• 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 device (10a) for receiving a drone (12) comprising: - an enclosure (11a); and an arm comprising a first end fixed to said enclosure and a second end provided with means for receiving drones; said arm being movable between two positions: an unfolded position in which said receiving means extends outside said enclosure; and ○ a folded position in which said receiving means is contained within said enclosure; said receiving means comprising a cradle formed by a base at the edges of which at least two guide surfaces are raised facing one another, said at least two guide surfaces extending outwards with an angle greater than 90 ° between said base and said at least two guide surfaces so as to guide a drone towards said base.
    公开号:FR3050981A1
    申请号:FR1654024
    申请日:2016-05-03
    公开日:2017-11-10
    发明作者:Romain Grave；Matthieu Micheletti
    申请人:Drone Hive；
    IPC主号:
    专利说明:

    APPARATUS FOR RECEIVING A PRONE AND ASSOCIATED PRONES DISTRIBUTION SYSTEM
    TECHNICAL FIELD The invention relates to the field of unmanned aircraft, commonly known as drones.
    The present invention relates more particularly to the automation of the logistics of drones. The invention is advantageously used with a fleet of drones. The invention can be implemented in a large number of fields such as the agricultural field, architecture, surveillance of sensitive sites, etc.
    Previous art
    A drone designates a device operating without a pilot, automatically or remotely controlled. It can be intended to carry useful payloads especially for monitoring missions or information. The use of drones for aerial observations tends to become widespread in many areas. However, the use of drones remains subject to many material and human constraints. For example, an operator is conventionally present on a site to observe to remotely control a drone. The operator also ensures the launch, reception and energy recharge of the drone. When several drones are used, several operators are then solicited.
    To improve the management of drones, there are automatic drones that do not need to be controlled manually but follow a moving algorithm. For example, these drones can inspect geographical areas according to the GPS coordinates (for "Global Positioning System" in the English literature) of the geographical area.
    However, automatic drones do not respond to the problems of launching, receiving and recharging energy drones.
    To remedy this problem, it is known from international patent application WO 2013/055265 to use an autonomous device for launching, receiving and storing drones. This device comprises a drone storage chamber and a removable arm movable outside the enclosure for launching or receiving a drone.
    To perform a surveillance mission, the arm hangs a drone stored in a compartment of the enclosure. Each drone has the shape of an airplane and the arm has two hooks adapted to support the drone by its wings. The arm is then guided in translation outside the enclosure and rotated so as to launch the drone to give him the necessary impetus to take off.
    When the surveillance mission is over, the drone moves towards the arm and the hooks capture the drone by its wings. The arm is then directed inside the enclosure to store the drone in an empty compartment of the enclosure. In this compartment, the memory of the drone is extracted so as to recover the images of the mission. The battery of the drone can also be recharged in the enclosure automatically for a future mission.
    However, the device described in the international patent application WO 2013/055265 is particularly difficult to implement in real conditions, that is to say in the presence of a wind, even small. Indeed, it is particularly difficult for the arm to perform the launch and recovery of the drone under the wings of the drone. In addition, the drone and the arm are synchronized by means for determining the position of the drone, for example GPS means. These positioning means have too low a precision to correctly synchronize the arm with the moving drone so as to capture the drone in real conditions.
    It follows that the device described in the international patent application WO 2013/055265 is not or little used for lack of robustness.
    The technical problem of the invention consists in developing a more efficient device for receiving and / or taking off drones.
    Expose the invention
    The present invention aims to solve this technical problem by providing a speaker associated with an arm whose end is provided with a cradle having at least two guide surfaces so as to guide the reception of the drone. For this purpose, according to a first aspect, the invention relates to a device for receiving a drone comprising: an enclosure configured to store a drone; and an arm having a first end attached to said enclosure and a second end provided with drone receiving means; said arm being movable between two positions: 0 an unfolded position in which said receiving means extends outside said enclosure so that a drone can be received by said receiving means; and a folded position in which said receiving means is contained within said enclosure. The invention is characterized in that said receiving means comprise a cradle formed by a base at the edges of which rise at least two guide surfaces facing one another. Said at least two guide surfaces extend outwardly at an angle greater than 90 ° between said base and said at least two guide surfaces so as to guide a drone toward said base. The invention thus makes it possible to recover a drone hovering above the cradle. To do this, when the drone is positioned just above the cradle hovering, the power of the engines gradually decreases to accompany the descent of the drone. The drone then descends into the cradle and slides along at least one guide surface to be centered in the cradle at the base.
