• 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:
    An automatic parachute ejection system, intended for equipping a drone-type aircraft, comprising a parachute launcher (100) controlled by an electronic module (200), said launcher comprises a tube (10) fixed to a base (20) and containing a compression spring (30) coupled to a parachute launch platform, said platform is formed by a bottom plate (40) and a retaining pin (41) which allows the unlocking lock of said launcher, the electronic module (200) ) is connected to a servocontrol (50) placed in the launcher (100), said electronic module comprises sensors enabling it to detect abnormalities in the behavior of the aircraft, the electronic module (200) sends the launching commands of the launcher (100) to the servocontrol (50) and extinction of the engines (500) of the aircraft in case of anomaly detected according to the instructions implemented in an embedded software of said module, the base (20) comprises a unlocking locking mechanism for loading and unloading the launcher (100), the unlocking of said mechanism being actuated by said servocontrol.
    公开号:FR3046988A1
    申请号:FR1658729
    申请日:2016-09-19
    公开日:2017-07-28
    发明作者:Julien Queffelec
    申请人:Airbot Systems；
    IPC主号:
    专利说明:

    Parachute ejection system for aircraft
    FIELD OF THE INVENTION
    The present invention belongs to the field of aircraft and their equipment. The invention relates more particularly to a parachute ejection system for unmanned aircraft, or drone.
    STATE OF THE ART The use of parachutes for drones is becoming more widespread due to increasingly stringent regulations, requiring this safety equipment for certain drones in the context of particular flight scenarios. In addition, parachutes are essential in the event of accidents to limit, on the one hand, the effects of the impacts on the equipment onboard the drones and on the drones themselves, and on the other hand, the danger to people located at the base of the flight area.
    The design and installation of a drone parachute system must also be subject to the physical limitations of flying vehicles of this type, including space, mass, structural strength and range.
    There are widely available solutions on the market for civilian drone users, offering parachutes of different sizes and their ejection systems. Existing ejection systems incorporate various technologies, both in the mechanical launch of the parachute and in the electronic control of said launch.
    Indeed, the known parachute launchers comprise a container that can be flexible, pod release, or rigid, tube-shaped, for example, and are provided with different means of ejection of the parachute according to the shape of the container. The ejection means used in the drop pods generally consists of a servocontrol and a gravity device based elastic ejection strap. The rigid tubes are provided with servo controls, springs and possibly extractor parachutes in the case of drones large masses.
    These different ejection devices, or launchers, are actuated by an electronic control that can be manual, provided by a user via a remote control, or automatic, operated by a flight controller according to pre-programmed instructions.
    Known automatic controls are therefore based on scenarios designed according to different needs depending on the nature of the drone's mission, user requirements and the regulations in force. As a rule, the automatic parachute ejection commands rely on flight data, such as acceleration, to estimate an abnormal attitude of the drone, such as a free fall for example.
    The Chinese document CN 103770945 A presents such a solution by describing a method of automatic control of the launch of the parachute, using a unit of measurement of the acceleration.
    Another solution disclosed in the French document FR 3012423 A1 consists of a device for automatic release of the parachute in case of exit from the flight envelope or at the urgent request of the user.
    These devices do not use intrinsic sensors but use the sensors of the flight controller and therefore cause significant changes in the embedded software during their installation.
    The ejection devices based on springs and tubes are also described in the documents WO 2016/059286 A1 and US 3964700 A for example.
    These solutions are often very complex and difficult to implement. Moreover, they can not be transposed to different types of drones.
    PRESENTATION OF THE INVENTION
    On the basis of this state of affairs, the applicant proposes a solution that overcomes the limitations of the prior art and describes an automatic parachute ejection system intended to equip a drone-type aircraft, comprising a parachute launcher controlled by an electronic module. said launcher comprises a tube attached to a base and containing a compression spring coupled to a parachute launching platform, said platform is formed by a bottom plate and a retaining pin which allows the unlocking lock of said launcher.
    This system is remarkable in that the electronic module is connected to a servocontrol placed in the launcher, and comprises sensors enabling it to detect anomalies in the behavior of the aircraft, in order to simultaneously send the launcher trigger commands to the launcher. the servocontrol and extinction of the engines of the aircraft in case of anomaly detected according to the instructions implemented in an embedded software of said module. In addition, the base comprises an unlocking locking mechanism for loading and unloading the launcher, the unlocking of said mechanism being actuated by said servocontrol.
    More particularly, the electronic module of the ejection system comprises one or more sensors among an accelerometer, a gyroscope, a magnetometer, a barometer, a GPS, and a distance and / or angle sensor, enabling it to detect a fall. free, a sudden loss of altitude, a reversal, an exceedance of a predefined horizontal flight perimeter and an abnormal change of direction of said aircraft.
