• 专利附录
  • 专利说明
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    • 专利摘要:
    An assembly comprising a drone and at least one releasable load embedded on the drone, the drone comprising an on-board data processing system, the releasable load including at least one sensor delivering information useful for knowing its trajectory and control actuators for controlling to direct it in its fall, being connected to the drone by an optical fiber, the load and the drone being arranged to exchange information via the optical fiber during the fall of the load, the load transmitting data from said at least one sensor and the drone transmitting actuator control data, established taking into account those received from the load, to guide the load towards a predefined goal.
    公开号:FR3054825A1
    申请号:FR1657499
    申请日:2016-08-02
    公开日:2018-02-09
    发明作者:De Perera Sylvain Roldan
    申请人:De Perera Sylvain Roldan；
    IPC主号:
    专利说明:

    © Publication no .: 3,054,825 (use only for reproduction orders)
    ©) National registration number: 16 57499 ® FRENCH REPUBLIC
    NATIONAL INSTITUTE OF INDUSTRIAL PROPERTY
    COURBEVOIE © Int Cl 8 : B 64 D 1/02 (2017.01), B 64 C 39/02, B 64 F 1/04
    A1 PATENT APPLICATION
    ©) Date of filing: 02.08.16.(© Priority: © Applicant (s): ROLDAN DE PERERA SYLVAIN - FR. @ Inventor (s): ROLDAN DE PERERA SYLVAIN. ®) Date of availability of the request: 09.02.18 Bulletin 18/06. ©) List of documents cited in the preliminary search report: See the end of this booklet (© References to other related national documents: ® Holder (s): ROLDAN DE PERERA SYLVAIN. ©) Extension request (s): © Agent (s): CABINET NONY.
    © DRONE.
    FR 3 054 825 - A1 (üy) Assembly comprising a drone and at least one jettisonable load on board the drone, the drone comprising an on-board data processing system, the jettisonable load comprising at least one sensor delivering useful information for determining its trajectory and control actuators for orienting it in its fall, being connected to the drone by an optical fiber, the load and the drone being arranged to exchange information via optical fiber during the fall of the load, the load transmitting data from said at least one sensor and the drone transmitting actuator piloting data, established taking into account those received from the load, in order to guide the load towards a predefined objective.

    l
    The present invention relates to drones and more particularly, but not exclusively, those used for dropping at least one charge on a target.
    It may for example be a load containing first aid equipment at an accident site, the invention not being limited to a particular load.
    Directing the load towards the objective during its descent in particular supposes to compensate for its drift linked to the wind and to take into account the difference in position between the air vector and its objective.
    The payloads used today have their own navigation system, which has a high degree of complexity, which implies a high price which limits civil applications.
    There is therefore a need to have a drone and releasable load of small size capable of ensuring precise guidance to the target at a modest cost.
    The invention aims, according to a first of its aspects, to meet this need, and it achieves this by means of an assembly comprising a drone and at least one jettisonable load on board the drone, the latter comprising an on-board data processing system , the jettisonable load comprising at least one sensor delivering useful information for knowing its trajectory and control actuators for steering it in its fall, being connected to the drone by an optical fiber, the load and the drone being arranged for exchange information via optical fiber during the fall of the load, the load transmitting data coming from said at least one sensor and the drone transmitting piloting data to the actuators, established taking into account those received from the load, in order to guide the load towards a predefined goal.
    By using the computing power on board the drone, it is possible, thanks to this first aspect of the invention, to reduce the complexity of the load electronics and therefore its cost, without losing guidance accuracy.
    The load can be equipped with sensors which provide information on the accelerations it undergoes during its descent, and the drone can calculate its descent trajectory and the offset with the target and determine the commands to be addressed to the actuators of the charge control surfaces. to direct it precisely towards the objective.
    These data exchanges between the drone and the load take place with practically no transmission delay due to the use of optical fiber, which can be multimode.
    The drone can include a hold and this holds several jettisonable loads. The hold can be placed in front of the drone. The length of the optical fiber can be greater than or equal to 3000 m.
    In addition, the use of drones poses the problem of their recovery in the absence of a landing strip.
    A known solution consists in using a parachute which is deployed at the end of the mission. However, the parachute, due to its weight, reduces the range and / or the payload and in addition makes recovery more difficult in strong winds.
    There is therefore a need to facilitate the recovery of the drone at the end of the mission.
    The invention aims, according to a second of its aspects, to meet this need, and it does so thanks to a drone comprising:
    - A fuselage,
    - two wings configured to pass from a flight configuration where the wings constitute a fixed wing, to a recovery configuration where the wings constitute a rotary wing or a recovery configuration where by their orientation relative to the fuselage they bring the latter ci to rotate on itself around its longitudinal axis.
    This aspect of the invention is independent of the previous one, linked to the communication between the load and the drone, but can nevertheless advantageously be combined with.
    The change of configuration of the wing allows the recovery of the drone in the absence of a landing strip with the possibility of having a relatively precise landing, even in strong winds.
    The wings are preferably carried by a rotary support structure relative to the fuselage, the support structure being locked in rotation when the wings are in the flight configuration (fixed wing) and being rotary when the wings are in the recovery configuration, the wings then forming a rotor rotating relative to the fuselage. The latter are advantageously driven in rotation by the main rotor.
    As a variant, the wings are not carried by a rotary structure with respect to the fuselage, but may in the recovery configuration take the incidences chosen to bring the fuselage into autorotation when the drone falls. The leading edge of the two wings can take an orientation of approximately 90 ° to the fuselage. Then, close to the ground, the incidence of the wings can be changed to brake the drone.
    The wings can be hinged to the fuselage, being configured to go from a launch configuration where the wings are folded down along the fuselage to the flight configuration where the wings are deployed.
    The wings are preferably of variable geometry in the deployed configuration.
    The wings can be arranged to form an inverted arrow-shaped wing in the flight configuration. The wings can also be arranged to form a straight wing in the flight configuration.
    The wings can be rotated to reverse each other in the recovery configuration.