    Unlike the drones used in the device of the international patent application WO 2013/055265, the invention is configured to interact with drones capable of performing stationary flights, such as vertical axis propeller drones. The invention thus makes it possible to receive a drone even when the drone is offset by a few millimeters / centimeter from the base of the cradle. The use of a cradle not only makes it possible to correct inaccuracies in the GPS of the drone, but also for the entire positioning chain of the drone, for example due to the wind.
    According to one embodiment, said cradle comprises two walls facing one another forming two guide surfaces. This embodiment makes it possible to limit the weight of the cradle by the use of an open structure.
    According to one embodiment, said cradle comprises an upper ring connected to said base by uprights, a face of said uprights directed towards the inside of said cradle forming said at least two guide surfaces. This embodiment also makes it possible to limit the weight of the cradle by the use of an open structure.
    According to one embodiment, said cradle comprises a pyramidal structure formed by four facing walls in pairs forming four guiding surfaces. This embodiment provides guiding surfaces on the entire perimeter of the cradle to improve the guidance of the drone regardless of its orientation relative to the cradle.
    According to one embodiment, said cradle comprises an upper end provided with a damping foam. This embodiment makes it possible to limit the shocks suffered by the drone when the drone comes into contact with the cradle.
    According to one embodiment, an upper face of said base of said cradle comprises a pattern adapted to indicate to a drone a position of said cradle.
    This embodiment allows the drone to detect the presence of the cradle and guide the movements of the drone in an approach phase.
    According to one embodiment, said cradle comprises means for recharging a drone. This embodiment reloads the drone into the cradle when the arm is in the folded position.
    According to one embodiment, said arm comprises means for translational movement of said cradle between said folded position and said unfolded position. This embodiment limits the size of the arm in the enclosure.
    According to one embodiment, said arm comprises means for moving in rotation said cradle between said folded position and said unfolded position. This embodiment makes it possible to use a portion of the arm to form a wall of the enclosure in the folded position.
    According to a second aspect, the invention relates to a drone distribution system comprising: at least one receiving device according to the first aspect of the invention; and a UAV control unit configured to determine the position and power state of a set of UAVs over time; said drone control unit being configured to trigger a replacement of a drone in flight according to the power state and the position of said drone; said at least one receiving device being configured to move said arm in the unfolded position and allow the flight of a replacement drone when said control unit triggers the replacement of a drone in flight; said at least one receiving device being configured to move said arm in the folded position when said drone to be replaced is positioned on said cradle so as to recharge said drone.
    Brief description of the figures
    The manner of carrying out the invention as well as the advantages which result therefrom, will emerge clearly from the following embodiment, given by way of indication but not limitation, in support of the appended figures in which FIGS. 1 and 8 illustrate: FIG. 1 : a schematic representation of a region integrating a set of sites inspected by drones according to one embodiment of the invention; FIG. 2: an exploded schematic representation of a drone distribution center of FIG. 1; 3a-3d: schematic representations of front, in cross-section, in longitudinal section and in perspective of a device for receiving a drone of FIG. 2 according to a first embodiment of the invention; FIGS. 4a-4d: schematic side, front, and top views in an unfolded and perspective position in a folded position of an arm of the receiving device of FIGS. 3a-3d according to a first embodiment of the invention ; Figures 5a-5d: schematic representations of side, front, perspective in an unfolded position and in perspective in a folded position of the arm of the receiving device of Figures 3a-3d according to a second embodiment of the invention; Figures 6a-6c: schematic representations of front, top and perspective of a cradle according to a second embodiment of the invention; Figures 7a-7d: schematic representations of front, side, top and perspective of a cradle according to a third embodiment of the invention; and FIG. 8: a perspective representation of a device for receiving a drone according to a second embodiment of the invention.
    Detailed description of the invention
    FIG. 1 illustrates a region integrating a set of sites inspected by drones 12. Drones 12 carry out various missions such as the surveillance of an industrial site 50, an agricultural parcel 51, a power generation plant. 52, a dam 53 and an electrical network 54. The drones 12 can perform stationary flights or movements over the site to be monitored as needed. The set of drones 12 is controlled by a control unit 41 defining the mission of each drone 12 and estimating the need for replacement drones 12. To do this, the control unit 41 determines, over time, the position and the power state of each drone 12. When a mission is not yet completed and a drone 12 requires replacement, for example because of a low level of energy, the control unit 41 ensures the replacement of the drone 12 with a new drone 12. To do this, the region is provided with several elements 40 for storing and recharging the drones 12.
