• 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:
    Gyro stabilizer warhead for unmanned aircraft. Gyro-stabilizing warhead comprising a coupling module (1) that can be fixed to the fuselage and which is assembled by means of a turning crown (2) to a module of sensor-supporting cylinders (3) that houses at least one sensor-supporting cylinder (4), which in turn, it can house at least one radiometric sensor, so that the sensor-bearing cylinder module (3) can rotate with respect to the coupling module (1) by actuating the main driving means (5) and at least one accelerometer medium, where In turn, at least one sensor-bearing cylinder (4) can rotate with respect to the sensor-bearing cylinder module (3) by means of auxiliary driving means (6). (Machine-translation by Google Translate, not legally binding)
    公开号:ES2755821A1
    申请号:ES201831027
    申请日:2018-10-23
    公开日:2020-04-23
    发明作者:Romero Francisco Javier Alonso；Pérez Antonio Serrano；Fernández María Luisa Cancillo；Sánchez-Piqueras José Antonio Bogeat；Guerrero José Manuel Vilaplana
    申请人:Instituto Nacional de Tecnica Aeroespacial Esteban Terradas；Universidad de Extremadura；
    IPC主号:
    专利说明:

    [0001]
    [0002] Gyro stabilizer warhead for unmanned aircraft
    [0003]
    [0004] TECHNICAL FIELD OF THE INVENTION
    [0005]
    [0006] The present invention refers to a gyro-stabilizer warhead for unmanned aircraft, which has application in the aerospace industry, and more specifically in the field of systems for taking radiometric measurements from unmanned aircraft.
    [0007]
    [0008] BACKGROUND OF THE INVENTION
    [0009]
    [0010] Currently, the incorporation of radiometric sensors for taking different types of measurements on unmanned aircraft is common. For the correct operation of the sensors during flight, and therefore for the measurements taken to be useful, the position of these sensors must be leveled and stabilized, so that as far as possible their position is as stable as possible. .
    [0011]
    [0012] In order to solve this problem, different devices are known that allow, for example, to stabilize a load of atmospheric sensors in an unmanned aircraft. An example can be found in the document “The Stabilized Radiometer Platform ( STRAP) —An Actively Stabilized Horizontally Level Platform for Improved Aircraft Irradiance Measurements" , where a system is described in which the sensors are located on the fuselage of the aircraft itself centered on the displacement axis, which has a series of limitations and presents a series of drawbacks, such as an important limitation in the leveling of the instruments, which is ± 0.02 ° in bank and ± 10 ° in pitch, which means the impossibility of stabilizing or setting the bank angle over a wide range, which is necessary when maintaining the devices, that is, the sensors, stabilized during the turns of the aircraft to define any sequence of aiming angles of the sensors In addition, the arrangement of the sensors takes up a lot of space in the aircraft. Also, given the joint and several arrangement of the sensors in the fuselage of the aircraft, the pitch of each group of sensors or each sensor cannot be independently regulated individually.
    [0013]
    [0014] On the other hand, in international application no. WO-2004067432-A2, a support for stabilizing a camera located in the nose of an unmanned aircraft is described, which comprises a gimbal implemented in a hemisphere or a receptacle that protects it. However, said support does not allow multiple cameras or sensors to be accommodated simultaneously, so it is not a versatile support in allowing the selective accommodation of different groups of sensors on each flight. In addition, the bracket takes up a lot of space in the nose of the aircraft. On the other hand, given the limitations of movement of the support, the pitch of the sensors cannot be independently regulated by groups.
    [0015]
    [0016] Likewise, in US patent application no. US-2009216394-A1, various variants of a mechanism that is designed to house a single device, be it a camera or a sensor, are described, given that in the case that it housed several sensors Its design makes independent control of the pitch angle impossible, in addition to presenting the same drawbacks as the support mentioned in the previous paragraph.
    [0017]
    [0018] DESCRIPTION OF THE INVENTION
    [0019]
    [0020] The present invention relates to a gyro stabilizer warhead for unmanned aircraft according to claim 1.
    [0021]
    [0022] The nosepiece that the invention proposes allows to house at least one radiometric sensor of various kinds and a stabilizing control of roll and pitch in the aircraft during flight.
    [0023]
    [0024] For this, the nosepiece comprises a coupling module that can be fixed to the fuselage of the aircraft constituting a fixed part of the nosepiece.