    In the recovery configuration, the wings can be rotated with the support structure by the propulsion motor. This rotation takes place, for example, in the opposite direction to the propeller. The support structure of the wings can be coupled to the main engine using a mechanism designed to move the drone from a configuration where the rotary structure is locked relative to the fuselage on the to a rotational drive configuration compared to the fuselage.
    The transition from the locked configuration to the unlocked configuration can be effected by an axial displacement of a locking system under the effect of at least one actuator. This axial displacement may in particular include a displacement of the transmission shaft connecting the propulsion engine to the propeller.
    The wings are preferably connected to the support structure by a link offering several degrees of freedom, preferably three degrees of freedom, and in particular a rotation about a first fixed axis relative to the wing, making it possible to modify the angle of bearing, that is to say the angle between the longitudinal axis of the wing and that of the fuselage.
    The drone comprises, in a preferred embodiment, two wings whose bases are movable in a direction perpendicular to the longitudinal axis of the fuselage. The footings can move from a low position to a high position.
    The low position brings the center of gravity of the wings closer to the longitudinal axis of the fuselage, which is desirable when the wings are in recovery configuration (rotary wing) with a step opposite each other.
    The high position is preferred when the wings are in flight configuration (fixed wing).
    The transition from one configuration to the other can be carried out using telescopic columns for supporting the root of the wings. These columns are for example deployed under the effect of at least one actuator and / or under the effect of lift.
    Preferably, the telescopic columns are rotatable, so as to be able to drive the wings in azimuthal rotation (deposit) from the configuration folded down along the fuselage to the deployed configuration of flight. Preferably, the wings have a degree of freedom in roll, to change their opening angle and tilt the leading edge from front to back. The rotational drive in the roll axis of the wings can be done using a single motor and a transmission mechanism which makes it possible to selectively couple this motor to one and / or the other of the columns. This transmission mechanism may include a pinion movable on its axis which is moved under the action of an actuator to engage with column drive pinions. Depending on the position of the movable pinion on its axis, it is possible to rotate one and / or the other of the column drive pinions.
    The drone may include reinforcement guides inside which the columns are at least partially arranged.
    A ratchet mechanism can be provided in association with each column to prevent the return movement of the wings to their folded configuration along the fuselage.
    The bases can be locked in the high and / or low position by a locking mechanism. In an exemplary embodiment, the locking is ensured by the displacement of an element which can take place when the aforementioned locking system of the rotary structure is actuated to bring the wings into the recovery configuration, where they rotate with the rotary structure around the fuselage. This element can move axially with the drive shaft.
    The drone can be arranged to allow the wings to be brought back to the low position by turning the rotary support structure of the wings 180 ° around the longitudinal axis of the fuselage. The weight of the fuselage then tends to retract the columns.
    The drone advantageously comprises, as mentioned above, a locking system which makes it possible to lock / unlock the rotary support structure of the wings relative to the rest of the fuselage.
    The rotary structure may include a rotary segment mounted on bearings which guide it in rotation relative to the rest of the fuselage. In the locked position of the segment, this is fixed relative to the rest of the fuselage.
    It is advantageous that the segment can be rotated relative to the rest of the fuselage by an auxiliary motor, distinct from the propulsion motor. This auxiliary motor is preferably a stepping motor. The rotation of the segment relative to the rest of the fuselage can make it possible to direct the drone, in particular in the event of failure of the control surfaces normally used. This is security. This rotation of the wings controlled by the auxiliary motor also makes it possible to rotate the wings 180 ° to bring them into the low position where the columns are retracted, as mentioned above.
    The locking system of the rotary structure can be configured to take an intermediate configuration where the auxiliary motor can drive the rotary structure.
    For example, the locking system comprises an internal sun gear which can be driven in rotation by the auxiliary motor, and a planet carrier which comprises satellites movable axially on their axis of rotation between a free position and a locked position. These satellites also mesh with a ring which forms an outer planet wheel rotating with the rotating structure.
    In the fixed-wing flight configuration, the rotary segment is blocked by, for example, a dog clutch connection between the aforementioned crown and the fuselage or a fixed structure in rotation relative to the fuselage.
    The drive shaft is in a position where it is axially moved as far as possible towards the propeller.
    In the recovery configuration, the shaft is moved as far as possible towards the propulsion engine.
    Preferably, the drone comprises a first coupling between the propeller and the shaft which decouples when the shaft has moved to assume the position it occupies in the recovery configuration.
    Preferably also, the drone comprises another coupling between the rotary structure and the transmission shaft which allows a coupling between the shaft and the rotary structure when the shaft has moved to assume the position it occupies in the recovery configuration.
    The locking system of the rotary structure can be arranged so that in the intermediate configuration, the shaft and the propeller are coupled and the shaft and the rotary structure are not coupled.
    In the intermediate configuration, the auxiliary motor is coupled to the rotary structure. This can be done by bringing the aforementioned satellites into the locked position, by axially moving the planet carrier in conjunction with the axial movement of the drive shaft.
    The locking system may include a drive part which is moved axially with the drive shaft and which is rotated by the auxiliary motor. This drive part may have pins engaged in the central sun gear in order to drive it in rotation in the intermediate configuration. These pins may include flexible tongues which are in friction engagement with the planet carrier in order to be able to move it axially while letting the planet carrier escape from them when the movement of the drive piece continues beyond the stroke. necessary to move the satellites on their axis.
    In the intermediate configuration, the satellites are locked on their axis and the rotation of the pin drive piece under the effect of the auxiliary motor can be transmitted to the outer ring of the rotary segment.
    In the recovery configuration (rotary wing), the pins of the drive part are disengaged from the inner sun gear.
    The drone preferably comprises at the front an impact absorbing nose, in particular composed of two combined polymer materials, namely a viscoelastic polymer for example of urethane, coating the nose and a “non-Newtonian” polymer or rheo-thickening, captive fluid. from the first. In this way, the energy of a shock can be dispersed between the two materials.
