• 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:
    Aircraft with contact device. Aircraft with stationary capacity and with contact device. It comprises a main body (1) of the aircraft, a propulsion system (2), a contact device (3) and a processing and control unit. The contact device (3) comprises a first body (4) attached to the main body (1) and oriented on the center of mass of the aircraft; a second body (5) moving on the first body (4) (first degree of freedom) of the contact device (3); and a third body (6) with a central section (7) by means of which the second body (5) is linked to a joint axis (8) on which the third body (6) rotates with respect to said second body (5). ) (second degree of freedom), and with two segments (9, 10) of which a first segment (9) is telescopic (third degree of freedom). (Machine-translation by Google Translate, not legally binding)
    公开号:ES2614994A1
    申请号:ES201631397
    申请日:2016-11-02
    公开日:2017-06-02
    发明作者:Antidio VIGURIA JIMÉNEZ；Miguel Ángel TRUJILLO SOTO；José Carlos MÁRQUEZ FONT；Ángel Luis PETRUS MORENO；Antonio JIMÉNEZ BELLIDO；Juan Jesús GARCÍA FREIRE；Aníbal OLLERO BATURONE
    申请人:Fund Andaluza Para El Desarrollo Aeroespacial；Fundacion Andaluza Para El Desarrollo Aeroespacial；Universidad de Sevilla；
    IPC主号:
    专利说明:

    OBJECT OF THE INVENTION
    The present invention is part of the technical field of unmanned aerial vehicles. More specifically, an aircraft with a stationary flight capability comprising a contact device is proposed. This aircraft allows, without having to stop the flight, perform repair work, taking measurements, etc. on a static surface with high precision. BACKGROUND OF THE INVENTION
    When you have to perform inspection or repair of facilities, machinery and / or constructions you do not always have direct access to them. In many cases they are arranged in places that can be dangerous for humans, such as in the case of petrochemical installations (ATEX and / or toxic atmosphere). In other cases, facilities, machinery and / or constructions are arranged in places where human access is limited or would pose a risk to people (for example, if they are too high).
    In order to carry out the inspection and repair work or the work that is necessary at all times, in many cases robots are used that move to the point to be inspected. These types of robots can be for example climbing robots or robots that have wheels with movement in multiple directions. However, not in all cases there is an access surface to the workplace that is valid for the movement of robots through it. In these cases you can choose to use industrial machinery for work at height, which allow access to certain remote areas that could not reach a robot that moved with wheels or through caterpillar type mechanisms.
    As a solution to this technical problem posed of not having access to the specific place where you have to do the inspection, maintenance, repair, etc. the


    use of unmanned aerial vehicles.
    Unmanned aerial vehicles can be controlled from a remote location or fly completely autonomously based on pre-programmed flight plans.
    The use of unmanned aerial vehicles for inspection, repair, etc., is already known in the state of the art. in dangerous places or of difficult access for the human being.
    For example, a handling system is known for an unmanned aerial vehicle which, from the aircraft, determines the location of a specific point at which an operation is to be performed. The aircraft has an arm installed that can select a tool from a tool storage area located in its own body. With the arm itself and the tool selected, the necessary operations are carried out in each case. In this case, the movement of the center of gravity due to the operation of the arm and the forces and torques due to physical interaction can seriously destabilize it if high-precision sensors and actuators are not available, which is usually directly related to its weight. , clearly contravening the need for lightness that characterizes unmanned aerial systems.
    An aircraft is also known that is configured to perform resistance, current and voltage measurements on an object. More particularly, it is used to measure lightning protection in a wind tower. For this, it comprises a contact element that has a contact area of an electrically conductive material and the aircraft is designed to maintain contact with the surface during the time of taking measurements. As previously described, the design of this aircraft can present serious control problems that end up destabilizing the system.
    Developments related to aircraft motion control systems, at a distance, have also been published incrementally for close inspection of an object. At the inspection site there is a control system module that is responsible for stabilizing the aircraft in flight maintained. This control is used while