    According to a particularly advantageous characteristic, the unlocking locking mechanism contained in the base of the launcher comprises a lifter connected to the servocontrol, a connecting rod and a lock, shaped and arranged to block the retaining pin when the launcher is loaded and releasing said retaining pin on triggering said launcher by the electronic module.
    Advantageously, the retaining pin comprises a groove at its free end, forming a tip, in which the latch is inserted during locking, thereby blocking said retaining pin.
    According to a fundamental principle of the invention, when triggering the launcher the spreader rotates, by action of the servocontrol, causing the withdrawal of the lock and the release of the retaining pin which produces the expansion of the spring and therefore the ejection of the parachute placed on the bottom plate.
    Advantageously, the unlocking mechanism of the base additionally comprises an arm articulated on said base by a pivot connection and allowing a transmission of effort and movement between the connecting rod and the lock.
    In an advantageous embodiment of the invention, the loaded state of the launcher corresponds to a spring compression of the spring and the loading of said launcher is done by a pressure exerted by the user on the bottom plate until the locking of the retaining axis.
    In addition, the triggering of the parachute launcher can be ordered by a remote user via a remote control which then sends a signal to a radio receiver forming part of the electronic module.
    In an advantageous embodiment, the electronic module is equipped with a buzzer, facilitating the location of the aircraft after the launch of the parachute launcher.
    The basic concepts of the invention having been described above in their most elementary form, other details and characteristics will emerge more clearly on reading the description which follows and with reference to the appended drawings, giving nonlimiting example an embodiment of a drone parachute ejection system according to the principles of the invention.
    BRIEF DESCRIPTION OF THE FIGURES
    The different drawings as well as the elements of the same drawing, are not necessarily represented on the same scale. On all the drawings, the identical elements bear the same mark.
    It is thus illustrated in:
    Fig. 1 a perspective view of a parachute launcher, loaded, according to the invention, the tube of said launcher being cut in the figure to make apparent the compressed spring;
    Fig. 2 a perspective view of the launcher of Figure 1 in an unloaded state, the spring having an equilibrium elongation leaving the launch platform entirely beyond the opening of the tube;
    Fig. 3 a detailed perspective view of the parachute launcher, the spring is not shown to reveal the launch platform and its retaining pin;
    Fig. 4 a perspective bottom view of the launcher showing the various elements of the unlocking locking device;
    Fig. 5 a block diagram of the trip control of the parachute ejection device.
    DETAILED DESCRIPTION OF EMBODIMENTS
    FIG. 1 shows an example of a drone parachute launcher 100 according to the principles of the invention, said launcher is intended to equip a reduced-size aircraft and in particular a drone. The launcher 100 operates according to the principles presented in the following description. The invention is described in detail in the exemplary embodiment of a drone parachute ejection system, comprising mainly the launcher 100, shown totally or partially in FIGS. 1 to 4, said launcher operating according to the operating mode. explained in the diagram of FIG.
    In the embodiment shown in FIGS. 1 and 2, the launcher 100 comprises a cylindrical tube 10 which forms the outer casing, said tube is fixed at one of its ends to a base 20 comprising a mechanism unlocking the launcher, said base is coupled to a bottom plate 40, which serves as a parachute launching platform, via a retaining pin 41, visible in Figure 2, integral with said bottom plate and cooperating with the mechanism of unlocking lock. A compression spring 30 is placed between the bottom plate 40 and the base 20 of the launcher 100 and allows the ejection of a parachute placed on said bottom plate once said spring is released by triggering a servocontrol 50 connected to the remainder of the ejection system as detailed below.
    FIG. 1 shows the parachute launcher 100, without a parachute, in a loaded state corresponding to a compression of the compression spring 30, the tube 10 being cut along a longitudinal plane of the launcher to reveal the spring 30. According to the embodiment shown in Figure 1, the length of the spring 30 when the launcher 100 is loaded corresponds to the block length of said spring, this allows a return of a maximum spring elastic energy potential, converted into kinetic energy ejection during the relaxation of the spring.
    Figure 2 shows the launcher 100 parachute in its discharged state which corresponds to a complete expansion of the compression spring 30, the length of said spring then being its free length. In addition, when the launcher 100 is unloaded, the launch platform formed by the bottom plate 40 and its retaining pin 41 protrudes entirely from the parachute exit opening 11 made at a first end, the distal end, of the 10. This configuration then allows deployment of the parachute far and without annoyance of the tube 10.