    The drone may have duck shots at the front. Preferably, at least one of the fins is movable in rotation on itself. This fin can be movable in rotation being driven in rotation to perform turns on itself in order to exert a counter-rotation torque on the fuselage when the wings constitute said rotary wing.
    The drone may include stabilizers which are deployed only during certain flight phases, in particular during the release of the loads. These stabilizers are arranged between the duck fins and the wings, when deployed.
    These stabilizers can contribute to improving the lift and can be arranged to tie down to the wings once deployed, and then form with the wings a so-called "diamond" wing.
    Preferably, the drone comprises an air brake which can be taken out during the flight and whose movement under the effect of the relative wind is used to retract the stabilizers. The airbrake can move longitudinally and drive part of the fuselage backwards.
    This airbrake, once deployed, can be mobile along at least one rail and drive the rotating stabilizers by a unidirectional ratchet link to return them to their housing, once the loads have been released, for example.
    The above link is such that the reverse movement of the airbrake can be carried out once the stabilizers are retracted, without causing them to come out.
    The use of an air brake is advantageous in that it avoids the use of powerful, heavy and bulky actuators. The airbrake makes it possible to exploit the force of the relative wind, which pushes it in the opposite direction to that of the progression of the drone.
    The air brake can be pushed out of a corresponding housing, provided at the front of the drone, above the cargo storage bay, by an actuator, in particular linear.
    The airbrake can be unfolded by pivoting on itself, to form an angle of about 90 ° to the longitudinal axis of the drone.
    The air brake can be secured to at least one rack which meshes with at least one corresponding ratchet wheel and whose rotation controls the return of the stabilizers.
    The stabilizers can be accommodated between the loads in the retracted configuration, which improves their maintenance in the face of the acceleration experienced during launch. The stabilizers allow in particular to block in rotation a barrel carrying the charges inside the drone. Preferably, when blocked by the stabilizers, the hold containing the charges is not aligned with a charge ejection hatch. Loads therefore cannot be accidentally ejected when the stabilizers are in the retracted position.
    The air brake can be pivotally mounted on a trolley which moves on one or more fixed rails arranged inside the fuselage. The airbrake can carry a slide inside which a sliding element can move.
    This sliding element can be connected by at least one connecting rod to a carriage which moves on the same rails as the air brake. The movement of the carriage, combined with that of the sliding element relative to the slide of the air brake, allows it to be folded back into its housing when it is returned to its initial configuration.
    To eject the air brake from its housing, an actuator can be used.
    Another problem that is likely to arise in the case of the use of a drone launched from a tube is the deployment of the drone on site. It is indeed desirable in certain situations that the drone can intervene quickly.
    One solution to reduce the intervention time of the drone is to permanently have a drone in flight above the intervention site. This solution is complex and costly to implement because it presupposes having a large number of drones, personnel capable of launching and recovering, and moreover the permanent presence of drones in the sky is not always desirable for reasons of discretion and / or aviation safety.
    According to another of its aspects, the invention aims, independently or in combination with the above, to propose a solution allowing the rapid intervention of a drone.
    It achieves this thanks to a drone at least partially housed, before takeoff, in a launch tube equipped with a propellant charge. The latter comprises for example two reactive compounds which when mixed produce a gaseous release, which is suddenly released from a certain pressure to eject the drone.
    The launch tube can be buried at least partially in the ground, awaiting the launch of the drone.
    The launch tube can be closed by an ejectable or pivoting cover.
    The tube can be provided on its external surface with a thread which facilitates its burial by screwing.
    The tube may include a thermal load, also called a thermal pot, causing the destruction of the drone when it is turned on. The tube can be equipped with at least one sensor sensitive to an unauthorized attempt to move and / or open the latter, and to a control means to trigger the ignition of the thermal load in the event of an attempt. unauthorized access to the interior of the tube or its transport. The tube may be provided with at least one accelerometer.
    The drone thus remains protected against unauthorized access to the contents of the tube by the presence of the thermal load which ensures its self-destruction.
    Furthermore, the tube can communicate data with an external terminal and provide information on nearby movements.
    The tube can be made of ceramic, to resist the heat given off by the thermal load. The tube is preferably made so as to contain the energy of the thermal load for a sufficient time so that it has time to destroy the drone.
    The invention will be better understood on reading the description which follows, examples of non-limiting implementation thereof, and on examining the appended drawing, in which:
    FIG. 1 schematically represents a drone according to an exemplary implementation of the invention, in a slow flight configuration, FIG. 2 represents the drone of FIG. 1 in a fast flight configuration, FIG. 3 represents the drone of Figures 1 and 2 in recovery configuration, Figures 4A to 4C represent the drone of Figures 1 to 3 during its launch, Figures 5A to 5C illustrate the passage of the wings in recovery configuration, Figure 6 shows a variant of drone with stabilizers and airbrake, the stabilizers being shown stowed with the wings, FIGS. 6A and 6B illustrate the deployment of the airbrake and its use to retract the stabilizers, FIGS. 6C to 6E represent an alternative embodiment of the airbrake, the FIG. 7 represents in isolation a ratchet control wheel for re-entering a stabilizer, FIG. 8 is a schematic section illustrating the positioning of the stabilizers between the loads before their deployment, FIG. 9 schematically represents different constituent elements of the navigation platform, FIG. 10 illustrates the dropping of a wire-guided load, FIG. 11 is a partial and schematic view of a variant of drone according to the invention, FIG. 12 is an exploded view of the support mechanism for the root of the wings, FIGS. 13A to 13C represent details of an embodiment of a control mechanism for the wings, FIG. 14 is an exploded view and partial of the wing control mechanism, FIG. 15 represents a detail of a wing locking mechanism, FIG. 16 schematically represents different coupling zones between mobile elements in the transmission chain from the main engine to the propeller , Figures 17A to 17H illustrate details of embodiment of the transmission between the engine and the rotary segment carrying the wings, FIGS. 18A and 18B represent a variant of drone, FIGS. 19A and 19B represent a variant of launch tube, FIG. 20 illustrates the possibility of providing the launch tube with a thermal pot. The drone 1 shown in FIGS. 1 and 2 comprises a fuselage 10 and a wing 11 comprising two wings 12 situated at the rear of the fuselage 10 and two fins 13, known as duck planes, at the front.