    It maintains a distance close to the desired object and allows to detect if there are nearby obstructions and determine alternative directions not obstructed.
    The most important technical problem of the solutions known so far is the difficulty of maintaining the stability of the aircraft in flight if the final effector comes into contact with a rigid element. In some cases it has been decided to place a force and torque sensor in the final effector. However, current servomotor technology does not provide light servomotors (a necessary condition for placing them in the aircraft) fast and precise enough to perform force control during the flight. These problems mean that it has not been possible to implement a viable solution whose configuration is stable to disturbances produced by the contact, or to external disturbances, while it is being carried out. DESCRIPTION OF THE INVENTION
    The present invention describes an aircraft with stationary flight capability and contact device that allows solving the previously described problems. This aircraft has improved flight stability that is maintained when the contact device physically interacts with a static surface and during the corresponding work on that surface.
    Likewise, control of the aircraft is facilitated by the configuration of the proposed contact device itself. This is because the contact device is designed so that the forces and torques are transmitted directly to the center of mass of the aircraft for as long as the contact with the surface is maintained and the corresponding operations are performed.
    The aircraft with a contact device is intended to be used for precision operations, whether the sensors used require contact or if these sensors simply require a stable base as immovable as possible. An example of application would be industrial inspection with sensors that require contact, such as inspection with ultrasonic equipment. Another example would be the taking of accurate data from sensors that do not require contact but from a completely still base, which would be the part of the contact device that touches


    static surface
    The aircraft comprises a main body, propulsion systems and a contact device. Said contact device comprises at least a first body attached to the main body of the aircraft, a second body that has the possibility of movement on said first body (providing a first degree of freedom to the contact device), and a third body that rotates, on an axis of union perpendicular to the first degree of freedom and the longitudinal direction of the third body itself, with respect to the second body (providing a second degree of freedom to the contact device).
    In addition, said third body has at least a first telescopic segment (providing a third degree of freedom to the contact device) whose end is configured to receive a final effector. In a second segment of the third body, opposite the first segment, there is a counterweight intended to keep the center of gravity of said third body as centered as possible with respect to the center of mass of the aircraft.
    Thus, the contact device has at least three degrees of freedom, which allows a final effector to be placed in the desired position. The final effector is an element that joins the contact device. At the same time that the final effector remains in contact with the surface on which it will work, thanks to these degrees of freedom, the aircraft continues to fly stationary absorbing small external disturbances (due to wind, aerodynamic effects, etc. ) in order to maintain the position relative to the point of contact.
    As previously described, the first segment is telescopic, and its longitudinal movement occurs as an automatic adjustment according to the force applied in its axial direction, so that it acts as a shock absorber. Said first segment has a length sufficient to exceed the limits of the aircraft, to allow horizontal operations.
    Additionally, the first segment comprises at its end an adapter configured to receive the final effector. The type of final effector is chosen depending on the application


    concrete to be carried out by the aircraft with contact device. In addition, this final effector can integrate one or several measurement sensors, such as ultrasound, cameras, induced current sensor, etc. The adapter can be, for example, a mechanism of various degrees of freedom thanks to which sufficient movement possibilities can be obtained for a better result in the stabilization of the aircraft.
    All movements corresponding to the different degrees of freedom of the device can be actuated, passive or disengaged at will according to the need of the application or the way to reach the contact area. Depending on the need of the application, sensors could be integrated that allow knowing the angular and linear measurements associated with the degrees of freedom of the components of the contact device.
    In addition to the three degrees of freedom previously described, the contact device of the invention can comprise at the end of the first segment a connection mechanism of up to three degrees of freedom. Thus, when an end effector is connected to said end of the first segment, it can be oriented more precisely with respect to the contact device and therefore with respect to the aircraft.
    Thus, the greatest advantage of the aircraft of the present invention is that it can fly freely absorbing external disturbances to maintain its relative position with respect to the surface or the point at which the contact is made. DESCRIPTION OF THE DRAWINGS
    To complement the description that is being made and in order to help a better understanding of the characteristics of the invention, according to a preferred example of practical implementation thereof, a set of drawings is attached as an integral part of said description. where, for illustrative and non-limiting purposes, the following has been represented:
    Figure 1A-B.-Shows perspective views of the aircraft with contact device.


