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  • 专利说明
  • 权利要求
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    • 专利摘要:
    The invention relates to an onboard unmanned flying device (1) comprising: - a supporting structure, - a wing (5) adapted to allow the flight and the displacement of the unmanned flying device on board, the wing being mounted on the supporting structure a propulsion unit capable of producing a driving force acting on the onboard unmanned flying device, an electronic flight control module mounted on the carrying structure and able to control the propulsion member, a positioning module by satellite capable of generating position data; - an ADS-B transponder (18) connected to the positioning module and configured to transmit the position data of the onboard unmanned flying device via an antenna (19) connected to the ADS-B transponder, and a support leg (8) connected to the supporting structure for supporting the ground-carrying structure, in which the antenna connected to the ADS-B transponder is mounted on the base of the antenna. e support.
    公开号:FR3045005A1
    申请号:FR1562200
    申请日:2015-12-11
    公开日:2017-06-16
    发明作者:Maout Arnaud Le；Vincent Croze；Eric Denele
    申请人:Airborne Concept；Egis Avia；
    IPC主号:
    专利说明:

    TECHNICAL FIELD The invention relates to the field of onboard unmanned flying devices.
    Technological background
    Unmanned flying devices, better known as drones, are increasingly used in many fields. These drones are remotely piloted or programmed to perform a predetermined flight. UAVs are used, for example, for high-altitude shooting in cinemas, for monitoring sensitive sites, for surveying for agriculture or other purposes. Depending on the type of mission, drones integrate one or more sensors (camera, cameras, atmospheric survey device etc.) to collect the desired information during the flight. These UAVs can also carry material of reduced size and weight on target areas that are difficult to access using conventional means of transport. The interest of the drone is to allow operations of harvesting information or routing of equipment in a simpler and faster way than by land or by the use of aircraft with pilots. Moreover, UAVs make it possible to supplement the existing aerial surveillance means whose autonomy is limited and thus to ensure the permanent collection of information. Summary As the use of drones is increasing in many areas, a need to integrate these devices with air traffic control data has been identified. Indeed, the dimensions of a drone are such that a collision with a device such as an airliner or other could cause an air disaster. In addition, drones are increasingly accessible to the public, including people with no knowledge of aviation regulations. The use of drones by people who do not know the codes and obligations in the field of air traffic increases the risk of accidents and the difficulties of air traffic management. On the other hand, the identification of a drone owner requires a long and difficult investigation. There is no quick and easy way to link a drone with its owner. The aim of the invention is to enable the simple and reliable integration of drones in air traffic management data. In particular, the invention aims to provide a drone capable of communicating to the various actors of air traffic reliable positioning data and having a level of security adapted to the management of air traffic. The invention also aims to make it possible to know the identity of the drone and its owner by a simple means. Obtaining the identity of the drone quickly and easily is particularly important for law enforcement, for example. Finally, the invention proposes to correlate certain identification information from the air traffic management data to the identity data of the drone. Such an identification system provides a consistent and unique identification for each drone both in flight and out of flight.
    According to one embodiment, the invention provides an onboard unmanned flying device comprising: a support structure, a wing capable of allowing the flight and displacement of the unmanned flying device on board, the wing being mounted on the supporting structure, a propulsion member adapted to produce a driving force acting on the onboard unmanned flying device, an electronic flight control module mounted on the carrier structure and adapted to control the propulsion member, a satellite positioning module capable of generating position data, an ADS-B transponder connected to the positioning module and configured to transmit the position data of the onboard unmanned flying device via an antenna connected to the ADS-B transponder, and a support leg connected to the supporting structure to support the ground-carrying structure, in which the antenna connected to the ADS-B transponder is mounted on the foot of support.
    Thus, such an onboard unmanned flying device can send data relating to its position to any remote device requiring information on the presence of aircraft in a given airspace. In particular, a ground station can thus manage the presence of onboard unmanned flying devices according to the invention and integrate these devices flying without a pilot on board its air traffic control. Moreover, an onboard unmanned device incorporating such an ADS-B transponder is compatible with the current air traffic management systems. For example, an aircraft such as an airliner equipped with a data receiver sent by an ADS-B transponder can be informed of the presence of a drone on its flight path and adapt its flight accordingly.