    [0025]
    [0026] According to the invention, the coupling module, in turn, is assembled by means of a turning crown to a sensor holder cylinder module that houses at least one sensor holder cylinder that can house at least one radiometric sensor. The sensor carrier cylinder module can rotate with respect to the coupling module by means of the main driving means and at least one accelerometer and the corresponding electronic means for its control and actuation. For its part, each sensor holder cylinder can rotate with respect to the sensor holder cylinder module by means of auxiliary driving means.
    [0027]
    [0028] The possibility is contemplated that the gyro-stabilizing warhead comprises two sensor-bearing cylinders whose relative arrangement is parallel and each being operated by independent auxiliary driving means.
    [0029]
    [0030] In this way, each one of said sensors is housed in an independent receptacle, created to suit you, which makes the invention very versatile, since it can be used with very varied instrumentation. In addition, the warhead has been divided into a series of modules or rings which, by replacing one of them, vary its configuration depending on the use you want to make, thus making use of space in a modular way, through assembly of modules to modify the number of sensors to use.
    [0031]
    [0032] The stabilization of the sensors is achieved using accelerometers or similar devices that by means of the corresponding electronics control the motors that maintain their correct position at all times.
    [0033]
    [0034] Therefore, in practice, the invention enables a payload consisting of various radiometric cameras and sensors to record and measure while being stabilized in both roll and pitch, to be installed in Banshee drones. For this the invention meets the following design requirements:
    [0035]
    [0036] 1. To be able to host several cameras or sensors simultaneously.
    [0037] 2. Take up little space, given the small size of the aircraft.
    [0038] 3. To be able to stabilize or fix the angle of roll in a wide range, which is necessary to keep the devices stabilized during the turns of the airplane or to define any sequence of angle of aiming of the sensors.
    [0039] 4. Minimally affect the aerodynamics of the aircraft, which is especially important in the case of small aircraft.
    [0040] 5. Be very versatile, in the sense of being able to accommodate different groups of sensors in each of the flights.
    [0041] 6. Independently regulate the pitch of sensor groups.
    [0042]
    [0043] The invention is constituted as a structure that is formed by the assembled union of different modules or rings, coupled to each other. The different shape of these rings allows different sensors to be accommodated, and coupling more or less rings allows the number of installed sensors to be varied. Taking into account the shape of these rings, the number of them that are coupled hardly affects the aerodynamics of the plane. In order to independently regulate the pitch of sensor groups, the position of the cylinders that house a sensor group is independently regulated.
    [0044]
    [0045] None of the mechanisms of the state of the art meet the requirements outlined above. The invention allows a leveling of ± 360 ° in roll and ± 45 ° in pitch. Warping leveling is mechanically limited to ± 90 ° to prevent damage to sensor cables and optical fibers. Achieving, with any of the mechanisms of the state of the art, that the six requirements are met would imply having to install several of said mechanisms simultaneously, which in addition to the space problem would greatly affect the aerodynamics of the aircraft.
    [0046]
    [0047] The possibility is contemplated that the gyro stabilizer warhead comprises a sensor protection mechanism during the take-off and landing phases of the aircraft, where said mechanism activates the driving means to orient said at least one module of sensor-bearing cylinders and said at least one sensor carrier cylinder according to a stable orientation during said take-off and landing phases.
    [0048]
    [0049] DESCRIPTION OF THE DRAWINGS
    [0050]
    [0051] To complement the description that is being made and in order to help A better understanding of the characteristics of the invention, in accordance with a preferred example of practical embodiment thereof, is accompanied as an integral part of said description, a set of drawings in which, by way of illustration and not limitation, the following has been represented:
    [0052]
    [0053] Figure 1.- Shows five views of an embodiment of the gyrostabilizing warhead of the invention, corresponding to a side view, Fig. 1a, a top view, Fig. 1b, a front view, Fig. 1c, a rear view. , Fig. 1d and a perspective view, Fig. 1e, from the external side.
    [0054]
    [0055] Figure 2.- Shows a perspective view from the internal side of the embodiment shown in Figure 1.
    [0056]
    [0057] Figure 3.- Shows a perspective view of the coupling module in which the turning crown that links the mobile part and the fixed part of the nose is located.
    [0058]
    [0059] Figure 4.- Shows a perspective view of the open sensor-holder cylinder module in an embodiment comprising two cylinders.
    [0060]
    [0061] Figure 5.- Shows two perspective views of an embodiment of the cargo bay with three sensor receptacles, where the view in Fig. 5a shows an exploded view and the view in Fig. 5b a perspective.
