• 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 comprising a drone body (22) and two front linkage arms (24, 26) and two rear linkage arms (28, 30) extending from the drone body and comprising at their distal end a propellant unit (32). The points of attachment to the body of the drone of the two front linkage arms and the attachment points to the body of the drone of the two rear linkage arms are located at respective different heights relative to the horizontal median plane of the body of the drone. The two front link arms of the drone form a first inclination angle with respect to the horizontal median plane of the body of the drone and the two rear link arms form a second angle of inclination with respect to the horizontal median plane of the body of the drone and said link arms of the drone are adapted to bend along the body of said drone.
    公开号:FR3048185A1
    申请号:FR1651563
    申请日:2016-02-25
    公开日:2017-09-01
    发明作者:Thierry Sanlaville；Maxime Ducloux；Flavien Morra
    申请人:Parrot Drones SAS；
    IPC主号:
    专利说明:

    The invention relates to powered flying machines such as drones, including quadrocopter type rotary wing drones.
    A typical example of such a drone is the AR.Drone, Bebop Drone or Bebop 2 from Parrot SA, Paris, France, which is a quadricopter equipped with a series of sensors (accelerometers, three-axis gyrometers, altimeter) , and may include at least one front video camera capturing an image of the scene to which the drone is directed.
    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 quadricopters are equipped with four propellant units each provided with propeller. The propulsion units are positioned at the distal end of the connecting arms connecting the propulsion units to the body of the drone. In addition, these drones include a plurality of feet to support the drone including when on the ground.
    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).
    The commands emitted by the control device are four in number, namely the roll rotation, that is to say the movement in rotation about its longitudinal axis, the pitch, that is to say the movement of rotation around the transverse axis, the heading also called yaw, that is to say the direction towards which the drone is oriented, and the vertical acceleration. In the remainder of the description, the term "tablet" will generally be used to designate this steering 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.
    Such a drone, particularly a quadrocopter-type drone, by its structure, has a large footprint which has the disadvantage that such a drone is difficult to transport.
    In order to simplify the transport of such a drone, it is known to disassemble the propellers of the drone, however, the drone comprising a plurality of connecting arms connected to the body of the drone remains cumbersome and difficult to transport.
    The object of the invention is to overcome this disadvantage, by proposing a drone to solve this disadvantage and thus allow easy transport of the drone. For this purpose, the invention provides a rotary wing drone comprising a drone body and two front link arms and two rear link arms extending from the drone body and comprising at their distal end a propulsion unit, the front and rear positions of the connecting arms being defined with respect to the main direction of flight of said drone.
    Typically, the drone comprises the points of attachment to the body of the drone of the two front linkage arms and the points of attachment to the body of the drone of the two rear linkage arms are located at respective different heights with respect to the horizontal median plane of the drone body, the two front link arms of the drone form a first inclination angle with respect to the horizontal median plane of the drone body and the two rear link arms form a second angle of inclination with respect to the horizontal median plane of the drone body of the drone different from the first angle, and said connecting arms of the drone are able to bend along the body of said drone.
    According to various subsidiary features: in the folded position, the connecting arms are folded in pairs, the pair being formed by a front linkage arm and a rear linkage arm, said linkage arms being folded one above the other; above each other. - In the folded position, the connecting arms of a pair of arms extend in respective directions parallel to each other and the pairs of arms extend on either side of the median plane of the drone body. - The connecting arms are respectively connected to the drone body by a pivoting means, the pivoting means comprising a locking / unlocking means of folding. - Said locking / unlocking means of the fold is in the locked position when the arms are unfolded and in the unlocked position when the connecting arms are in the unfolded position and able to be folded. - The locking / unlocking means of folding is positioned under the link arm. the means for locking / unlocking the folding is a push button. - The push button comprises a locking pin and a spring. - The locking pin is tapered. - The connecting arms comprise a cable duct, in which is inserted a cable duct, said cable duct being able to protect the cable when the connecting arms are folded. 0
    An exemplary implementation of the present invention will now be described with reference to the accompanying drawings.
