38 is attached to the link arm and is in a substantially vertical direction towards the ground.
    According to a particular embodiment, the support of the drone body 38 is positioned substantially perpendicularly to the link arm 34. According to another particular embodiment, the support of the drone body 38 is positioned at an angle of 60 ° to 90 ° relative to the direction of the link arm 34. The communication antenna 46 is slid into the support of the drone body 38 substantially perpendicular to the body of the drone. Indeed, in order to optimize the radiation of the antenna formed by lobes, it is advantageous to position the communication antenna substantially perpendicularly, in particular so as to form an angle of 70 to 90 ° relative to the connecting arm 34.
    The antenna housing 44 comprises a polarizer 54 of a given shape, the antenna having a complementary shaped polarizer 56. The polarizer is an element, for example a protrusion, making it possible to avoid assembly errors during assembly. .
    As illustrated in FIGS. 3 and 4, the polarizer is positioned in the antenna housing 44 opposite the propellant unit 36.
    Figure 4 is an exploded view of a link arm 34, a support of the drone body 38 and an antenna 46 so as to illustrate the method of assembling the antenna 46 on the drone.
    In particular, in order to allow the replacement of the communication antenna 46, the support of the drone body 38 is a removable element comprising the antenna housing 44 and the slide connection means 52. The support of the removable drone body 38 is used to slide the communication antenna 46 in the antenna housing 44 and an assembly of the support of the drone body containing the antenna on the link arm 34 as illustrated. Once assembled, the link arm closes the antenna housing so as to firmly secure the communication antenna 46 in the housing 44 of the support of the drone body.
    The support of the drone body 38 comprises connecting means adapted to connect the antenna and the antenna is provided with complementary connection means.
    These connection means allow easy change of the antenna in case of failure thereof.
    Alternatively, the connection cable of the wireless communication means is soldered to the antenna 46.
    According to the invention, the antenna being integrated into the rigid structure of the support of the drone body, the latter protects the antenna in case of shock.
    权利要求:
    Claims (9)
    [1" id="c-fr-0001]
    A rotary wing drone (10) comprising - a drone body including an electronic board controlling the steering of the drone, wireless communication means and a plurality of link arms, - said wireless communication means being connected to an communication antenna (46), - a plurality of propulsion units (36) mounted at the end of respective link arms (34), - at least one support of the drone body (38) adapted to hold the drone body to distance from the ground, characterized in that the support of the drone body (38) comprises an antenna housing (44) provided with holding means of the communication antenna.
    [2" id="c-fr-0002]
    2. Drone according to claim 1, characterized in that the holding means are slide linkage means in which the antenna is slid by translation.
    [3" id="c-fr-0003]
    3. Drone according to any one of the preceding claims, characterized in that the support of the drone body is fixed on the link arm and is in a direction facing the ground.
    [4" id="c-fr-0004]
    4. Drone according to any one of the preceding claims, characterized in that the support of the drone body is attached to the end of the link arm below the propellant unit.
    [5" id="c-fr-0005]
    5. Drone according to any one of the preceding claims, characterized in that the antenna is slid into the support of the drone body substantially perpendicular to the body of the drone.
    [6" id="c-fr-0006]
    6. Drone according to any one of the preceding claims, characterized in that the antenna housing comprises a polarizer of a given shape, the antenna having a complementary shaped polarizer.
    [7" id="c-fr-0007]
    7. Drone according to the preceding claim, characterized in that the polarizer is positioned in the antenna housing opposite the propellant unit.
    [8" id="c-fr-0008]
    8. Drone according to any one of the preceding claims, characterized in that the support of the drone body comprises connecting means adapted to connect the antenna, the antenna being provided with complementary connection means.
    [9" id="c-fr-0009]
    9. Drone according to any one of the preceding claims, characterized in that the support of the drone body is removable allowing insertion of the antenna into said antenna housing.