    Figures 2A-B.-Shows perspective and profile views of the contact device.
    Figures 3A-B.-Shows views in the profile of the aircraft with contact device.
    Figures 4A-B.-Shows top views of the aircraft with contact device.
    Figures 5A-D.-Shows a plurality of views of the aircraft with contact device in a position where it is kept in hover while operations are performed on a work surface. PREFERRED EMBODIMENT OF THE INVENTION
    An example of embodiment of the present invention is described below with the aid of Figures 1 to 5.
    In figures 1A-B, the aircraft with stationary flight capability with contact device has been shown in perspective. The configuration shown in the drawings is a multicopter with its propellers arranged at an angle, and is one of the possible embodiments considered as preferred for the present invention. The aircraft of the present invention comprises at least one main body (1), propulsion systems (2), a contact device (3) and a processing and control unit. In the figures, the propellers have been represented with a circle around that represents the range of action. This way of representing it has been chosen so that it is clearly appreciated that the contact device in any of its possible positions interferes with the movement of the propellers.
    In the example of aircraft shown in the figures, the propulsion systems (2) are engines with propellers that have the possibility of tilting at an angle between 0º and 45º on the horizontal plane, the axis of rotation being the one that crosses the center of the aircraft. Said motors also have the possibility of tilting at an angle between 0º and 45º in an axis perpendicular to the previous one, contained in the plane that they conform


    the engines. In this example the aircraft comprises eight engines (2), which allowsmaintain flight stability in the event of a failure of one of the engines (2), even ifThese are installed with some inclination. It can also be seen thatThe aircraft has an extra separation between two pairs of engines (2) between whichthe contact device (3) is placed, which can move freely without collidingwith the propellers of the motors (2).
    The contact device (3) comprises:-at least one first body (4) that is attached to the main body (1) of the aircraft andit is oriented on the mass center of the aircraft;-a second body (5) that is mounted on the first body (4) with the possibility ofmovement over it, associated with a first degree of freedom of the contact devicewith respect to the main body (1) of the aircraft;-a third body (6) comprising:
    - a central section (7) by means of which it is linked to the second body (5) by means of a connecting shaft (8) on which the third body (6) rotates with respect to said second body (5) providing a second degree of freedom to the movement of the contact device with respect to the main body (1) of the aircraft;
    - and two segments (9, 10), rigidly connected to each other and to the central section (7) that are diametrically positioned opposite each other with respect to said central section (7) where a first segment (9) comprises at its end an adapter configured for receive a final effector (11); and a second segment comprises at its end a counterweight (12); and at least the first segment (9) is telescopic, this characteristic being associated with obtaining a third degree of freedom of movement of the contact device with respect to the main body (1) of the aircraft;
    The aircraft also comprises a processing and control unit. In an exemplary embodiment, the contact device (3) comprises a plurality of sensors and the processing and control unit is configured to receive information from said sensors and control their different degrees of freedom.
    The control of the aircraft and the contact device (3) is carried out in a complementary way. In an exemplary embodiment, the positioning sensors of the contact device itself (3) can be used in the processing unit and