    The fuselage 10 is for example made of a composite material, in particular based on carbon fibers. The nose 19 at the front of the drone 1 is preferably made of two combined polymer materials, namely in the example considered a viscoelastic urethane polymer (for example Sorbothane) coating the nose and a non-Newtonian polymer or non-Newtonian fluid , rheo-thickening, captive of the first. The energy of a shock can thus be dispersed between the two materials. In the example considered, the drone 1 is intended to be launched from a tube 20 visible in FIG. 4A in particular, by being ejected therefrom by a propellant charge, for example. In the launch configuration, the wings 12 are folded against the fuselage 10.
    The drone 1 comprises a propulsion propeller 14 located at the rear, for example three-bladed, driven by an invisible electric motor, for example of the brushless type, disposed inside the fuselage 10.
    This engine is powered by a source of electrical energy, for example a voltage between 20 and 48 V, constituted in the example considered by a hydrogen / air fuel cell, connected to one or more hydrogen tanks. Hydrogen is, for example, stored in gaseous form in the compressed state at an initial pressure at 25 ° C of between 100 and 300 bars. Alternatively, hydrogen is stored differently, for example in the form of metal hydrides, by the reaction of hydrogen with certain metal alloys at low pressure.
    The drone 1 comprises a hold housing a barrel 36, shown in FIG. 8, for example in the form of a cruciform structure, carrying several releasable loads 37, four in number in the example described. The barrel can rotate by quarter turns around its longitudinal axis, parallel to that of the fuselage, to release the desired load.
    The wings 12 are supported by a structure 40 and by an articulated link which allows them to take several configurations depending on the flight phases.
    This link allows the wings 12 to pivot about an axis which makes it possible to modify their incidence and to use them as control surfaces to direct the drone. Actuators perform this function. The wings 12 can thus be devoid of control surfaces.
    The fins 13 are also pivotable about an axis perpendicular to the fuselage and controlled in their rotation by actuators arranged in the fuselage.
    Preferably, this rotation can take place over 360 ° at a relatively high speed, for example between 430 and 900 rpm, which makes it possible to use them in the recovery phase to generate an anti-rotation torque. The wings 12 can pass from a launch configuration, visible in FIGS. 4A and 4B, to a configuration of fast flight, visible in FIG. 2, or of slow flight, represented in FIG. 1, then to a recovery configuration. shown in Figure 3.
    Inside the launch tube, the wings 12 are for example folded against the fuselage 10.
    In the fast flight configuration, the wings 12 are oriented forward, forming an inverted-arrow wing. The angle of bearing alpha between the longitudinal axis of the fuselage 10 and that of each wing 12 is for example between 30 and 90 °. The drone, for example, before dropping loads, more than 35% of its mass centered in the first third before. In the fast flight configuration, with the alpha angle equal to 45 °, the speed of the drone is for example between 75 and 90 knots. A lower alpha angle, for example of the order of 30 °, can allow a higher speed, for example greater than 100 knots.
    The length of the fuselage 10 is for example between 1.2 m and 2.6 m.
    In the slow flight configuration, the wings 12 extend substantially perpendicular to the fuselage.
    The width of the wings 12 can increase towards their free end. The width at the end of the wing is for example between 18 and 32 cm and that at their base between 12 and 26 cm.
    In the slow or fast flight configurations, the wings 12 do not rotate around the longitudinal axis X of the fuselage, and constitute a fixed wing 11.
    In the recovery configuration, the wing support structure 40 rotates around the longitudinal axis X so that the wings 12 can constitute a rotor driven in rotation by the engine to brake the drone in its descent, or even to support it.
    The wings 12 take a reverse step from one another in the recovery configuration. To do this, the wings 12 can be pivoted in the opposite direction by about half a turn, as illustrated by the sequence shown in FIGS. 5A to 5C.
    In the recovery configuration, the wings are rotated with the support structure by the propulsion engine, for example in the opposite direction to the propeller.
    In the variant illustrated in FIG. 6, the drone comprises retractable stabilizers 50.
    These stabilizers 50 are retracted inside the fuselage during launch and deployed at least before the loads are dropped.
    Preferably, these stabilizers 50 are arranged to moor to the wings 12 in the deployed configuration, to constitute a "diamond" wing which improves the lift.
    The wings each have an actuator which locks the attachment of the stabilizers to the wings.
    The stabilizers 50 are housed between the loads 37 in the retracted configuration, as illustrated in FIG. 8, which improves the maintenance of the latter in the face of the acceleration undergone during launching. The stabilizers allow in particular to block in rotation the barrel 36 carrying the charges 37 inside the drone. When the stabilizers block the barrel, its lower chambers are not aligned with the charge ejection hatch, which constitutes security.
    It is advantageous to produce the stabilizers 50 so that they can be used to vary the geometry of the wings 12 while being displaced relative to the fuselage.
    The wings can change their degree of opening using the relative wind, which tends to open them. To move them forward and close the angle they make with the fuselage, stabilizers can be used.
    Preferably, the stabilizers 50 are moved using an air brake 100 whose displacement relative to the fuselage provides a force which helps the stabilizers to close.
    The transition from the stabilizers 50 from their deployed configuration visible in FIG. 6a to their retracted configuration from FIG. 6b can thus be carried out using a mechanism comprising the airbrake 100, which exploits the force of the relative wind to bring back the stabilizers 50 in their housing. This air brake 100 can move on rails 101 under the effect of the relative wind and one can use any training system adapted to use this movement of the air brake. In the example of FIGS. 6A and 6B, the airbrake is integral with notched rods 102 which move with it and mesh with ratchet wheels 103 to form a rack mechanism. These ratchet wheels have a rotational movement which is transmitted to the stabilizers to retract them. Other mechanisms for transforming a linear displacement of the airbrake into a rotational movement of the stabilizers can be used.