    类似技术:
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    同族专利:
    公开号 | 公开日
    FR3042884B1|2017-12-08|
    CN106785357A|2017-05-31|
    JP2017124814A|2017-07-20|
    EP3159964B1|2018-12-19|
    EP3159964A1|2017-04-26|
    US9983579B2|2018-05-29|
    US20170115660A1|2017-04-27|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    GB1523714A|1971-12-13|1978-09-06|Westland Aircraft Ltd|Helicopters|
    WO2011058255A1|2009-11-13|2011-05-19|Parrot|Electronic navigation card holder for a rotor drone|
    FR2938774A1|2008-11-27|2010-05-28|Parrot|DEVICE FOR CONTROLLING A DRONE|
    FR2957266B1|2010-03-11|2012-04-20|Parrot|METHOD AND APPARATUS FOR REMOTE CONTROL OF A DRONE, IN PARTICULAR A ROTATING SAIL DRONE.|
    FR2967321B1|2010-11-05|2013-06-14|Parrot|METHOD OF TRANSMITTING CONTROLS AND A VIDEO STREAM BETWEEN A DRONE AND A REMOTE CONTROL THROUGH A WIRELESS NETWORK TYPE LINK.|
    CN204289684U|2014-12-25|2015-04-22|深圳市大疆创新科技有限公司|Antenna module, undercarriage and unmanned vehicle|US9735465B2|2015-07-20|2017-08-15|Qualcomm Incorporated|Motor feed antenna for vehicle|
    IL241025A|2015-09-01|2021-10-31|Uvision Air Ltd|Patch antennas configuration for an unmanned aerial vehicle|
    RU2653594C1|2017-05-02|2018-05-11|Федеральное государственное казенное военное образовательное учреждение высшего образования "Военный учебно-научный центр Военно-воздушных сил "Военно-воздушная академия имени профессора Н.Е. Жуковского и Ю.А. Гагарина"Министерства обороны Российской Федерации|Decameter range receiving-transmitting antenna of unmanned aerial vehicles|
    US10322790B2|2017-08-21|2019-06-18|Pinnacle Vista, LLC|Tail tracking antenna|
    CN111630715A|2018-01-22|2020-09-04|京瓷株式会社|Antenna, bicycle, display device and unmanned aerial vehicle|
    KR102084198B1|2019-03-15|2020-03-04|대한민국|Directional antenna installation device for use in drone|
    WO2020232626A1|2019-05-21|2020-11-26|深圳市大疆创新科技有限公司|Unmanned aerial vehicle|
    CN210284586U|2019-07-30|2020-04-10|苏州领速电子科技有限公司|Built-in antenna for racing unmanned aerial vehicle|
    法律状态:
    2016-10-20| PLFP| Fee payment|Year of fee payment: 2 |
    2017-04-28| PLSC| Publication of the preliminary search report|Effective date: 20170428 |
    2017-07-07| TP| Transmission of property|Owner name: PARROT DRONES, FR Effective date: 20170606 |
    2017-10-19| PLFP| Fee payment|Year of fee payment: 3 |
    2018-10-19| PLFP| Fee payment|Year of fee payment: 4 |
    2020-10-16| ST| Notification of lapse|Effective date: 20200906 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1560124A|FR3042884B1|2015-10-23|2015-10-23|DRONE HAVING A SUPPORT HAVING AN ANTENNA|FR1560124A| FR3042884B1|2015-10-23|2015-10-23|DRONE HAVING A SUPPORT HAVING AN ANTENNA|
    US15/298,089| US9983579B2|2015-10-23|2016-10-19|Drone having a support housing an antenna|
    EP16194513.4A| EP3159964B1|2015-10-23|2016-10-19|Drone with body leg housing an antenna|
    JP2016205616A| JP2017124814A|2015-10-23|2016-10-20|Drone having support housing antenna|
    CN201611272761.8A| CN106785357A|2015-10-23|2016-10-21|Unmanned plane with the support for accommodating antenna|
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