    The tube 10, according to the illustrated embodiment, is fixed to the base 20 by a second end, the proximal end, said base comprises the unlocking mechanism of the launcher 100 and is coupled to the servocontrol 50.
    The tube 10, according to the exemplary embodiment illustrated, is cylindrical with a circular base. This last condition is however not mandatory and the base of the tube 10 may for example be elliptical or polygonal.
    In the embodiment illustrated in Figures 1 and 2, the tube 10 is fixed to the base 20 by threaded hooks 27 and screws 271 clamping. The hooks 27 are placed on the lateral surface of the base 20 integral with said base and slightly off-center with respect thereto, forming recesses 270 in which the tube 10 is housed by its proximal end. The thickness of the recesses 270 is adapted to maintain the tube 10 with a minimum clearance. The embedding is then achieved by the screws 271 joining the threaded hooks 27 and holes made in the tube 10, not visible in the figures, and thus immobilizing the tube 10 relative to the base 20.
    In other embodiments not shown, the attachment between the tube 10 and the base 20 can be achieved by any quick fastening system such as screws or bayonets.
    The parachute launching platform, according to the embodiment illustrated in Figures 2 and 3, is formed by the bottom plate 40 and the retaining pin 41 fixed to the center of said bottom plate and perpendicular thereto. The retaining pin 41 has a groove 412 made at its free end and forming a tip 411, said tip being chamfered to facilitate its insertion into the base 20 during the locking of the launcher 100 parachute.
    Indeed, Figure 3 illustrates the launcher 100 in a loaded state corresponding to the insertion of the tip 411 of the retaining pin 41 in a hole 21 made in the center of the base 20 visible on the detail A, the spring 30 and Part of the locking mechanism is not shown for clarity.
    In an exemplary alternative embodiment not illustrated, the launch platform may include several retaining axes.
    The elements of the locking mechanism not shown in Figure 3 are shown in Figure 4 which illustrates said mechanism in a locked configuration and the launcher in a loaded state. The retaining pin 41 is then locked in its position by a latch 25 of the bolt type in the illustrated example, which is inserted into the groove 412 made on said retaining pin thus preventing the tip 411 from crossing the hole. 21 of the base 20.
    In an alternative embodiment not illustrated, the lock 25 can be any part able to maintain the retaining pin 41 in its locked position, such as a pin through the retaining pin which would be pierced in this case or a gripping device.
    The latch 25 is connected to an arm 24 hinged to the base 20 by a pivot connection axis axis 241, said arm has a hole 242 at its end opposite to the end by which is fixed the lock 25. The hole 242 of the arm 24 accommodates a connecting rod 23 by a first end of said connecting rod, the second end being mounted in a hole 221 of a spreader 22 articulated on the servocontrol 50.
    The connecting rod 23, according to the embodiment illustrated in FIG. 4, is shaped to be mounted between the hole 242 of the arm 24 and the hole 221 of the spreader bar 22 and thus to transmit a rotational movement between the crossbar 22 and the arm 24 of way to unlock the retaining pin 41 by the withdrawal of the latch 25 during the rotation of said lifter when the servocontrol 50 receives the order of ejection of the parachute.
    The rudder 22 forms a pivot connection, axially axis 51, with the servocontrol 50. In addition the rudder 22 has several holes 221 to allow a variable lever arm during the transmission of the unlocking force of said rudder to the lock 25, which can be adapted to different powers of the motor of the servocontrol 50.
    The unlocking locking mechanism as described above ensures the holding of the retaining pin, and thereby the bottom plate, in a determined position as the compression spring is compressed to block, and can be placed at different locations within the base 20, in the illustrated embodiment, said mechanism is placed in a lower portion of said base.
    In addition, the locking can be done manually in a simple manner by the establishment of the lock 25 until locking the retaining pin 41 when the spring 30 is fully compressed. However, an improved solution consists in making the automatic locking by equipping the lock 25 with a return spring or any other positioning device that would allow said lock to return to its locking position once the servocontrol 50 has been in the initial position, the user then only has to compress the spring 30 by exerting pressure on the bottom plate 40 until the retaining pin 41 is clipped into the lock 25 in place.
    In the case of an automatic locking mechanism, it is no longer necessary to manually access said mechanism for maintenance or repairs. It is therefore appropriate to close the base 20 containing the unlocking locking mechanism by a protective cap, not shown, which in the illustrated embodiment would be fixed on fixing means 26 shown in Figure 4.
    In the illustrated embodiment, the parachute launcher 100 must be loaded prior to attachment to the drone to be equipped. The launcher 100 is loaded by compressing the spring 30 by continuous pressure on the bottom plate 40, until the launch pad is locked in the base 20 via the retaining pin 41 located on said base plate, from the opposite side to the side welcoming the parachute.