    An example of element 40 is illustrated in FIG. 2. The element 40 comprises several reception devices 10a of a drone 12 interlocked with each other on a power supply unit 61 ensuring the power supply of the element 40. A communication unit 60 is mounted above the receiving devices 10a. The communication unit 60 communicates with the control unit 41 so as to control the extraction or reception of a drone 12 under the control of the control unit 41. The communication unit 60 can also provide communication with a drone 12 in the approach phase so as to guide the movements of the drone 12. The extraction or reception of a drone 12 is performed by the receiving devices 10a. An example of a receiving device 10a is illustrated in FIGS. 3a-3d. This receiving device 10a comprises a parallelepipedal and metallic tubular structure 70 ensuring the mechanical strength of the receiving device 10a. This tubular structure 70 is covered with a shell 71 of fiberglass protecting the inside of the device 10a from the rain and limiting the weight of the walls of the device 10a. The inner face of the shell 71 is preferably provided with an insulating layer. The device 10a also comprises several subsystems such as an on-board system 73 controlling the mobile members, a ventilation system 72 and a device for feeding the drone 12 or a device for replacing the batteries of the drone 12. As a variant the external structure or subsystems of the device 10a may vary without changing the invention.
    In addition, the device 10a comprises a door 74 whose opening is controlled by the onboard system 73. The door 74 is a rocker door operated by two hydraulic cylinders. Alternatively, the door 74 corresponds to a casement door, a shutter or a pocket door and actuation can be achieved by a cable or a rack.
    The device 10a also comprises an arm 13a movable between two positions: an unfolded position and a folded position so as to extract or receive a drone 12 outside the parallelepipedal structure of the device 10a.
    The structure and operation of the arm 13a is described with reference to Figures 4a to 4d in which the arm 13a is movable in translation. The arm 13a has a first end 14 fixed to the enclosure 11a by a plate and a second end 15, opposite the first end 14, for supporting a drone 12.
    Between its two ends 14 and 15, the arm 13 has three portions 80-82 movable relative to each other by means of an actuator 87a-87c and two guide elements 84a-84c of circular section. Each guide element 84a-84c is mounted, free in translation, in a ring 85a-85c and fixed at one end in a collar 86a-86c. More specifically, the guide elements 84a of the first portion 80 are mounted between a ring 85a attached to the first end 14 and a collar 86a attached to the second portion 81. The guide elements 84b of the second portion 81 are mounted between a ring 85b fixed inside the second portion 81 at each collar 86a of the first portion 80 and a collar 86b attached to the third portion 82. The guide elements 84c of the third portion 82 are mounted between a ring 85c secured within the third portion 82 at each collar 86b of the second portion 81 and a collar 86c attached to the second end 15.
    The displacement of portions 80-82 is controlled by three actuators 87a-87c in the form of a ball screw having a first end attached to a motor 89a-89c and a second end mounted in a nut 88a-88c.
    More specifically, the first ball aim 87a is mounted between a first motor 89a fixed to the first end 14 and a nut 88a attached to the second portion 81. The second ball aims 87b is mounted between a second motor 89b attached to the second portion 81 and a nut 88a attached to the third portion 82. The third ball aims 87c is mounted between a third motor 89c attached to the third portion 82 and a nut 88a attached to the second end 15. The actuation of each motor 89a 89c makes it possible to bring two portions 80-82 closer together or away from each other. In the unfolded position, as illustrated in FIGS. 6a-6c, the guiding elements 84a-84c are deployed at their maximum length between the rings 85a-85c and the collars 86a-86c. It follows that the two ends 14-15 are distant from each other.
    In the folded position, as shown in Figure 4d, the rings 85a-85c abut against the collars 86a-86c. It follows that the two ends 14-15 are close.