    In addition, the positioning of the antenna connected to the ADS-B transponder on the support leg makes it possible to send the ADS-B transponder data without interfering with the electronic flight control module. Indeed, the distance separating the data transmission antenna from the ADS-B transponder and the electronic components of the electronic flight control module avoids the disturbances of the electronic flight control module by the antenna transmissions. The positioning of the antenna on the support foot is all the more advantageous as the dimensions of the onboard unmanned flying device are reduced.
    According to other advantageous embodiments, such an onboard unmanned flying device may have one or more of the following characteristics: the onboard unmanned flying device further comprises a radio-tag configured to store in a memory and to provide a data of identification of the unmanned flying device on board. the radio-tag and the transponder ADS-B are arranged in a common box, the transponder ADS-B being connected to the radio-tag, the position data of the on-board unmanned flying device further comprising the identification data of the device unmanned steering wheel on board. the antenna connected to the transponder ADS-B is mounted on one end of the support leg opposite the carrier structure. the support foot is mounted on the supporting structure rotatable between an unfolded position in which the support foot is developed under the supporting structure to support the supporting structure on the ground and a folded position in which the support foot is developed on a side of the carrier structure, the ADS-B transponder antenna comprising a receiving rod whose axis is arranged to be oriented vertically towards the ground when the foot is in the folded position and the unmanned flying device on board is in flight with a zero plate. The mobility of the support leg between an unfolded position and a folded position allows the onboard unmanned flying device to carry an image capture apparatus such as a camera or a video camera under the supporting structure of the onboard unmanned flying device. and to capture images without the support foot remaining in the field of view of said image capture apparatus. In addition, such a support foot optimally directs the antenna connected to the ADS-B transponder when the onboard unmanned flying device is in flight, thus ensuring better dissemination of ADS-B transponder data. the satellite positioning module comprises a satellite receiving member mounted on the support leg, the satellite receiving member having a receiving axis configured to be oriented vertically towards the sky when the support leg is in the folded position and the unmanned flying device onboard is in flight with a zero attitude. In a similar manner to the antenna connected to the ADS-B transponder, such positioning of the receiving member of the positioning module allows optimum communication between the positioning module and the satellites making it possible to determine the position of the onboard unmanned flying device. in the airspace. the supporting structure comprises: a central body, the electronic control module being mounted on the central body of the supporting structure, a plurality of arms mounted on the central body, the arms being distributed circumferentially around the central body, and in which the wing comprises a plurality of propellers, the end opposite the central body of each arm carrying a propeller of the respective wing, an actuator of the propulsion member being configured to rotate the propeller around a perpendicular axis of rotation at a longitudinal direction of the arm, the reception axis of the satellite reception element of the satellite positioning module is located, in projection in a horizontal plane, out of a coverage area of the wing in projection in said plane horizontal when the support leg is in the folded position and the onboard unmanned flying device is in flight with a zero base the. The positioning of the satellite receiving member outside the coverage area of the wing allows better reception of the satellite positioning module. Indeed, such a configuration of the satellite receiving member prevents the propellers from disturbing the communication of the satellite positioning module with the satellites when the onboard unmanned flying device is in flight. the ADS-B transponder is mounted on the support foot. By positioning the ADS-B transponder on the support leg, it is far enough away from the electronic flight control module not to disturb the various measuring devices of the onboard unmanned flying device. In particular, the ADS-B transponders generally comprising a metal casing, the metal mass of the casing does not disturb elements such as the inertial unit or the compass of the onboard unmanned flying device. In addition, in the case of an unmanned flying device on a rotary wing, the positioning of the ADS-B transponder on the support foot avoids the disturbances between the transponder ADS-B and the rotary wing, for example by avoiding disturbing the air flow around the ADS-B transponder and thus to disrupt any static pressure taken by the ADS-B transponder. the satellite positioning module and the ADS-B transponder are arranged in a common housing. Such a positioning module may have positioning accuracy characteristics superior to the positioning characteristics of a satellite positioning module such as those generally incorporated into the onboard unmanned flying devices. the carrier structure further comprises: a sensor configured to detect flight conditions of the onboard unmanned flying device and generate flight data corresponding to the detected flight conditions, o a radio communication module configured to transmit the flight data to a remote reception device, a connection bus connecting the sensor to the radio communication module and the electronic flight control module. the carrier structure comprises a plurality of sensors, said plurality of sensors including at least one of a gyroscope, a compass and an inertial unit.