    One of the ratchet wheels 103 is shown in isolation in FIG. 7. The wheel comprises a notched peripheral part 104, which meshes with the rods 102 and a hub 105 which carries pawls 106 and which is integral with an axis disposed so that the rotational movement of the hub is accompanied by a retracting movement of the stabilizers.
    When the airbrake 100 is deployed, it tends to move back along the rails 101 and the notched rods 102 rotate the ratchet wheels 103, which causes the stabilizers 50 to retract.
    The airbrake is pushed out of its housing by a linear actuator.
    The airbrake is unfolded by pivoting on itself, to form an angle of about 90 ° to the longitudinal axis of the drone.
    Other mechanisms can be used to exploit the movement of the airbrake. By way of example, there is shown in FIGS. 6C to 6E a variant of airbrake 100.
    This comprises a pivoting flap 110 carried by a carriage 115 which can slide on rails 116. The flap 110 can take a folded position visible in FIG. 6C where it can be inserted in a housing 111 corresponding to the fuselage. The shutter comprises a slide 112 in which slides an element 113 connected in an articulated manner to a frame 114. The latter is articulated at its base on the carriage 115. A clamp 117 can snap into the slide 112 when the shutter 110 is folded down . The retraction of the shutter into the housing 111 closes the clamp 117 and releases the shutter 110. The shutter 110 is articulated on an element 118 which can slide on the carriage 115 and which carries the clamp 117.
    The combined movements of the element 113 in the slide, under the action of a cable not shown, connected to this element and controlled by an actuator 119, and of the element 118 along the carriage 115, ensure the closing of the flap before entering the housing 111.
    Figure 6D shows the flap 110 before it is folded down to be brought back into the housing. We see that the element 118 is brought to the end of travel on the carriage 115 by the actuator 119. It then rises along the slide 112 which foce the flap to lie down, until the clamp 117 s 'snaps on the slide.
    The drone 1 constitutes a robotic aerial vector which has, for its flight, a navigation platform illustrated in FIG. 9, comprising a CPU processor communicating by a bus with a propulsion control, a telemetry system, a transmitter, a receiver, various sensors such as a magnetometer, an IMU inertial unit, an altimeter, and a satellite positioning system such as a GPS.
    The navigation platform is preferably configured to ensure autonomous operation of the drone if this is wanted or necessary.
    The charges 37 carried on the drone 1 are intended to be dropped in flight.
    Preferably, each load 37 is identified by the drone 1 and the latter can control the dropping of the loads in the desired order, by rotating the barrel 36 a quarter of a turn in the desired direction and as many times as necessary. .
    To drop a load selected from those on board, the barrel 36 is pivoted if necessary so as to bring the load to be dropped opposite the opening of the hold.
    According to an advantageous aspect of the invention, each load 37 is connected during its fall to the drone by an optical fiber 70, as illustrated in FIG. 10.
    The latter can be wound on a reel which is unwound to accompany the fall of the load 37, at a speed sufficient to avoid any tension on the fiber liable to damage it. The optical fiber has, for example, a length of between 2000 and 5000 m. Its diameter is for example between 100 and 300 microns.
    The load 37 is equipped at the rear with control surfaces 39 which make it possible to orient it during its fall in order to guide it towards a predefined objective.
    The load 37 includes actuators to act on these control surfaces 39 as well as inertial sensors such as accelerometers, which provide information on its drift since its release.
    The load 37 includes an electronic circuit which receives the signals from the accelerometers and transmits corresponding data to the drone 1.
    The latter is able to calculate from this data received from the load and from own navigation data, the manner in which the load must be guided towards the objective.
    The fact that the load guidance calculations are at least partially carried out on board the drone makes it possible to greatly simplify the electronics on board the load, and to reduce the cost thereof.
    The drone's operating sequence is as follows.
    The drone is first ejected from the launch tube 20, by any means, as illustrated in FIG. 4B.
    Then, as illustrated in FIG. 4C, the wings 12 are deployed, for example to take the reverse arrow flight configuration of FIG. 2 until the arrival near the site to be monitored or on which one or more loads are to be dropped.
    The computing power of the navigation platform present on the drone makes it possible to limit that required on board the load.
    For the release of a load, the barrel 36 is pivoted if necessary to bring the load opposite the hatch of the hold then the latter is open.
    The stabilizers 50 can be deployed to improve the stability of the drone and to be able to control it more easily after the load 37 has been released, taking into account the impact of this release on the center of gravity of the drone.
    When the load 37 is released, the navigation platform of the drone transmits to the actuators of the control surfaces of the load the corrections necessary for its navigation. At the same time, the platform receives by optical fiber 70 a refreshment of the position of the load, obtained by means of the accelerometers present on board the load which return the accelerations of the load in three dimensions. With this real-time refresh of the payload position, the drone’s navigation platform calculates the deviation from the target in real time and sends the corrections back to the load actuators accordingly.
    FIG. 11 shows an alternative embodiment of a drone according to the invention.
    In such a variant, the wings are carried by a rotary structure 200 which allows their rotation relative to the longitudinal axis of the fuselage in recovery configuration (rotary wing).
    This rotary structure 200 can take a locked configuration where it cannot rotate relative to the fuselage, which corresponds to the normal flight configuration (fixed wing).
    The wings are preferably carried by an elevating structure 210 which allows them to take a so-called “high” configuration, illustrated in FIG. 11, of normal flight, and a so-called “low” configuration, where their root is brought closer to the axis. longitudinal of the fuselage. This low configuration is preferred when the structure 200 rotates relative to the fuselage, in the recovery configuration (rotary wing), because it lowers the center of gravity of the wings.
    In the example considered, the root plates of the wings are carried, as illustrated in FIG. 12, by rotary telescopic columns 215, along which extend smaller columns 216, for anti-return blocking of the root plates. The columns 216 carry non-return pawls 218 which mesh on teeth 219 at the footings.