    This embodiment of the arm 13a with three portions 80-82 and guide elements 84a-84c can effectively support the weight of the drones 12. Alternatively, the shape and structure of the arm can vary without changing the invention. For example, the actuators 87a-87c can be made by cables and pulleys, rack pinions or belts. The arm 13a may comprise a single portion with prismatic section guide elements. As illustrated in Figures 5a to 5d, the arm 13b has two portions 90a-90b movable one on the other in the manner of a drawer. The portions 90a-90b are mounted on rails 91a-91b by wheels. Other embodiments of the arm can also be implemented without changing the invention, as illustrated in FIG. 8. In this embodiment, the arm 13c is rotatably mounted relative to the structure 70. To do this, the arm 13c has two portions 92a-92b. One end of the first portion 92a is mounted on a post of the structure 70. The rotational movements of this first portion 92a relative to the amount of the structure 70 are guided by a first motor 89d.
    A second end of this first portion 92b is mounted, free in rotation, with a first end of the second portion 92b. The rotational movements of this second portion 92b relative to the first portion 92a are guided by a second motor 89e. In this embodiment, the first portion 92a of the arm 13c forms a wall of the enclosure 10b in the folded position. The invention is characterized by receiving means adapted to efficiently recover a drone 12 hovering over the enclosure 10a-10b. The receiving means are formed by guide surfaces formed in a cradle 17a-17c fixed on the second end 15 of the arm 13a-13b.
    A first example of cradle 17a is illustrated in Figures 4 and 5 and comprises a base 18 of rectangular shape. Two walls 30 of trapezoidal shape rise from the two lengths of the base 18. The walls 30 extend opposite one another to the outside of the cradle 17a-17c forming an angle with the base 18 upper at 90 °. The guide surfaces are formed by the two walls 30.
    A second example of cradle 17b is illustrated in Figures 6a-6c and has an octagonal upper ring. Each corner of the upper ring 25 is connected at an angle of an octagonal base by an upright 26 forming an angle α with the base 18 greater than 90 °. The guide surfaces are formed by the internal faces 27 of the uprights 26.
    A third example of cradle 17c is illustrated in Figures 7a-7d and has a pyramidal structure rising from a rectangular base 18. Each wall 29 of trapezoidal shape of the pyramidal structure forms an angle with the base 18 greater than 90 °. The walls 29 facing two by two, extend to a rim whose perimeter is rectangular. The guide surfaces are formed by the four walls 29.
    Thus, the shape of the cradle 17a-17c of the invention is not limiting but the guide surfaces must be directed towards the outside of the cradle 17a-17c so that the drone 12 is guided towards the base 18. The end upper cradle 17a-17c can be covered with a damping foam to limit the impact between the drone 12 and the cradle 17a-17c. In addition, the base 18 of the cradle 17a-17c preferably comprises a pattern 34 for guiding the drone 12 in an approach phase. The invention thus makes it possible to effectively recover a drone 12 hovering over the enclosure 10a-10b. To do this, the drone 12 has a camera configured to capture a downwardly directed area of the drone 12. The image from the camera is analyzed over time to detect the pattern 34. When the pattern 34 is detected, the drone 12 moves to position itself above the pattern 34. More specifically, depending on the size of the pattern 34 in the image from the camera, the drone 12 can estimate the distance that separates it from the cradle 17a-17c . The engines of the drone 12 are then actuated towards the pattern 34. When the size of the pattern 34 captured by the camera is greater than a threshold value, the drone 12 considers that it is positioned above the cradle 17a-17c. The power of the engines of the drone 12 is then gradually decreased and the drone 12 is guided in the cradle 17a-17c by sliding against at least one guide surface. The drone 12 is thus centered on the base 18 of the cradle 17a-17c. The arm 13a-13b is then folded inside the enclosure 11a-11b so as to protect the drone 12. The memory of the drone 12 is then extracted by the onboard system 73 of the drone 12 so as to transmit, at the control unit 41, an image flow corresponding to the mission performed by the drone 12.
    The drone 12 is also recharged in the enclosure lla-llb. To do this, the base 18 may comprise connectors 35 connected to a device for feeding the drone 12. As a variant, the enclosure 11a-11b comprises a device for replacing the batteries of the drone 12. It follows that after a maintenance time, the drone 12 is again operational to perform a new mission controlled by the control center 41.
    The program of the mission is then transmitted to the drone 12 and the arm 13a-13b is unfolded so that the drone 12 takes off for the new mission. The enclosure 11a-11b can then collect a new drone 12 to recharge.