    The onboard unmanned flying device further comprises a first power system for powering the electronic flight module and a second power system for supplying the ADS-B transponder. A separate power supply between the electronic flight control module and the ADS-B transponder provides an additional degree of security in case of failure of the onboard unmanned flying device. Thus, in the event of loss of control of the on-board unmanned flight device device, loss of communication between the onboard unmanned flying device and a remote control member or general failure of the onboard unmanned flying device, the ADS-B transponder continues to communicate its position to any interested remote device. Such independence of the power supply means is even more interesting if the ADS-B transponder is connected to a dedicated satellite positioning module. the radio communication module is configured to receive steering instructions for controlling the propulsion member and the wing.
    Some aspects of the invention are based on the idea of integrating position data of onboard unmanned flying devices with air traffic management data. Some aspects of the invention are based on the idea of allowing the sending of unmanned device position data compatible with the air traffic data of other types of aircraft. Certain aspects of the invention start from the idea of transmitting position data of an onboard pilotless flying device without loss of control quality of the onboard unmanned flying device. Some aspects of the invention are based on the idea of providing an on-board unmanned flying device incorporating a position data communication means having good position detection capabilities. Some aspects of the invention are based on the idea of providing an on-board unmanned flying device that does not disturb information gathering while having good communication with remote devices. Some aspects of the invention start from the idea of providing an onboard unmanned flying device identifiable in a secure manner. Some aspects of the invention depart from the idea of providing an identifiable unmanned flying device that is identifiable off-flight and in flight.
    BRIEF DESCRIPTION OF THE DRAWINGS The invention will be better understood, and other objects, details, features and advantages thereof will become more clearly apparent from the following description of several particular embodiments of the invention, given solely for the purposes of the invention. illustrative and not limiting, with reference to the accompanying drawings. - Figure 1 is a top view of an unmanned flying device embedded in the unfolded position of the support legs. FIG. 2 is a side view of the onboard unmanned flying device of FIG. 1. FIG. 3 is a schematic representation of the various elements of the onboard unmanned flying device according to the invention. FIG. 4 is a side view of an onboard unmanned flying device of FIG. 1 in unfolded position of the support stands illustrating the positioning of the ADS-B transponder and of the antenna connected to the ADS-B transponder. - Figure 5 is a side view of the onboard pilotless flying device of Figure 4 in the folded position of the support legs. FIG. 6 is a top view of the onboard unmanned flying device of FIG. 5.
    Detailed description of embodiments
    In the description and claims, the terms "inferior", "superior", "above" and "below" shall be used to denote the relative position of one element over another, within the scope of an onboard pilotless device having a zero attitude or resting on a flat horizontal support such as a flat ground or a flat landing platform horizontal relative to the earth's gravity. Thus, a first element is described as inferior or below a second element if this first element is located between the ground and the second element when the onboard pilotless flying device is in flight with a zero attitude or that it rests on a horizontal support. Conversely, the second element is then qualified as superior or above the first element. Similarly, the terms "vertical" and "horizontal" refer to the Earth's gravity in the case of an unmanned flying device embarked on a horizontal ground or having in flight a zero attitude. The invention is described below in the context of an unmanned flying device embarked rotary wing but could also be applied to an unmanned flying device onboard fixed wing.
    FIGS. 1 and 2 illustrate an onboard unmanned flying device, hereinafter referred to as a drone 1. A drone 1 comprises a carrying structure 2 comprising a main body 3 and a plurality of arms 4. The main body 3 illustrated in the figures has a circular cylindrical shape. Each arm 4 develops radially from the main body 3, for example in the form of a straight bar connected to the main body 3. The arms 4 are distributed circumferentially around the main body 3. Thus, four arms 4 are illustrated in the figures. and each arm 4 has with the arm 4 adjacent an angle of 90 °.