    Thus, the wings can deploy under the rotation action of the columns 215, being rotated by the relative wind, and are prevented from retracting under the effect of the pawls 218. Reinforcement has also been shown in this figure 12 220 for root support.
    The columns 215 can be reinforced as illustrated by reinforcements 229, visible in FIG. 13B in particular, against which they are supported. These reinforcements follow the telescopic forms of the columns.
    To activate the rotation of the wings, it is possible, as illustrated in FIGS. 13A to 13C, to provide a motor 259, for example of the stepping type, and an actuator 269 which makes it possible to selectively couple this motor to one and / or the other. wings, thanks to a coupling mechanism 252 shown in isolation in Figure f4.
    This mechanism comprises a fork 254 which is moved by the linear actuator to bring a pinion 256 movable axially on its axis selectively engaged with a left idler gear 257a or right 257b, which transmits via idler gears 267 its rotation to an axis 268 of the corresponding wing. When the pinion 256 is placed in the middle, the two wings are driven.
    The fork 254 can move along a guide 258, under the effect of the actuator 269. We also see in FIG. 14 the toothed cylinder which is driven by the stepping motor 240 and which transmits its rotation to the pinion 256. The rotation of pinions 257a or 257b is transmitted to the corresponding gears 267.
    In FIG. 15, the possibility has been illustrated for the root of the wings of being locked in the low position by engagement of a locking element 260 in a corresponding hole in the root.
    We will describe with reference to Figures 16 and 17A to 17H an embodiment of the transmission between the main engine and the rotary structure which carries the wings and locking system of the rotary structure relative to the fuselage.
    This transmission is made to take at least two configurations, namely a first configuration of a locking system where the main motor can drive the propeller while the rotary structure is fixed relative to the fuselage, and a second configuration of the system. lock where the main engine can rotate the structure carrying the wings relative to the fuselage.
    The first configuration is used during normal flight and the second during recovery of the drone or during hovering observation phases.
    The transmission is made, as illustrated in FIG. 16, with several coupling zones, namely a first coupling zone A / A 'between a rotary segment carrying the wings and the fuselage, on the side of the main engine, a second zone C / C 'between the rotary segment and the main transmission shaft 500 and a third coupling zone D / D' between the main transmission shaft 500 and the propeller.
    The main drive shaft is normally rotated by the main engine, also known as the propulsion engine.
    It has been indicated by B / B ’in FIG. 16 the possibility of carrying out, within the rotary support structure of the wings, locking / unlocking in the low position of the support columns 215 for the wing roots described above.
    The rotary structure carrying the wings comprises a rotary segment 510 which is guided at its axial ends by ball bearings so as to be able to rotate on itself around the longitudinal axis of the fuselage.
    The segment 510 is produced with a dog whose teeth 512 can come into engagement with those 515 of a dog formed on a crown 520 present at the end of a telescopic structure 525.
    This telescopic structure 525 can change, for example under the action of a linear actuator not shown, from a deployed configuration, illustrated in FIG. 17B, where the teeth 512 and 515 are not in mutual engagement, to a retracted configuration illustrated in Figure 17C, where the dogs are coupled. In the retracted configuration of FIG. 17C, the rotary segment 510 is locked in rotation relative to the fuselage; this corresponds to the normal flight configuration.
    The wings of the wings, when the drone is made so as to allow them to take high and low configurations, as described above, are in high configuration. The propeller is rotated by the main motor.
    In the recovery configuration, illustrated in FIG. 17B, the rotary segment is free relative to the fuselage, and can be driven in rotation by the main motor, by virtue of the transmission provided in zone C / C ′ illustrated in FIG. 16 , at the rear of the rotary segment, on the side of the propeller. The propeller is no longer driven, the movement of the shaft having interrupted the transmission between the shaft and the propeller in zone D / D of FIG. 16.
    Preferably, the locking system is produced so as to be able to assume an intermediate configuration in which the rotary segment 510 carrying the wings is free to rotate relative to the fuselage without being driven in rotation by the main motor.
    An auxiliary motor 530 is provided for rotating the rotary segment 510 in this intermediate configuration; the latter aims to allow the drone to be maneuvered by tilting the wings relative to the fuselage in the event of failure of the main control surfaces. It can also bring the wings down by flipping the drone, and force the columns 215 to retract.
    It may thus be advantageous to bring the locking system into this intermediate configuration and to wait before going into the recovery configuration, for driving the rotary structure by the main motor, until the columns 215 have retracted.
    The auxiliary motor 530 is coupled to a drive part 535 by a gear system 536 so as to be able to rotate it about the longitudinal axis of the main transmission shaft and relatively to it.
    The part 535 has drive pins 538 which can engage in corresponding housings 539 of an inner sun gear 540 in the above-mentioned intermediate configuration.
    A planet carrier 545 comprising three satellites 546 can transmit the rotation of the sun gear 540 to the crown 520, which has a corresponding internal toothing 548.
    The satellites 546 are axially movable each on a corresponding axis 549 of the planet carrier 545 between a locked position, shown in FIG. 17A, where each satellite is locked in rotation on its axis, and an unlocked position, where each satellite 546 can rotate freely on the corresponding axis 549.
    FIG. 17F shows a satellite 546 on its own and in FIG. 17G the axis 549. It can be seen that the satellite can be produced with reliefs 570 which can engage on corresponding reliefs 572 so as to be immobilized therein. rotation.
    In the initial configuration of normal flight, which corresponds to FIGS. 17C and 17E, the satellites 546 are arranged on the smooth parts of the axes 549. This allows the inner sun gear, which rotates with the drive shaft, to rotate without driving the segment rotary.
    To pass into the intermediate and drive configurations of the wings by the main motor, the transmission shaft is moved away from the propeller, under the effect of an actuator not shown.
    The drive part 535 moves back, and carries with it the planet carrier 545 by means of friction elements in the form of elastic lugs produced 560 with the pins 538 and coming to tighten the branches of the planet carrier.