    control of the aircraft to determine the relative position between it and the surface on which the final effector (11) that connects to the contact device (3) works. This control provides more precise positioning data than traditional systems in which only the positioning of the aircraft with laser, GPS, etc. is taken into account. That is to say, this embodiment of the invention would allow a precise calculation of the relative position between the aircraft and the contact surface, from the moment the contact is made.
    In an exemplary embodiment, the aircraft must have at least one separation between the propulsion systems so that there is sufficient space to allow movement of the contact device. Said contact device is mounted on a central support piece that guarantees the first degree of freedom, which is related to the rotation of the contact device around the center of mass of the aircraft.
    In an exemplary embodiment, the first body (4) comprises at least two circular rails parallel to each other, as seen for example in Figure 2A. This configuration allows to lighten the weight of the aircraft. Likewise, said figure shows bearings (13) attached to the first body (4) that allow the movement of the second body (5) on said first body (4).
    This allows a turning movement of the second body (5) around the main body
    (1) of the aircraft and thanks to the fact that the first body (4) is oriented on its center of mass, the turning movement of the second body (5) is performed on said center of mass. This movement is associated with the first degree of freedom of movement of the contact device. This movement associated with the first degree of freedom can be seen in Figures 3A-B in which the aircraft has been represented with the contact device arranged in two different positions, among which it has been displaced by movement of the second body (5) on the first body (4), that is, by rotation of the second body (5) on the main body (1) of the aircraft.
    As previously described, the second degree of freedom of movement of the contact device (3) with respect to the main body (1) is associated with the rotation of the third body (6) with respect to the second body (5) on a joint axis (8). This joint axis (8) is seen in Figure 2B. Also, in Figures 4A-B, it has been represented


    the aircraft with contact device (3) in a top view in which the described movement of the contact device (3) with respect to the first body is observed
    (4) and therefore with respect to the main body (1) of the aircraft.
    The third degree of freedom of the contact device (3) is associated with the technical characteristic that at least the first segment (9) is telescopic. In a preferred embodiment, the length of said first segment (9) is adapted when the contact device (3) comes into contact with the work surface. In an exemplary embodiment, the first segment (9) comprises an internal spring that allows the retraction of said first segment (9) upon contact with the work surface. In another embodiment, the telescopic movement of the first segment
    (9)  It could be motorized.
    The movement of the second body (5) with respect to the first body (4), the rotation movement of the third body (6) with respect to the second body (5) and the longitudinal movement of the first segment (9) can be driven by motors. These motors can be disengaged or their action can be canceled at will according to the need of the application or the way to reach the contact area. That is, the at least one motor comprises a device that allows said motor to be connected and disconnected to the mechanics of the movement on which it acts. In another example, the movements may be restricted by passive mechanical elements.
    In an exemplary embodiment, the motors that allow the movement of the contact device have a clutch installed which reduces the resistance of the mechanism as much as possible. Depending on how the contact is made, at least one engine could be disengaged to reduce the forces and torques transmitted to the aircraft. In another embodiment, the motors have sensors that allow to know the torque exerted by it and, thanks to the control and processing unit, control the force exerted at each moment, or that exerted by the final effector of the contact device against the rigid surface you are touching.
    In an exemplary embodiment, the adapter of the end of the first segment (9) is a mechanism (14) with two degrees of freedom comprising two axes of rotation that intersect at one point and which additionally has the possibility of turning on the axis


    longitudinal of the first segment (9), giving the mechanism (14) a third degree of freedom. This embodiment is what has been represented in the figures. These three degrees of freedom of the mechanism (14) represent the fourth, fifth and sixth degrees of freedom of the contact device (3).
    The aircraft may comprise at least one engine connected to the mechanism (14) configured to move it according to at least one of its degrees of freedom. In this case the at least one motor comprises a device that allows said motor to be connected and disconnected to the mechanics of the movement on which it acts. All degrees of freedom, if motorized, are controlled from the processing and control unit to orient the final effector in the optimum way to make contact. In an exemplary embodiment, the movement according to at least one degree of freedom of the mechanism (14) is restricted by a passive mechanical element.
    A situation is shown in Figures 5A-D in which the aircraft with a contact device comprises an end effector which in this case are, for example, contact sensors, configured to take certain data from the work surface when contacting she. Furthermore, in this exemplary embodiment, the adapter is a mechanism (14) with three degrees of freedom as described previously.
    Figure 5A shows how the second body (5) has rotated on the first body (4), bringing the third body (6) in rotation. In this way, the first segment (9) is elevated, with a certain inclination, with respect to the main body (1) of the aircraft.
    A perspective view of the aircraft shown in Figure 5A is seen in Figure 5B. A top view and a front view, respectively, of the same aircraft are shown in Figures 5C and 5D. In both cases it can be seen how the third body (6) has rotated on the joint axis (8) with respect to the second body (5).
    Likewise, as previously described, the length of the first segment (9) changes telescopically and adapts at any time depending on the distance between the aircraft and the work surface.