    权利要求:
    Claims (10)
    [1" id="c-fr-0001]
    claims
    1. receiving device (10a-10b) of a drone (12) comprising: an enclosure (1 la-1 lb) configured to store a drone (12); and an arm (13a-13c) having a first end (14) attached to said enclosure (11a-11b) and a second end (15) provided with drone receiving means (12); said arm (13a-13c) being movable between two positions: O an unfolded position in which said receiving means extend outside said enclosure (11a-11b) so that a drone (12) can be received by said receiving means; and O a folded position in which said receiving means is contained within said enclosure (1a-1b); characterized in that said receiving means comprise a cradle (17a-17c) formed by a base (18) at whose edges there are at least two guide surfaces facing each other, said at least two guide surfaces extending outwardly at an angle (a) greater than 90 ° between said base (18) and said at least two guide surfaces so as to guide a drone (12) towards said base (18).
    [2" id="c-fr-0002]
    2. receiving device according to claim 1, wherein said cradle (17a) comprises two walls (30) facing one another forming two guide surfaces.
    [3" id="c-fr-0003]
    3. receiving device according to claim 1, wherein said cradle (17b) comprises an upper ring (25) connected to said base (18) by uprights (26), a face of said uprights (26) facing inwards. said cradle (17a) forming said at least two guide surfaces.
    [4" id="c-fr-0004]
    4. receiving device according to claim 1, wherein said cradle (17c) comprises a pyramidal structure formed by four walls (29) facing two by two forming four guide surfaces.
    [5" id="c-fr-0005]
    5. Receiving device according to one of claims 1 to 4, wherein said cradle (17a-17c) has an upper end provided with a damping foam (33).
    [6" id="c-fr-0006]
    6. receiving device according to one of claims 1 to 5, wherein an upper face of said base (18) of said cradle (17a-17c) comprises a pattern (34) adapted to indicate to a drone (12) a position said cradle (17a-17c).
    [7" id="c-fr-0007]
    7. receiving device according to one of claims 1 to 6, wherein said cradle (17a-17c) comprises means for recharging a drone (12).
    [8" id="c-fr-0008]
    8. receiving device according to one of claims 1 to 7, wherein said arm (13a-13b) comprises means for translational movement of said cradle (17a-17c) between said folded position and said unfolded position.
    [9" id="c-fr-0009]
    9. receiving device according to one of claims 1 to 7, wherein said arm (13c) comprises means for moving in rotation said cradle (17a-17c) between said folded position and said unfolded position.
    [10" id="c-fr-0010]
    10. UAV distribution system (40) comprising: - at least one receiving device (10a-10b) according to one of claims 1 to 9; and - a control unit (41) of drones (12) configured to determine the position and the power state of a set of drones (12) over time; said control unit (41) drones (12) being configured to trigger a replacement of a drone (12) in flight according to the power status and position of said drone (12); said at least one receiving device (10a-10b) being configured to move said arm (13a-13c) in the unfolded position and allow flight of a replacement drone (12) when said control unit (41) triggers replacing a drone (12) in flight; said at least one receiving device (10a-10b) being configured to move said arm (13a-13c) into the folded position when said drone (12) to be replaced is positioned on said cradle (17a-17c) so as to reload said drone (12).
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    同族专利:
    公开号 | 公开日
    EP3241747A1|2017-11-08|
    FR3050981B1|2018-05-11|
    引用文献:
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    法律状态:
    2017-05-30| PLFP| Fee payment|Year of fee payment: 2 |
    2017-11-10| PLSC| Search report ready|Effective date: 20171110 |
    2018-05-28| PLFP| Fee payment|Year of fee payment: 3 |
    2019-05-27| PLFP| Fee payment|Year of fee payment: 4 |
    2020-05-28| PLFP| Fee payment|Year of fee payment: 5 |
    2021-05-25| PLFP| Fee payment|Year of fee payment: 6 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1654024|2016-05-03|
    FR1654024A|FR3050981B1|2016-05-03|2016-05-03|DEVICE FOR RECEIVING A DRONE AND ASSOCIATED DRONES DISTRIBUTION SYSTEM|FR1654024A| FR3050981B1|2016-05-03|2016-05-03|DEVICE FOR RECEIVING A DRONE AND ASSOCIATED DRONES DISTRIBUTION SYSTEM|
    EP17168913.6A| EP3241747A1|2016-05-03|2017-05-02|Device for receiving a drone and associated system for distributing drones|
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