    The retraction of the planet carrier causes the satellites 546 to lock on the axes 549 In the position illustrated in FIG. 17A, which corresponds to the intermediate configuration where the auxiliary motor can drive the rotary segment carrying the wings, the rotation of the sun gear 540 under the effect of the rotation of the stepping motor is transmitted via the satellites 546 to the crown 520. The main shaft is not yet coupled to the rotary segment in the zone C / C '. The propeller shaft remains coupled to the propeller in the D / D zone.
    When the propeller shaft still moves back, the propeller uncouples in the D / D zone, for example thanks to a splined connection which disengages.
    The shaft engages in zone C / C ’, to rotate the rotary segment.
    The drive part 535 can disengage from the planet carrier 545 thanks to the flexibility of the legs 580, so that the planet carrier does not block the recoil of the part 535. The pins 538 thereof can disengage from the interior planetary 540.
    The coupling in zone C / C ’can be carried out in various ways, for example by engagement of a toothing rotating with the main shaft in a corresponding toothing rotating with the rotary segment, as illustrated in FIG. 17H.
    The main shaft can be moved axially by any means, such as a linear actuator.
    The coupling between the propeller and the main shaft can be carried out in zone D / D ’, so that when the main shaft drives the rotary segment, the main shaft is decoupled from the propeller. In addition, it may prove useful for the launch tube 20 to prevent unauthorized access to the drone.
    According to one aspect of the invention, the tube 20 is equipped with a thermal pot 80 shown diagrammatically in FIG. 20, which makes it possible to destroy the drone in the event of detection of unauthorized manipulation thereof.
    The tube 20 can be provided for this purpose with an energy source which supplies a control circuit capable of exchanging information with the outside, for example by a radio link. Thus, the tube 20 can be placed in a passive state allowing its transport and its installation, or in an active state where it detects any movement and can trigger the ignition of the thermal pot 80 contained inside.
    The tube 20 can be fitted with a seismograph and / or any other sensor capable of providing information on the movement of nearby men or materials. This information can be saved locally and / or transmitted remotely.
    The control circuit can be arranged to ignite the thermal pot if it detects a manipulation of the tube while it is in the active state.
    The tube is arranged so that the combustion of the thermal pot destroys the drone without generating an explosion by bursting of the tube.
    The control circuit is preferably arranged to enable remote activation of the launch of the drone. Thus, it is possible to partially bury the drone 1 and leave it in a standby state for a relatively long period of time.
    When the drone is to be launched, a launch order is transmitted to the tube and the tube triggers the ejection of the cover and the launch operation.
    This is done, for example, under the impulse of a strong gas evolution resulting from the mixture of compounds reacting together.
    It may be advantageous for the launch tube to be completely buried and for its cover to contain a pocket for depositing a layer of local coating, for example earth, snow, sand.
    It may be advantageous if the cover ejection is pneumatic.
    It also turns out to be interesting that the tube is provided on its external surface, as illustrated in FIG. 19A, with a thread facilitating its burial by screwing.
    FIG. 19B shows the possibility of connecting the cover to the body of the tube by a disconnectable conduit 410 when the cover is ejected. This conduit allows for example to actuate a latch releasing the cover prior to its ejection.
    FIGS. 18A and 18B have illustrated a variant of a drone in which the wings 5 can be folded over one another in the launch configuration. The wings of the wings have two degrees of freedom, one in elevation, called pitch, the other of deployment, said of bearing, allowing to pass from the configuration where the two wings are folded down on the fuselage to the deployed configuration.
    Of course, the invention is not limited to the examples which have just been given.
    Many variations are possible without departing from the scope of the present invention.
    For example, the number of payloads on board can vary, or even be zero if the drone is only intended for surveillance.
    The drone can be launched other than from a tube.
    Drone recovery can be done differently.
    权利要求:
    Claims (35)
    [1" id="c-fr-0001]
    1. Assembly comprising a drone (1) and at least one jettisonable load (37) on board the drone, the drone comprising an on-board data processing system, the jettisonable load comprising at least one sensor delivering useful information for knowing its trajectory and control actuators enabling it to be oriented in its fall, being connected to the drone by an optical fiber (70), the load and the drone being arranged to exchange information via optical fiber during the fall of the load, the load transmitting data coming from said at least one sensor and the drone transmitting actuation piloting data, established taking into account those received from the load, in order to guide the load towards a predefined objective.
    [2" id="c-fr-0002]
    2. Assembly according to claim 1, the load comprising accelerometers and corresponding data being transmitted to the drone via optical fiber, the corresponding data transmitted by the load to the drone preferably comprising the trajectory of the load from its release as calculated at from the load accelerometers.
    [3" id="c-fr-0003]
    3. An assembly according to claim 1 or 2, the load comprising actuators controlling its movement around roll and pitch axes.
    [4" id="c-fr-0004]
    4. Assembly according to one of the preceding claims, the drone comprising:
    A fuselage (10), two wings (12) configured to pass from a flight configuration where the wings constitute a fixed wing, to a drone recovery configuration where the wings constitute a rotary wing.
    [5" id="c-fr-0005]
    5. The assembly of claim 4, the wings (12) being carried by a support structure (40; 510) which can rotate relative to the fuselage, the support structure being fixed in rotation when the wings are in the flight configuration and being rotary when the wings are in the recovery configuration, the wings then forming a rotor rotating relative to the fuselage.
    [6" id="c-fr-0006]
    6. The assembly of claim 4 or 5, the wings (12) being hingedly connected to the fuselage, being configured to pass from a launch configuration where the wings are folded down along the fuselage to the flight configuration where the wings are deployed.
    [7" id="c-fr-0007]
    7. An assembly according to any one of claims 4 to 6, the wings being of variable geometry in the deployed configuration.
    [8" id="c-fr-0008]
    8. An assembly according to any one of claims 4 to 7, the wings being arranged to form an inverted deflected wing in the flight configuration.