    The type of final effector that is installed at the end of the contact device arm depends on the final application for which the aircraft is to be used in each specific case. For example, in cases where a surface that is not completely flat will come into contact, the final effector to be used will preferably be one comprising three contact points. This allows to guarantee a stable contact with the surface avoiding the movement of the final effector in the event that the forces or torques applied to it vary in some way.

    权利要求:
    Claims (13)
    [1]
     R E I V I N D I C A C I O N E S
    1.- Aircraft with contact device where the aircraft is of the type that havehovering capacity and is characterized by comprising:-a main body (1) of the aircraft;-at least one propulsion system (2);-a contact device (3) comprising:
    -at least one first body (4) that is attached to the main body (1) and isoriented on the center of mass of the aircraft;-a second body (5) that is mounted on the first body (4) withpossibility of movement over it;-a third body (6) comprising:
    -a central section (7) by which it is linked to the second body (5)by means of a joint shaft (8) on which the third body (6) rotateswith respect to said second body (5);-and two segments (9, 10), rigidly linked to each other and to the sectioncentral (7) that are positioned diametrically opposite each otherwith respect to said central section (7) where a first segment (9)comprises at its end an adapter configured to receive afinal effector (11); and a second segment comprises at its end acounterweight (12); and at least the first segment (9) is telescopic;
    - A processing and control unit.
    [2]
    2. Aircraft with contact device according to claim 1 characterized in that the adapter of the first segment (9) is a mechanism (14) of one, two or three degrees of freedom.
    [3]
    3. Aircraft with contact device according to claim 1 characterized in that the contact device (3) comprises a plurality of sensors.
    [4]
    4. Aircraft with contact device according to claim 3 characterized in that the processing and control unit is configured to receive and process at least one signal emitted by the sensors of the contact device (3).

    [5]
    5. Aircraft with contact device according to claim 1 characterized in that it comprises at least one engine acting at least on a movement selected from the movement of the second body (5) with respect to the first body (4), the rotational movement of the third body (6) with respect to the second body (5) and the longitudinal movement of the first segment (9).
    [6]
    6. Aircraft with contact device according to claim 5 characterized in that the at least selected movement between the movement of the second body (5) with respect to the first body (4), the rotation movement of the third body (6) with respect to the second body (5) and the longitudinal movement of the first segment (9), are restricted by passive mechanical elements.
    [7]
    7. Aircraft with contact device according to claim 1 characterized in that it comprises at least one engine connected to the third body (6) configured to rotate said third body (6) with respect to the second body (5) around the joint axis (8 ).
    [8]
    8. Aircraft with contact device according to claim 1 characterized in that it comprises at least one engine connected to the first segment (9) of the third body (6) configured to extend or shorten said first telescopic segment (9).
    [9]
    9. Aircraft with contact device according to claim 2 characterized in that it comprises at least one engine connected to the mechanism (14) configured to move it according to at least one of its degrees of freedom.
    [10]
    10. Aircraft with contact device according to claim 2 characterized in that the movement according to at least a degree of freedom of the mechanism (14) is restricted by a passive mechanical element.
    [11]
    11. Aircraft with contact device according to claim 5 characterized in that the at least one engine comprises a device that allows said engine to be connected and disconnected to the mechanics of the movement on which it operates.
    [12]
    12. Aircraft with contact device according to claim 9 characterized in that

    the at least one motor comprises a device that allows said motor to be connected and disconnected to the mechanics of the movement on which it acts.
    [13]
    13. Aircraft with contact device according to claim 1 characterized in that the contact device (3) additionally comprises bearings (13) that are attached to the first body (4) and on which the second body (5) is mounted configured to allow the movement of said second body (5) on the first body (4).








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