    The parachute is then placed, folded, in the tube 10 after the loading of the launcher 100. A protective cover can then be added to the opening 11 of the tube 10 to close said tube and thus protect the parachute fabric against external aggression .
    In a preferred embodiment, the cover is fixed to the tube 10 by a set of magnetic masses distributed over the edge of said cover and the edge of the opening 11 so as to ensure a magnetic attraction between the cover and the tube 10.
    The drone parachute ejection system, as described in the present invention, comprises, in addition to the parachute launcher 100 described above, an electronic module 200 allowing the automatic triggering of said launcher and therefore the automatic ejection of the parachute. . This electronic module is composed of several elements, as shown in Figure 5, and is connected to the unlocking locking mechanism being responsible only for the unlocking operation that allows the release of the parachute.
    The electronic module 200, according to the embodiment illustrated in FIG. 5, comprises a flight controller 210 and various intrinsic sensors, not shown in FIG. 5, such as for example an accelerometer, a gyroscope, a magnetometer, a barometer, a GPS, and other distance and / or angle sensors such as a laser or an ultrasonic sensor. The sensors inform the drone in real time by providing data, on the position of said drone and the physical constraints exerted on it, to a software embedded in the flight controller 210.
    The electronic module 200 of the ejection system can be equipped with a single sensor or more sensors among the sensors mentioned above.
    The software embedded in the flight controller 210 interprets the data provided by the sensors and can, depending on the orders previously implemented in the software, make the decision to trigger the launcher 100 parachute. These commands are modifiable by the user to allow a suitable adjustment of the parachute triggering conditions and / or to act directly on the activation of certain sensors or of some of their functions.
    In a preferred embodiment, the drone parachute ejection system is capable of detecting a free fall, a sudden loss of altitude, a variation of the attitude beyond the limit or even a reversal of the drone, a abnormal change of direction, exceeding a previously established horizontal flight range, and is also capable of instantly calculating the attitude, acceleration, altitude and heading of said drone.
    For example, the software may be configured to automatically trigger the parachute launcher once the drone equipped by said launcher has exceeded a predefined tilt angle.
    The embedded software may be configured to trigger the parachute launcher 100 based on the data of a single sensor or by correlating the data of multiple sensors of the electronic module 200.
    When the flight controller 210 detects an anomaly in the behavior of the drone which it equips, such as those described above, it sends a signal to the launcher 100 of the parachute to trigger said launcher, and 211 signals to the drone's 500 engines in to cut them as required by current regulations. The signal sent to the launcher actuates the servocontrol 50 which in turn triggers the unlocking mechanism of the base 20 to eject the parachute.
    In a preferred embodiment, the shutdown of the motors at the ejection of the parachute is effected by an interruption of signals, responsible for the power of the motors, received by the speed controllers of said engines. The speed controllers always remain under electrical tension but no longer allow the passage of current between the batteries and the motors.
    This solution is particularly advantageous in the case of brushless motors, so-called brushless, widely used in drones and avoids the use of large and unreliable magnetic relays to achieve electrical power cuts according to regulations.
    The operating mode described in the previous paragraph is completely automatic and autonomous, requiring no intervention on the part of the user. However, the triggering of the launcher can be manual, in this case a user placed at a distance from the drone actuates the parachute launcher by a remote control 300 by sending a command to an internal radio receiver 230, the on-board software then operates the same procedure to trigger the launcher and stop the engines.
    In addition, the parachute launcher can be triggered by an external radio receiver 400, not part of the electronic module 200 of the ejection system unlike the internal radio receiver 230.
    The electronic module 200, according to the embodiment illustrated in Figure 5, also comprises a buzzer 220, or buzzer, for locating the drone of the parachute ejection until after landing of said drone.
    The electronic module 200 may, in an alternative embodiment, use the sensors of the flight controller 210, the latter generally including, as most drone flight controllers, clean sensors.
    The parachute ejection system for a drone as described can be supplied with electrical energy by a source of its own and / or by the batteries of the drone it equips.
    Finally, the drone parachute ejection system and its various elements can be placed anywhere on the drone, as long as it limits the size and does not affect the normal operation of said drone.