    The UAV 1 comprises a rotary wing having a plurality of helices 5. More particularly, an end 6 of each arm 4 opposite the main body 3 carries an upper helix 5A and a lower helix 5B. The upper propeller 5A and the lower propeller 5B are rotatably mounted about a vertical axis on either side of the end 6 of the corresponding arm 4. Each propeller 5 is powered by a motor 7 for rotating said helix 5 about its axis of rotation. The driving force provided by the motors 7 drives the propellers 5 in rotation about their respective axis of rotation allowing the flight and the displacement of the drone 1 in the air.
    Furthermore, in order to ensure its stability on the ground, the drone 1 comprises support legs 8, of which there are two in FIG. 1. Each support leg 8 has a rectilinear spreading leg 9 that extends from the main body 3 One end of the spacer leg 9 opposite the main body 3 has a straight support bar 10 extending perpendicularly to the spacer leg 9. The support bars 10 of the two support legs 8 develop parallel to one another. the other. In addition, the two support legs 8 are rotatably mounted on the main body 3.
    In an unfolded position of the support legs 8 (illustrated in FIGS. 1, 2 and 4), each support leg 8 develops under the main body 3. In this unfolded position, the support legs 8 each have an internal face in vis-à-vis the inner face of the other support leg 8. The unfolded position of the support legs 8 allows the drone 1 to rest on a stable support such as the ground or a landing platform.
    In a folded position of the support legs 8, illustrated in Figures 5 and 6, the support legs 8 develop on the sides of the main body 3 in a plane parallel to the arms 4. In addition, the support legs 8 are interposed in projection in a horizontal plane between two adjacent arms 4. This folded position, also called flight position, is particularly advantageous in the context of a drone 1 intended to carry a nacelle equipped with a shooting device such as a camera or a camera (not shown). Indeed, such a nacelle is generally installed under the main body 3 of the drone 1. Thus, In the folded position of the feet, the field of view of the camera is not obstructed by the presence of the support legs 8.
    In order to ensure its piloting, the drone 1 comprises a flight control module comprising a set of sensors for determining flight conditions of the drone 1. Such sensors are integrated with the carrier structure 2 and include for example an inertial unit 11, a gyroscope 12, a compass 13, a satellite guide system 14, etc. In FIGS. 1 and 2, the inertial unit 11 and the gyroscope 12 are integrated in the main body 3 and the compass 13 and the satellite guide system 14 are integrated in an arm 4. In addition, the satellite guidance system 14 comprises an antenna 15 mounted on an upper face of the main body 3. The flight control module further comprises a control member 16 connected to all the elements of the flight control module via communication buses 17. The control member 16 comprises, inter alia, an internal memory, a microcontroller, a telemetry module and a reception module (not shown). The control member 16 is able to determine flight conditions according to the data measured by the sensors and then to communicate the flight conditions of the drone 1 to a remote operator, for example a pilot of the remote drone 1. The control member is further adapted to actuate the motors 7 and direct the rotary wing 5 in response to flight instructions. The control member 16 is also able to control the movement of the support legs 8 between the folded position and the unfolded position.
    In one embodiment, the flight instructions are stored in the internal memory of the control member 16, for example in the case of a drone 1 programmed to perform a predetermined flight. In another embodiment, the drone 1 is driven by a remote operator using, for example, a remote control 27. In this case, the control member 16 receives via its receiving module flight instructions. sent from the remote control 27 and the microcontroller of the control member 16 processes these flight instructions to actuate the motors 7 and direct the wing 5. Preferably, this remote control is integrated with the remote member to which the control member communicates flight conditions.
    Figures 3 to 6 illustrate the integration of an ADS-B transponder 18 in the onboard unmanned flying device. FIG. 3 schematically illustrates the components of the drone 1. In addition to the sensors as described above with reference to FIGS. 1 and 2, the drone 1 comprises an ADS-B transponder 18. This ADS-B transponder 18 is connected to a communication antenna 19 for transmitting positioning information of the drone 1. This information is for example intended for an air traffic management ground station or by a flying apparatus having a suitable receiver such as a airliner (not shown).