    Figure 1 is an overview showing the drone and the associated control device for its control.
    Figure 2 is a view of the drone according to the invention.
    Figures 3A and 3B are views of the drone having the folded link arms according to the invention.
    Figure 3C shows a particular embodiment of folded connecting arms according to the invention.
    Figure 4 shows the means of the drone for folding the arms of the drone according to the invention.
    FIGS. 5A and 5B show an example of implementation of the locking / unlocking means for folding the link arms of the drone in accordance with the invention.
    Figure 6 illustrates illustrates the method of folding the link arms of the drone according to the invention.
    Figure 7 shows the power cable passage of the power unit.
    Figure 8 shows the lifting system of a drone support according to the invention.
    Figure 9 is a detailed view of the lifting system of a drone support according to the invention.
    Figure 10 shows the locking means of the drone support according to the invention.
    Figure 11 shows the drone with the raised drone mounts. 0
    We will now describe an exemplary embodiment of the invention. In Figure 1, reference numeral 10 generally denotes a drone. According to the example illustrated in FIG. 1, it is a quadrocopter-type drone.
    The quadrocopter drone comprises a drone body 22 and two front linkage arms and two rear linkage arms extending from the drone body and comprising at their distal end a propulsion unit, the front and rear positions of the linkage arms being defined with respect to the main direction of flight of said drone. The thruster comprises an engine and a propeller 12 assembled on said engine.
    The propulsion units are controlled independently by an integrated navigation and attitude control system.
    The drone 10 also includes a front-facing camera (not shown) for obtaining an image of the scene to which the drone is directed. 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.
    According to an exemplary embodiment, the drone is equipped with inertial sensors (accelerometers and gyrometers) for measuring with a certain accuracy the angular velocities and attitude angles of the drone, that is to say the angles of Euler ( pitch φ, roll Θ and heading ψ) describing the inclination of the drone relative to a horizontal plane of a fixed terrestrial reference, it being understood that the two longitudinal and transverse components of the horizontal velocity are intimately related to the inclination according to the two respective axes of pitch and roll.
    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 control device 16 such as a multimedia touch-screen phone or tablet and integrated accelerometers, for example a cellular telephone of the iPhone (registered trademark) or other type, or an iPad-type tablet ( registered trademark) or other. This is a standard device, unmodified if not the loading of a specific application software to control the control of the drone 10. According to this embodiment, the user controls in real time the movement of the drone 10 via the control device 16.
    The remote control device 16 is a device provided with a touch screen 18 displaying the image captured by the onboard camera 14 of the drone 10, with a number of symbols superimposed enabling the activation of commands by simple contact of the finger 20 of a user on the touch screen 18.
    The control device 16 communicates with the drone 10 via a bidirectional exchange of data over wireless LAN type Wi-Fi (IEEE 802.11) or Bluetooth (registered trademarks): from the drone 10 to the control device 16, particularly for the transmission of the image captured by the camera, and the control device 16 to the drone 10 for sending control commands.
    In FIG. 2 is illustrated in detail the quadrocopter drone of FIG. 1. The quadrocopter drone 10 comprises a drone body 22 and two front linkage arms 24, 26 and two rear linkage arms 28, 30 extending from the body Drone 22 and comprising at their distal end a propulsion unit 32 on which is assembled a propeller 12, the front and rear positions of the link arms being defined relative to the main direction of flight of said drone.
    The quadrocopter drone 10 has a particular chassis structure, in particular the use of a shape called "VTail" at the rear of the drone with respect to the main flight movement of the drone. In other words, the chassis is modified so that the two rear linkage arms 28, 30 form a V between them.
    Thus, the points of attachment to the body of the drone of the two front linkage arms 24, 26 and the points of attachment to the body of the drone of the two rear linkage arms 28, 30 are located at respective different heights relative to the horizontal median plane. of the body of the drone 22.