    [9" id="c-fr-0009]
    9. Assembly according to one of claims 4 to 8, the wings being arranged to form a straight wing in the flight configuration.
    [10" id="c-fr-0010]
    10. An assembly according to any one of claims 4 to 9, the wings being rotatable so as to take an opposite incidence from one another in the recovery configuration.
    [11" id="c-fr-0011]
    11. Assembly according to any one of the preceding claims, the drone comprising at the front a nose (19) impact absorber.
    [12" id="c-fr-0012]
    12. Assembly according to any one of the preceding claims, the drone comprising duck planes (13) at the front.
    [13" id="c-fr-0013]
    13. The assembly of claim 12, at least one of the fins being movable in rotation on itself.
    [14" id="c-fr-0014]
    14. The assembly of claim 13, said movable fin in rotation being rotated when the wings are in the recovery configuration, to perform turns on itself to exert a counter-rotation torque on the fuselage.
    [15" id="c-fr-0015]
    15. Assembly according to any one of the preceding claims, the drone being at least partially housed before takeoff in a launch tube (20) equipped with a propellant charge.
    [16" id="c-fr-0016]
    16. The assembly of claim 15, the launch tube being closed by an ejectable cover.
    [17" id="c-fr-0017]
    17. The assembly of claim 15 or 16, the tube comprising a thermal load (80) causing when destroyed the destruction of the drone inside the tube.
    [18" id="c-fr-0018]
    18. The assembly of claim 17, the tube being equipped with at least one sensor sensitive to an unauthorized attempt to move and / or opening thereof, and a control means for triggering the ignition of the thermal load in the event of an unauthorized attempt to access the interior of the tube or to transport it.
    [19" id="c-fr-0019]
    19. The assembly of claim 17 or 18, the tube being ceramic and made to resist the heat given off by the thermal load for the time necessary for the destruction of the drone.
    [20" id="c-fr-0020]
    20. Assembly according to any one of the preceding claims, the drone comprising a propulsion means (14) during the flight, driven by a motor.
    [21" id="c-fr-0021]
    21. The assembly of claims 4 and 20, comprising a transmission driven by the engine to drive the rotor in rotation relative to the fuselage in the recovery configuration.
    [22" id="c-fr-0022]
    22. An assembly according to any one of the preceding claims, the drone comprising stabilizers (50) which can pass from a retracted configuration to a configuration deployed during the flight, in particular during the release of the load.
    [23" id="c-fr-0023]
    23. Assembly according to any one of the preceding claims, the drone comprising a hold and the latter containing several jettisonable loads (37).
    [24" id="c-fr-0024]
    24. The assembly of claim 23, the hold being disposed in front of the drone.
    [25" id="c-fr-0025]
    25. Assembly according to one of claims 23 and 24, the droppable loads being arranged on a barrel (36) for selecting the load to be dropped.
    [26" id="c-fr-0026]
    26. An assembly according to any one of the preceding claims, the length of the optical fiber being greater than or equal to 3000 m.
    [27" id="c-fr-0027]
    27. Assembly according to any one of the preceding claims, including claim 4, the wings (12) having a width increasing towards their free end.
    [28" id="c-fr-0028]
    28. Assembly according to any one of the preceding claims, including claim 4, the wings being devoid of fins.
    [29" id="c-fr-0029]
    29. Method for guiding a load dropped from a drone towards a target, using an assembly as defined in any one of the preceding claims, comprising the steps consisting in:
    - Transmit from the load (37) to the drone (1) data providing information on the movements of the load since its release obtained by one or more sensors on board the load,
    - Process this data with a system on board the drone and, at least according to this processing, transmit actuator control data to the load in order to guide the load towards a target.
    [30" id="c-fr-0030]
    30. The method of claim 29, comprising the step of selecting the load before dropping from among several on board the drone, and exchanging data with the selected load while it is still on board the drone.
    [31" id="c-fr-0031]
    31. Method according to the preceding claim, the selected charge being brought into a drone ejection position by rotation of a barrel (36) containing several charges, each charge being individually addressable by the drone.
    [32" id="c-fr-0032]
    32. Method for deploying and recovering a drone from an assembly as defined in any one of claims 1 to 28, comprising the steps consisting in:
    - Launch the drone from a launch tube by ejecting it from the tube, bring the wings to deploy after the exit of the tube to take a flight configuration.
    [33" id="c-fr-0033]
    33. The method of claim 32, comprising the step of bringing the
    5 wings to take a fast flight configuration with reverse arrow wing then a slow flight configuration with straight wing.
    [34" id="c-fr-0034]
    34. The method of claim 32 or 33, comprising the step of causing the wings to take on a rotary wing configuration, and braking the drone in its descent by the rotation of the rotor.
    10
    [0035]
    35. The method of claim 34, comprising the step of impacting the ground with the impact absorbing nose (19) present in front of the drone.
    1/26
    2/26
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    同族专利:
    公开号 | 公开日
    FR3054825B1|2018-08-24|
    US20190248492A1|2019-08-15|
    WO2018024567A1|2018-02-08|
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    FR3103174B1|2019-11-19|2021-12-03|De Perera Sylvain Roldan|DRONE|
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    法律状态:
    2017-08-30| PLFP| Fee payment|Year of fee payment: 2 |
    2018-02-09| PLSC| Search report ready|Effective date: 20180209 |
    2018-08-30| PLFP| Fee payment|Year of fee payment: 3 |
    2019-08-27| PLFP| Fee payment|Year of fee payment: 4 |
    2020-08-26| PLFP| Fee payment|Year of fee payment: 5 |
    2021-08-30| PLFP| Fee payment|Year of fee payment: 6 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1657499A|FR3054825B1|2016-08-02|2016-08-02|DRONE|FR1657499A| FR3054825B1|2016-08-02|2016-08-02|DRONE|
    US16/322,557| US20190248492A1|2016-08-02|2017-07-26|Drone|
    PCT/EP2017/068852| WO2018024567A1|2016-08-02|2017-07-26|Drone|
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