    In order to allow the integration of the positioning information of the drone 1 in the current air traffic management information, it is necessary that the data transmitted by the transponder ADS-B 18 and the transmission characteristics of the antenna 19 connected to the transponder ADS-B 18 are compatible with the transmission characteristics of the current air traffic management information. Thus, the transmit power of the antenna 19 connected to the ADS-B transponder 18 must make it possible to send the positioning information of the drone 1 at long distances. Thus, the antenna 19 connected to the transponder ADS-B 18 is for example an omnidirectional antenna emitting at a power of 70W and at a frequency of 1090 MHz. The ADS-B transponder 18 and the antenna 19 connected to the ADS-B transponder 18 are for example compatible with the EUROCADE ED 102A standard or the RTCA DO 260B standard. Preferably, in a variant not shown, the ADS-B transponder 18 is connected to the satellite guidance system 14 of the drone 1.
    The ADS-B transponder 18 is powered by a supply 20 independent of the power supply of the other elements of the drone 1 (engine, wing actuators, flight control module, etc.). Thus, even in the event of a malfunction of the flight control module of the drone 1, the ADS-B transponder 18 can continue to emit a signal indicating the position of the drone 1 in the airspace. For example, in case of drift of the drone 1 following a loss of control due to an electrical problem, an electronic problem, a software failure, or any other malfunction, the ADS-B 18 transponder can continue to operate independently and broadcast. the positioning data of the drone 1. The various actors of air traffic such as air navigation services will have a position report of the drone 1 including if the drone is in distress. In addition, in the event of a drone 1 crash, the ADS-B transponder 18 remains able to transmit and give position information to the persons responsible for its search.
    Preferably, in order to allow this independence of the ADS-B transponder 18 with respect to the other elements of the drone 1 and as illustrated in FIG. 3, the ADS-B transponder 18 is connected to a dedicated satellite positioning system 21 independent of the system. satellite guide 14 of the drone 1. In addition, the ADS-B transponder 18 comprises an altitude acquisition system 22. Such an altitude acquisition system 22 comprises, for example, an integrated pressure tap at a housing in which is housed the transponder ADS-B 18.
    The signals emitted by the antenna 19 connected to the ADS-B transponder 18 include information on the positioning integrity and the velocity of the drone 1. The integrity for the positioning and the velocity of an aircraft is an important information for the aircraft. aeronautical surveillance systems. This information particularly informs radar monitoring applications on the precision that can be delivered by the ADS-B transponder 18.
    In the horizontal plane, the positioning integrity of the drone 1 is determined by a disk. The larger the radius of the disk, the lower the accuracy. Conversely, the smaller the radius, the greater the accuracy. The drone 1 is reputed to be contained in this disc. The radius of the disc is preferably a few meters.
    In the vertical plane, that is to say at altitude, the ADS-B transponder 18 obtains integrity information by measurement of atmospheric pressure (Baro Altitude) using the static pressure tap 22 or, preferably by the satellite positioning system 21.
    The velocity of drone 1 is qualified in the horizontal plane and expressed with a horizontal speed error.
    Ground-based monitoring systems use this integrity information to make the information presented to air traffic controllers more reliable. It is therefore important that the integrity of position and speed be as precise as possible in order to allow their exploitation by the actors of air traffic management.
    In addition, the housing housing the ADS-B transponder 18 comprises a radio identification means such as a radio-tag 23, for example an RFID-type electronic chip. This radio identification means 23 comprises a unique identification associated with the drone 101.
    In one embodiment, the housing 24 housing the transponder ADS-B 18 comprises a non-volatile memory 29. This non-volatile memory 29 is preferably removable. In one embodiment, this non-volatile memory 29 is a removable memory card, for example an SD type memory card. This non-volatile memory 29 makes it possible to store data characterizing the flight of the drone 1, for example during the last 30 minutes or during the last hours. These data characterizing the flight of the drone 1 comprise for example the identification of the drone, its altitude, its position, and its speed, etc. The identification of the drone 1 can be achieved in many ways. In one embodiment, the unique identification of the drone 1 includes an identification number issued by the International Civil Aviation Organization (ICAO). In one embodiment, this identification number is coded on 24 bits. In one embodiment, each identification number issued by ICAO is associated with a single drone 1. In another embodiment, each ICAO-issued identification number is associated with the manufacturer of the drone 1 for the first time. all the drones of said manufacturer and a unique number is associated with the corresponding ADS-B transponder 18.
    In one embodiment, the radio-tag is configured during the construction of the ADS-B transponder 18 so as to reliably and statically integrate the identification of the drone 1.