    In addition, the two front link arms 24, 26 of the drone form a first inclination angle with respect to the horizontal median plane of the body of the drone and the two rear linkage arms 28, 30 form a second angle of inclination relative to at the horizontal median plane of the body of the drone different from the first angle.
    According to an exemplary embodiment, two front linkage arms 24, 26 of the drone form an angle of 0 to 10 ° relative to the horizontal median plane of the body of the drone and the two rear linkage arms 28, 30 form an angle between 15 ° and 45 °. According to a particular embodiment, the angle relative to the two rear link arms is approximately 30 °.
    The propellers 12 assembled on the propulsion units 32 respectively of the front arm 26 and the rear arm 30 are positioned in the same plane, including the same plane of rotation. And the propellers 12 assembled on the propulsion units 32 respectively of the front arm 24 and the rear arm 28 are positioned in the same plane, including the same plane of rotation. In other words, the propellers assembled on the propulsion units 32 on the same side of the drone are positioned in the same plane, including the same plane of rotation. The side of the drone is defined in relation to the main direction of flight of the drone.
    According to an alternative embodiment, all the propellers assembled on the propulsion units of the drone are positioned in the same plane, including the same plane of rotation.
    The propellers 12 are adapted to be disassembled from the propulsion unit 32, either to be stored or to be changed in the case where the propellers are damaged.
    According to a particular embodiment, the propellers assembled on the propulsion units 32 of the link arms 24, 26 before the drone measure 279 millimeters in diameter while the propellers 12 assembled on the propulsion units of the rear link arms 28, 30 of the drone measure 229 millimeters in diameter.
    According to a particular embodiment, the drone 10 is able to carry various onboard sensors. The sensors are in particular fixed on the body of the drone, in particular on the lower structure of the drone. According to another embodiment, the sensors are inserted into a support, itself hooked on the lower outer structure of the drone.
    The sensors embedded on the drone are for example a camera, a 360 ° camera or a stereoscopic camera.
    The drone also includes at least one drone support 50. As shown in FIG. 2, the drone comprises two drone supports 50 each with two feet.
    The drone, by its structure, has a large footprint which has the disadvantage that such a drone is difficult to transport.
    In order to meet this requirement, and in accordance with the invention, the link arms 24, 26, 28, 30 of the drone are capable of folding along the body of said drone 22 in order to reduce the bulk of the drone during its operation. transport.
    Figure 3A illustrates the drone in an easily transportable configuration in which the propellers have been disassembled and the link arms have been folded along the drone body.
    However, in an alternative embodiment, the link arms of the drone can be folded while keeping the propellers assembled on the propulsion units of the drone as shown in Figure 3B.
    As shown in FIG. 3A, in the folded position, the link arms are folded in pairs (24, 28) and (26, 30), the pair being formed of a front linkage arm and a linkage arm rear, said connecting arms being folded one above the other.
    In particular, when the connecting arms are folded, the connecting arms of a pair of arms extend in respective parallel planes between them and the pairs of arms extend on either side of the horizontal median plane of the drone body as shown in Figure 3C.
    To do this, the connecting arms are respectively connected to the drone body by a pivoting means 34, the pivoting means 34 comprising a locking / unlocking means of the folding 38 as shown in FIG. 4.
    According to an exemplary embodiment, the pivoting means 34 is positioned substantially outside the main profile of the drone body 22. To this end, the drone body comprises at each of the link arms a protrusion 36 on which is positioned the pivoting means 34.
    As shown in Figure 4, the locking / unlocking means of the fold 38 are positioned under the connecting arms.
    According to a particular embodiment, said folding locking means 38 illustrated in FIGS. 5A and 5B comprise at least two positions, namely, a locked position when the arms are unfolded and an unlocked position when the link arms are in the unfolded position. and able to be folded or folded.
    The locked position of the locking / unlocking means of folding 38 makes it possible to keep the connecting arms in the unfolded position. In other words, the locked position keeps the link arms in their normal position to allow the flight of the drone. In addition, the locking means makes it possible to avoid any unwanted folding incident, in particular during the flight.