    权利要求:
    Claims (11)
    [1" id="c-fr-0001]
    1. Automatic parachute ejection system, intended to equip a drone-type aircraft, comprising a launcher (100) of parachute controlled by an electronic module (200), said launcher comprises a tube (10) for receiving the parachute, fixed to a base (20) and containing a compression spring (30) coupled to a parachute launch platform, said platform is formed by a bottom plate (40) and a retaining pin (41) which allows the unlocking lock said launcher, characterized in that: - the electronic module (200) is connected to a servocontrol (50) placed in the launcher (100); said electronic module comprises sensors enabling it to detect anomalies in the behavior of the aircraft; the electronic module (200) sends the launching commands of the launcher (100) to the servocontrol (50) in the event of an anomaly detected according to the instructions implemented in an onboard software of said module; - The base (20) comprises an unlocking locking mechanism for loading and unloading the launcher (100), the unlocking of said mechanism being actuated by said servocontrol.
    [2" id="c-fr-0002]
    2. automatic parachute ejection system according to claim 1, wherein the electronic module (200) simultaneously sends the trigger commands of the launcher (100) and extinction of the engines (500) of the aircraft in case of anomaly detected, the order of extinction of the motors stopping the power supply signals of the engines reaching the speed controllers of said motors while leaving said speed controllers powered up.
    [3" id="c-fr-0003]
    The automatic parachute ejection system according to claim 1 or 2, wherein the electronic module (200) comprises one or more sensors among an accelerometer, a gyroscope, a magnetometer, a barometer, a GPS and a distance sensor and or angle, allowing him to detect a free fall, a sudden loss of altitude, a reversal, a change of attitude such as an abnormal change of direction of said aircraft, and a passing of a horizontal perimeter of flight previously established.
    [4" id="c-fr-0004]
    An automatic parachute ejection system according to any one of the preceding claims, wherein the unlocking locking mechanism contained in the base (20) comprises a spreader (22) connected to the servocontrol (50), a connecting rod (23) ) and a latch (25), shaped and arranged to lock the retaining pin (41) when the launcher (100) is loaded and to release said retaining pin upon triggering said launcher by the electronic module (200), the lifting beam (22) then rotates, by action of the servocontrol (50), causing the latch (25) to be withdrawn and the retaining pin (41) which produces the spring detent (30) to be released and therefore ejecting the parachute placed on the bottom plate (40).
    [5" id="c-fr-0005]
    5. automatic parachute ejection system according to claim 4, wherein the retaining pin comprises a groove (412) at its free end, forming a tip (411), in which the latch (25) when locking, thereby blocking said retaining pin.
    [6" id="c-fr-0006]
    6. automatic parachute ejection system according to one of claims 4 or 5, wherein the locking mechanism of the unlocking base (20) further comprises an arm (24) articulated on said base by a pivot connection and allowing a transmission of effort and movement between the connecting rod (23) and the lock (25).
    [7" id="c-fr-0007]
    An automatic parachute ejection system according to any one of the preceding claims, wherein the loaded state of the launcher (100) corresponds to a block compression of the spring (30), the loading of said launcher is by a pressure exerted by the user on the bottom plate (40) until locking of the retaining pin (41).
    [8" id="c-fr-0008]
    An automatic parachute ejection system according to any one of the preceding claims, wherein the triggering of the parachute launcher (100) can be ordered by a remote user via a remote control (300) which sends a signal to a receiver radio (230) forming part of the electronic module (200).
    [9" id="c-fr-0009]
    An automatic parachute ejection system according to any one of the preceding claims, wherein the electronic module (200) is equipped with a horn (220), making it easier to locate the aircraft after the launch of the launcher ( 100) of parachute.
    [10" id="c-fr-0010]
    An automatic parachute ejection system according to any one of the preceding claims, wherein the tube (10) is cylindrical with a circular, elliptical or polygonal base, and closes with a protective cover on the exit side of the parachute. , opposite the base 20.
    [11" id="c-fr-0011]
    11. The automatic parachute ejection system according to claim 10, wherein the protective cover is fixed on the tube (10) by a set of magnetic masses distributed over the edge of said cover and on the edge of said tube so as to ensure a magnetic attraction between the cover and the tube (10).
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    同族专利:
    公开号 | 公开日
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    引用文献:
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    法律状态:
    2017-08-18| PLSC| Publication of the preliminary search report|Effective date: 20170818 |
    2017-09-29| PLFP| Fee payment|Year of fee payment: 2 |
    2018-09-28| PLFP| Fee payment|Year of fee payment: 3 |
    2020-10-07| PLFP| Fee payment|Year of fee payment: 6 |
    2021-12-28| PLFP| Fee payment|Year of fee payment: 7 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1658729A|FR3046988B1|2016-09-19|2016-09-19|PARACHUTE EJECTION SYSTEM FOR AIRCRAFT|FR1658729A| FR3046988B1|2016-09-19|2016-09-19|PARACHUTE EJECTION SYSTEM FOR AIRCRAFT|
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