    In another embodiment, a flight plan identifier is stored in the radio identification means 23 before each flight. This flight plan identifier is unique for each flight plan and is, for example, dynamically provided for the air traffic management actors in addition to the positioning information of the drone 1 via the antenna 19 connected to the ADS-B transponder. 18. Thus, it is possible to reliably and safely identify the drone 1 by a simple reading of the radio-tag 23.
    Such radio identification means 23 makes it possible to know the identity of the drone 1 by simply reading the radio-tag 23. This is particularly useful in the event of the loss or crash of the drone 1, the constructor identifier and the identifier recorded during the construction of the ADS-B transponder 18 and / or the flight plan identifier constituting a unique electronic registration of the drone 1.
    Figures 4 to 6 illustrate in more detail the integration of the transponder ADS-B and the antenna 19 connected to the transponder ADS-B.
    The ADS-B transponder 18 is integrated in a housing 24 incorporating the ADS-B transponder electronics as well as the satellite positioning system 21 (including its satellite communication antenna), the radio-label 23 or the 22. The housing 24 is mounted on one of the support legs 8 of the drone 1 and, more particularly, on the leg 9 of one of the support legs 8. Thus, the housing 24 and the transponder electronics ADS-B 18 are sufficiently far away from the flight control module of the drone 1, including communication buses 17, so as not to disturb the operation of the flight control module.
    Similarly, the antenna 19 connected to the ADS-B transponder 18 is mounted on the same support leg 8 as the housing 24. Preferably, the antenna is mounted on the end of the leg 9 of the opposite support leg 8 to the main body 3 so as to be sufficiently far away from the flight control module of the drone 1 so as not to disturb the proper functioning of said flight control module. In particular, this distance from the antenna 19 with the flight control module of the drone 1 prevents the emissions of the antenna 19 connected to the transponder ADS-B 18 does not disturb communications between the flight control module of the drone 1 and a remote device such as the remote control 27 for driving the drone 1.
    Preferably, the housing 24 is mounted on an outer face of the support leg 8. Thus, when the support leg 8 is in the folded position, as shown in Figure 5, the housing 24 is located on an upper face of the support leg 8. By being positioned on the upper face of the support leg 8, the dedicated satellite positioning system 21 of the ADS-B transponder 18 is oriented towards the sky. This orientation of the satellite positioning system 21 integrated in the housing 24 allows good communication with the satellites and therefore a better reliability of the positioning data transmitted by the ADS-B transponder.
    Furthermore, as illustrated in FIG. 6, the support leg 8 being interposed between two arms 4 of the drone 1, the housing 24 mounted on said support leg 8 is also interposed, in projection in a horizontal plane, between two arms 4 of the drone 1. Thus, the positioning of the housing 24 on the support foot 8 makes it possible to shift the propellers 5 and the housing 24. In particular, the mask 25 corresponding to the occupation surface of the propellers 5, shown in dotted line on the FIG. 6 is not located vertically on the housing 24 so that the propellers 5 do not disturb the communication between the satellites and the satellite positioning system 21 connected to the ADS-B transponder 18.
    Moreover, in the case of an ADS-B transponder 18 obtaining altitude information of the drone 1 by a static pressure tap, the distance between the housing 24, and therefore the static pressure tap, and the propellers 5 prevents the data obtained using the static pressure tap being disturbed by the rotation of the propellers 5. The antenna 19 connected to the transponder ADS-B 18 is preferably located on an inner face of the support leg 8. This antenna 19 is a rod type antenna whose axis 26 is developed perpendicularly to the leg 109 of the support leg 8 on which it is mounted. Thus, in the folded position of the support legs 8, as illustrated in FIG. 6, the axis 26 of the antenna 19 connected to the ADS-B transponder 18 is oriented downwards, that is towards the ground . This orientation of the antenna 19 is particularly advantageous for the transmission of data from the ADS-B transponder 18 to a remote device in the ground 28, such as for example an air traffic management station.
    Positioning on the one hand of the housing 24 comprising the ADS-B transponder 18 on an outer face of the support leg 8 and, on the other hand, of the antenna 19 connected to the ADS-B transponder 18 on the inner face of the foot support 8 is particularly advantageous since in addition to allowing the transport of shooting equipment under the drone 1 whose field of vision is not obstructed by the support legs 8, the displacement of the support legs 8 to the position folded allows to orient both the housing 24 of the satellite positioning system 21 that the antenna 19 connected to the transponder ADS-B 18 optimally.