    FIGS. 5A and 5B illustrate an example of implementation of the locking / unlocking means of folding according to the invention, respectively in the locked position and in the unlocked position.
    According to an exemplary embodiment illustrated in FIGS. 5A and 5B, the folding locking / unlocking means 38 is a push button 40 which comprises, according to one embodiment, a locking pin 42 and a spring 44. The locking pin 42 may be conical shape.
    FIG. 5A illustrates the locking / unlocking means of the fold 38 in the locked position whereas FIG. 5B illustrates the locking / unlocking means of the fold 38 in the unlocked position.
    In these figures are represented the protrusion 36 of the drone body 22 on which the connecting arm is fixed, the linkage arm 30 and the locking / unlocking means 38.
    In the locked position, the conical blocking pin 42 as illustrated is simultaneously in contact with the drone body 22 and the linkage arm 30 to block any movement relative to each other.
    In the unlocked position, the conical locking pin 42 is withdrawn from its location in the linkage arm 30 so as to allow rotational movement of the linkage arm.
    The transition from the locked position to the unlocked position is achieved by the push button 40.
    The locking / unlocking means of folding 38 also comprises a spring 44 so as to allow automatic locking of the folding locking / unlocking means when the protuberance of the drone body 36 and the linkage arm 30 are in the ready position for the folding. flight. According to the embodiment of the folding now described, the folding of the connecting arms begins with the folding of the front arms.
    To do this, as shown in Figure 6, the locking / unlocking means of the fold 38, for example the push button is actuated under the connecting arm of each of the front linkage arms 24, 26. Then the front linkage arms of the drone are folded along the body of the drone 22. Thus, the connecting arms are folded towards the rear of the drone.
    Then, as represented in FIG. 4 previously described, the folding locking / unlocking means 38, for example the push button 40, is actuated under the connecting arm of each of the rear linkage arms 28, 30. Then the link arms rear of the drone are folded along the body of the drone 22. Thus, the rear linkage arms are folded towards the front of the drone.
    Figure 3C illustrates an embodiment of the invention wherein the pairs of link arms are folded, the link arms of said pair being substantially aligned parallel to each other.
    The propellant unit 32 is connected to the drone body 22 via a control and power cable in order to be controlled by the electronics contained in the drone body.
    As illustrated in FIG. 7, the control cable 46 is placed in a cable passage trough in order to be protected, the trough being present in the connecting arm and in the drone body. When the link arms of the drone are folded, it is observed that the control cable is no longer protected at the pivot means.
    Thus, in order to maintain this protected control cable, the cable is inserted into a grommet 48 so as not to allow direct access to this cable when the link arm is in a folded position.
    As indicated above, the quadrocopter drone is particularly able to embark on its sensor structure, including a camera, a 360 ° camera or a stereoscopic camera. Preferably, the sensor is attached to the drone body 22 on the lower structure of the drone body or in a support itself attached to the lower part of the drone body.
    Such a drone configuration has the following disadvantage. The video sensor covers in its field of vision, at least a portion of the drone support or all the support of the drone when using a 360 ° video sensor arranged under the drone body. Thus, it is observed that the drone supports entering the field of view of the sensor disrupt the quality of the video image and alter the visual appearance of the video sequence.
    A drone, as illustrated in FIG. 2, comprises at least two drone supports 50 extending from the drone body.
    Each drone support includes at least one foot. The drone illustrated in FIG. 2 comprises two drone supports, each having two feet. According to the invention, the supports 50 of the drone respectively comprise a lifting means 52 and the drone body 22 comprises at least one lift control device 54 in connection with each of the lifting means 52 of the drone supports 50 so that the drone supports are able to be raised when the drone is in flight.
    Thus, such a configuration of the drone support makes it possible, on the one hand, a landing of the drone and a stable position of the drone on the ground when the drone supports 50 are not raised, and on the other hand, to have a visual field cleared under the drone when the drone supports 50 are raised.
    In fact, the raised position of the drone supports makes it possible to eliminate the supports of the drone from the visual field of the video sensor and thus makes it possible to have a video image of very high visual quality and undisturbed in particular by the feet of the drone supports.
    FIG. 8 illustrates such a drone in a vertical section made at the level of the tilt control device 54 and lifting means 52 of the drone supports.
    Thus, there is illustrated a drone body 22 comprising a lifting control device 54. This control device is for example a gearbox.
    The drone comprises drone supports 50 comprising at their attachment to the body of the drone 22, a lifting means 52 cooperating with the lifting control device 54.
    According to a particular embodiment and as illustrated in FIG. 9, the lifting means 52 of a drone support comprises a lift rod 56.
    In addition, the tilt control device 54 comprises pivoting lifting cranks 58, connected by a coupling means 60 respectively to the lifting rod 56 of the lifting means 52 of the drone support so as to allow the lifting of drone. According to this embodiment, in the unraised position of the drone support, the position of the cranks 58 and lifting means 52 are in a position which cancels the resulting forces in the lifting control device 54 from the weight of the drone as well as the impact of the drone during the impact on the ground during landing.
    As illustrated in FIGS. 8 and 9, the lifting crank 58 is rotated by the tilt control device 54. To do this, one end of the tilt crank 58 is attached to an axis of rotation 62 of the control device. lift 54, this axis of rotation being rotated by the lifting control device.
    The second end of the lifting crank 58 comprises the coupling means 60 adapted to cooperate with the lifting rod 56 of the lifting means 52.
    Thus, according to this embodiment, the crank-crank system is implemented.
    The coupling means 60 is for example an axis firmly secured to the crank 58 coming into the opening of the lifting rod 56.
    According to another exemplary embodiment of the tilt control device 54, it is realized by a geared motor driving said axis of rotation of the lifting crank. Such a geared motor is an assembly consisting of a gearbox and an electric motor. The gearbox makes it possible to reduce the speed of rotation of the electric motor.
    As illustrated in FIG. 9, the lifting means 52 comprises in its central part a pivoting articulation of the support 64.
    This pivoting joint of the support 64 is for example composed of a pivot pin which is inserted into the body of the drone to allow rotation of the lifting means along this axis.
    Alternatively, the pivoting articulation of the support 64 is, for example, a through-hole of the perforation type, in particular of round shape, in which is inserted a rotation axis of complementary shape secured to the drone body.
    The lifting means 52 comprises for example two branches extending from the central portion of the lifting means, in particular the pivoting joint 64 and forming an angle between these branches. The angle formed between the two branches is between 75 and 105 ° and preferably 90 °.
    According to the embodiment illustrated in FIG. 9, one of the branches comprises the lifting link 56 connected to a raising crank 58 of the lifting control device and the second branch is integral with the drone support.
    According to this embodiment, the direction of the force exerted on the lifting crank is centered substantially on the pivot axis of the lifting crank and has no torque on the latter. The forces inside the lift control device are non-existent or very low.
    According to the invention, the lift control device 54 allows, after take-off of the drone, lifting the drone supports so as to release the field of view of the video sensor fixed for example on the lower surface of the drone body.
    To do this, the tilt control device 54 is controlled by the control device 16 illustrated in FIG. 1. In particular, the control device 16 comprises a control for raising and lowering the supports of the drone. This command is sent from the control device to the drone via the communication link established between the control device and the drone.
    According to one embodiment, the user by an action on the control device actuates the raising and lowering control of the drone supports.
    According to an alternative embodiment, after the activation of a command by the user to take off the drone, the control device emits, after take-off, a lift control of the drone supports.
    Similarly, when the drone is in flight, the user can operate on the steering device a lowering control drone supports including the purpose of landing.
    According to an alternative embodiment, after the activation of a command by the landing user of the drone, the pilot device emits, before landing, a lowering command of the drone supports.