    Although the invention has been described in connection with several particular embodiments, it is obvious that it is not limited thereto and that it comprises all the technical equivalents of the means described and their combinations if they are within the scope of the invention. Thus, the drone according to the invention could be a fixed-wing drone in which the housing of the ADS-B transponder is mounted on an upper face of the fuselage or wings and the antenna connected to the ADS-B transponder is mounted on one side. lower fuselage or wings. Likewise, in the context of an unmanned flying-wing device with rotating wings whose support legs are not folding, the ADS-B transponder and the antenna connected to the ADS-B transponder are mounted on the support foot of to be oriented respectively towards the sky and the ground. The use of the verb "to include", "to understand" or "to include" and its conjugated forms does not exclude the presence of other elements or steps other than those set out in a claim. The use of the indefinite article "a" or "an" for an element or a step does not exclude, unless otherwise stated, the presence of a plurality of such elements or steps.
    In the claims, any reference sign in parentheses can not be interpreted as a limitation of the claim.
    权利要求:
    Claims (13)
    [1" id="c-fr-0001]
    1. Onboard unmanned flying device (1) comprising: a support structure (2), a wing (5) adapted to allow the flight and movement of the onboard unmanned flying device, the wing being mounted on the supporting structure, a propulsion member (7) adapted to produce a driving force acting on the onboard unmanned flying device, an electronic flight control module mounted on the carrier structure and adapted to control the propulsion member, a satellite positioning module ( 14, 21) adapted to generate position data, an ADS-B transponder (18) connected to the positioning module and configured to transmit the position data of the on-board unmanned flying device via an antenna (19) connected to the transponder ADS- B, and a support leg (8) connected to the supporting structure for supporting the ground-carrying structure, wherein the antenna connected to the ADS-B transponder is mounted on the support leg.
    [2" id="c-fr-0002]
    2. Onboard unmanned flying device according to claim 2, wherein the antenna (19) connected to the transponder ADS-B (18) is mounted on one end of the support leg opposite the carrier structure.
    [3" id="c-fr-0003]
    3. embedded unmanned flying device according to one of claims 1 to 2, wherein the support leg is mounted on the supporting structure movable in rotation between an unfolded position in which the support foot is developed under the supporting structure to support the bearing structure on the ground and a folded position in which the support foot develops on one side of the supporting structure, the antenna of the ADS-B transponder comprising a receiving rod whose axis is arranged to be oriented vertically towards the ground when the support leg is in the folded position and the unmanned flying device on board is flying with a zero attitude.
    [4" id="c-fr-0004]
    4. Onboard unmanned flying device according to claim 3, wherein the satellite positioning module (21) comprises a satellite receiving member mounted on the support leg (8), the satellite receiving member having a receiving axis. configured to be oriented vertically to the sky when the support leg is in the stowed position and the onboard unmanned flying device is in flight with a zero attitude.
    [5" id="c-fr-0005]
    5. Onboard unmanned flying device according to claim 4, wherein the supporting structure comprises: a central body (3), the electronic control module being mounted on the central body of the supporting structure, a plurality of arms (4) mounted on the central body, the arms being distributed circumferentially around the central body, and wherein the wing comprises a plurality of propellers, the end opposite the central body of each arm carrying a propeller of the respective wing and an actuator of the a propulsion member configured to rotate said helix about an axis of rotation perpendicular to a longitudinal direction of the arm, and wherein, when the support leg is in the folded position and the onboard unmanned flying device is in flight with a zero attitude, the reception axis of the satellite reception unit of the satellite positioning module is located, in projection in a plane horizontal, out of a coverage area (25) of the wing in projection in said horizontal plane.
    [6" id="c-fr-0006]
    6. Embedded unmanned flying device according to one of claims 1 to 5, wherein the ADS-B transponder is mounted on the support foot.
    [7" id="c-fr-0007]
    7. Onboard unmanned flying device according to one of claims 1 to 6, further comprising a radio-tag (23) configured to store in a memory and provide an identification data of the onboard unmanned flying device.