    On receipt of the lift / lower control of the drone supports, the drone controls the state of the drone and executes the command if the state of the drone allows it. For example, the lift control of the drone supports will not be executed when the drone is on the ground.
    If the state of the drone allows the execution of said command, then this command controlled by the control device of the drone will be executed by operating the lifting control device 54 of the drone body.
    Figure 10 corresponds to the drone of Figure 2 according to a side view of the drone. This drone comprises two drone supports 50, and each drone support comprises respectively two feet 66 connected together by a central section 68.
    According to a particular embodiment illustrated in FIG. 10, said central section 68 of the drone support is able to pivot to enable the feet to be raised.
    Fig. 11 illustrates an embodiment in which the drone supports align with the link arms. In particular, the drone supports respectively form the leading edge of the connecting arms positioned at the rear of the drone and / or the trailing edge of the connecting arms positioned at the front of the drone, the front and rear positions of the drones. connecting arm being defined with respect to the main direction of flight of said drone.
    In this way, the drag, defined as the force that opposes the movement of the drone supports in the air, is removed during the flight of the drone. To do this, the drone supports in raised position integrate into the shape of the arms of the drone to reconstitute a shape of the type "wing plane" that is to say having a load-bearing wing, with a leading edge and a trailing edge to reduce the drag of the supports during the flight of the drone.
    In addition, it is observed that according to the embodiment illustrated in FIG. 11, the drone supports in the raised position provide an additional locking system in flight, particularly in the case of foldable link arms.
    In addition, the drone supports in the raised position structurally reinforce the connecting arms during the flight of the drone.
    According to a particular embodiment, the drone supports are able to be detached from the drone body, in particular in order to reduce the bulk of the drone, in particular for its transport.
    To do this and as illustrated in FIG. 10, the drone supports respectively comprise means for locking / unlocking the drone supports 70 on the drone body.
    The locking / unlocking means of the drone supports is able to firmly hold the drone support to the drone body in the locked position. In addition in the unlocked position, the drone support is adapted to be removed from the drone body, including the lifting means 52 of the drone support can be disassembled from the lifting control device.
    It is now described the method of disengagement of the drone support, the drone body. This method is based on two steps to be performed on each support and has the advantage of not requiring tools.
    A first step consists in actuating the locking / unlocking means of the drone supports 70 in order to unlock said means and thus allow the support to be detached. A second step is to move the drone support 50 towards the front of the drone, the front of the drone being defined by the main direction of flight of the drone. This movement makes it possible, for example, to separate the lifting means 52 from the lifting crank 58 and thus from the lifting control device 54. Moreover, this displacement makes it possible to separate the lifting means 52 from the pivoting articulation of the drone body 64 Once the lifting means is detached from the lifting crank and the pivoting joint, the drone support is adapted to be removed from the drone. The entire lift system of the drone supports has been illustrated on a drone having a particular structure, in particular in that the points of attachment to the body of the drone of the two front linkage arms 24, 26 and the points of attachment to the body of the drone of the two rear linkage arms 28, 30 are located at respective different heights relative to the horizontal median plane of the body of the drone, and the two front linkage arms of the drone 24, 26 form a first angle of inclination with respect to the horizontal median plane of the body of the drone and the two rear linkage arms 28, 30 form a second angle of inclination relative to the horizontal median plane of the body of the drone different from the first angle. However, this assembly of the lifting system of the drone supports is also adapted to be implemented on a drone comprising attachment points to the body of the drone of the two front linkage arms and the attachment points to the body of the drone of the two arms rear link located at the same height relative to the horizontal median plane of the body of the drone, and the two front link arms of the drone form a same angle of inclination relative to the horizontal median plane of the body of the drone that the two arms of the drone rear link to the horizontal median plane of the body of the drone.
    权利要求:
    Claims (10)
    [1" id="c-fr-0001]
    A rotary wing drone (10) comprising - a drone body (22) and - two front link arms (24, 26) and two rear link arms (28, 30) extending from the drone body and comprising at their distal end a propulsion unit (32), the front and rear positions of the link arms being defined with respect to the main direction of flight of said drone, characterized in that the points of attachment to the body of the drone of the two arms of forward link and the points of attachment to the body of the drone of the two rear linkage arms are at respective different heights relative to the horizontal median plane of the body of the drone, the two front linkage arms of the drone form a first angle of inclination relative to the horizontal median plane of the drone body and the two rear link arms form a second inclination angle with respect to the horizontal median plane of the drone body different from the first angle, and said link arms of the drone rone are able to bend along the body of said drone.
    [2" id="c-fr-0002]
    2. Rotary wing drone according to the preceding claim, characterized in that, in the folded position, the link arms are folded in pairs, the pair being formed of a front linkage arm and a rear linkage arm, said link arms being folded one above the other.
    [3" id="c-fr-0003]
    3. Rotary wing drone according to the preceding claim, characterized in that, in the folded position, the connecting arms of a pair of arms extend in respective directions parallel to each other and the pairs of arms extend from each other. and other of the median plane of the drone body.
    [4" id="c-fr-0004]
    Rotary wing drone according to any one of the preceding claims, characterized in that the link arms are respectively connected to the drone body by pivoting means (34), the pivoting means comprising a locking means. / Unlocking the fold (38).
    [5" id="c-fr-0005]
    5. rotary wing drone according to the preceding claim, characterized in that said folding locking / unlocking means is in the locked position when the arms are unfolded and in the unlocked position when the connecting arms are in the unfolded position and able to be folded .
    [6" id="c-fr-0006]
    6. Rotary wing drone according to any one of claims 4 to 5, characterized in that the locking / unlocking means of folding is positioned under the link arm.
    [7" id="c-fr-0007]
    7. rotary wing drone according to one of claims 4 to 6, characterized in that the locking / unlocking means of folding is a push button.
    [8" id="c-fr-0008]
    8. rotary wing drone according to the preceding claim, characterized in that the push button comprises a locking pin and a spring.
    [9" id="c-fr-0009]
    9. Rotary wing drone according to the preceding claim, characterized in that the locking pin is conical.
    [10" id="c-fr-0010]
    10. Rotary wing drone according to any one of the preceding claims, characterized in that the connecting arms comprise a cable passage chute, into which is inserted a cable pass, said cable pass being able to protect the cable when the connecting arms are folded.
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    FR3097528A1|2020-12-25|Drone equipped with an ultrasonic sensor
    FR3092082A1|2020-07-31|Flying vehicle intended for passenger transport
    同族专利:
    公开号 | 公开日
    EP3210660B1|2019-03-13|
    EP3210660A1|2017-08-30|
    JP2017197169A|2017-11-02|
    US20170247098A1|2017-08-31|
    FR3048185B1|2018-03-23|
    CN107117283A|2017-09-01|
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    法律状态:
    2017-02-17| PLFP| Fee payment|Year of fee payment: 2 |
    2017-09-01| PLSC| Publication of the preliminary search report|Effective date: 20170901 |
    2018-02-15| PLFP| Fee payment|Year of fee payment: 3 |
    2019-02-13| PLFP| Fee payment|Year of fee payment: 4 |
    2020-11-13| ST| Notification of lapse|Effective date: 20201006 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1651563A|FR3048185B1|2016-02-25|2016-02-25|DRONE WITH FOLDING LINK ARM.|FR1651563A| FR3048185B1|2016-02-25|2016-02-25|DRONE WITH FOLDING LINK ARM.|
    EP17150370.9A| EP3210660B1|2016-02-25|2017-01-05|Drone with foldable link arms|
    JP2017028817A| JP2017197169A|2016-02-25|2017-02-20|Drone comprising folding type connection arms|
    US15/439,892| US20170247098A1|2016-02-25|2017-02-22|Drone with folding linking arms|
    CN201710106249.4A| CN107117283A|2016-02-25|2017-02-24|With the unmanned plane for folding link arm|
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