    [8" id="c-fr-0008]
    8. Onboard unmanned flying device according to claim 7, wherein the radio-tag (23) and the transponder ADS-B (18) are arranged in a common housing, the transponder ADS-B (18) being connected to the radio label, the position data of the onboard unmanned flying device, further comprising the identification data of the onboard unmanned flying device.
    [9" id="c-fr-0009]
    9. Onboard unmanned flying device according to one of claims 1 to 7, wherein the satellite positioning module and the transponder ADS-B are arranged in a common housing.
    [10" id="c-fr-0010]
    10. Onboard unmanned flying device according to one of claims 1 to 9, wherein the carrier structure further comprises: a sensor configured to detect flight conditions of the onboard unmanned flying device and generate flight data corresponding to the conditions flight detected, a radio communication module configured to transmit the flight data to a remote receiving device, a connection bus connecting the sensor to the radio communication module and the electronic flight control module.
    [11" id="c-fr-0011]
    11. Onboard unmanned flying device according to claim 10, wherein the carrier structure comprises a plurality of sensors, said plurality of sensors comprising at least one of a gyroscope, a compass and an inertial unit.
    [12" id="c-fr-0012]
    12. Onboard unmanned flying device according to one of claims 10 to 11, wherein the radio communication module is configured to receive control instructions for controlling the propulsion member and the wing.
    [13" id="c-fr-0013]
    13. Onboard unmanned flying device according to one of claims 1 to 12, further comprising a first power system for supplying the electronic flight module and a second power system for supplying the transponder ADS-B.
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    同族专利:
    公开号 | 公开日
    WO2017098172A1|2017-06-15|
    FR3045005B1|2018-07-27|
    EP3386857A1|2018-10-17|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US4461436A|1979-11-26|1984-07-24|Gene Messina|Gyro stabilized flying saucer model|
    WO2007141795A1|2006-06-08|2007-12-13|Israel Aerospace Industries Ltd.|Unmanned air vehicle system|
    US20100283661A1|2007-01-16|2010-11-11|The Mitre Corporation|Observability of unmanned aircraft and aircraft without electrical systems|
    US20140324255A1|2013-03-15|2014-10-30|Shahid Siddiqi|Aircraft emergency system using ads-b|
    WO2015175379A1|2014-05-10|2015-11-19|Aurora Flight Sciences Corporation|Autonomous aerial vehicle collision avoidance system and method|
    GB2559580B|2017-02-09|2020-02-12|Jaguar Land Rover Ltd|Unmanned Aircraft and Landing System Therefor|
    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|
    CN112298560B|2020-12-04|2022-01-07|安徽天德无人机科技有限公司|Special highway patrol unmanned aerial vehicle for cluster fog weather|
    CN113277063B|2021-06-03|2022-03-08|中国人民解放军军事科学院国防科技创新研究院|Design method of folding wing unmanned aerial vehicle aerial delivery control system|
    法律状态:
    2016-12-30| PLFP| Fee payment|Year of fee payment: 2 |
    2017-06-16| EXTE| Extension to a french territory|Extension state: PF |
    2017-06-16| PLSC| Publication of the preliminary search report|Effective date: 20170616 |
    2018-01-02| PLFP| Fee payment|Year of fee payment: 3 |
    2019-12-30| PLFP| Fee payment|Year of fee payment: 5 |
    2020-12-28| PLFP| Fee payment|Year of fee payment: 6 |
    2021-12-30| PLFP| Fee payment|Year of fee payment: 7 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1562200|2015-12-11|
    FR1562200A|FR3045005B1|2015-12-11|2015-12-11|FLYING DEVICE WITHOUT PILOT BOARD COMPATIBLE WITH THE MANAGEMENT OF AIR TRAFFIC|FR1562200A| FR3045005B1|2015-12-11|2015-12-11|FLYING DEVICE WITHOUT PILOT BOARD COMPATIBLE WITH THE MANAGEMENT OF AIR TRAFFIC|
    PCT/FR2016/053287| WO2017098172A1|2015-12-11|2016-12-08|Unmanned aerial vehicle compatible with air traffic control|
    EP16819624.4A| EP3386857A1|2015-12-11|2016-12-08|Unmanned aerial vehicle compatible with air traffic control|
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