    [0062]
    [0063] Figure 6.- Shows four views of the different modules that the nosepiece of the invention may comprise, among which are the coupling module and warping variation that constitutes the fixed part of the nosepiece, Fig. 6 a , the sensor-bearing cylinder module, which is already part of the moving parts of the warhead, Fig. 6b, a camera module that is also mobile, Fig. 6c, and a pyrgeometer module, also mobile, Fig. 6d.
    [0064]
    [0065] PREFERRED EMBODIMENT OF THE INVENTION
    [0066]
    [0067] In view of the outlined figures, it can be seen how in one of the possible embodiments of the invention, the gyro stabilizer warhead proposed by the invention it comprises a coupling module (1) having a cylindrical configuration, also understood as an annular configuration, which can be fixed to the fuselage of the aircraft, not shown, constituting a fixed part of the nose.
    [0068]
    [0069] The coupling module (1), in turn, is assembled by means of a rotating ring (2) to a module of sensor-bearing cylinders (3), also of cylindrical configuration, which houses at least one sensor-bearing cylinder (4) that can accommodate at least one radiometric sensor. The sensor-bearing cylinder module (3) can rotate with respect to the coupling module (1) by actuating main driving means (5) and at least one accelerometer and the corresponding electronic means for its control and actuation. For its part, each sensor holder cylinder (4) can rotate with respect to the sensor holder cylinder module (3) by means of auxiliary driving means (6).
    [0070]
    [0071] In accordance with the embodiment shown in the figures, particularly visible in figure 4, the gyro-stabilizing warhead comprises two sensor-bearing cylinders (4) whose relative arrangement is parallel and each one is operated by independent auxiliary driving means (6).
    [0072]
    [0073] Also, as detailed below regarding its operation, according to an embodiment of the invention, the warhead comprises a sensor protection mechanism during the take-off and landing phases of the aircraft, where said mechanism activates the drive means (5, 6) for orienting said at least one sensor carrier cylinder module (5) and said at least one sensor carrier cylinder (4) according to a stable orientation during said take-off and landing phases.
    [0074]
    [0075] The roll is stabilized by rotating the entire nose with respect to the plane's longitudinal axis. This means that all the instrumentation installed in the warhead is simultaneously stabilized with respect to that angle. To vary the other navigation angle, the pitch angle, the sensors are located on the two cylinders (4) housed in the nose and whose axis is perpendicular to the longitudinal axis of the aircraft. One of the cylinders (4), the upper one, houses the sensors that point towards the sky, and in the other cylinder (4), the lower one, those that point towards the ground. The combined turn of Said cylinders (4) and the nosepiece stabilize the sensors with respect to the two angles.
    [0076]
    [0077] The roll control is carried out by turning the moving part (3, 9, 10) of the warhead: The warhead is divided into two parts, the fixed one (1), which is integral with the rest of the fuselage; and the mobile (3, 9, 10), which rotates with respect to the fuselage. Both parts are held together by the turning crown (2), which can materialize as a bearing of the type used in "lazy Sussan" type platforms with a diameter close to the diameter of the warhead at that point. Inside this crown (2) passes all the wiring that goes from the movable part (3, 9, 10) of the warhead to the part (1) that fixes it to the fuselage.A crown with an aluminum body and steel balls has less weight.
    [0078]
    [0079] A motor (5) is located in the fixed part (1) of the nose which, by means of two toothed wheels (a small one located on the axis of the motor (5), and a large one located on the axis of the moving part (3, 9,10) of the nosepiece rotates the movable part (3, 9, 10) with respect to the fixed one (1) Although the amplitude of rotation of the movable part with respect to the fixed one is electronically controlled by an algorithm, such as those used in the state of the art, said amplitude has also been limited by stops (11), preventing possible failures in its control.
    [0080]
    [0081] For pitch control, the sensors to be stabilized are located on two cylinders (4) whose axis is perpendicular to the axis of the airplane. These cylinders (4) are semi-embedded in the movable part (3, 9, 10) of the warhead so that it protrudes from it enough so that the parts of the airplane close to them cannot shade it. One cylinder (4) goes at the top of the nose, and the other cylinder (4) goes at the bottom. These cylinders (4) rotate on their axis, in such a way that combining this rotation with that of the movable part (3, 9, 10) of the warhead, it is possible to stabilize the two angles of roll and pitch. To move the cylinders (4), a set of driven toothed wheels is used with respective motors (6) electronically controlled by an algorithm such as those currently used. Although the angle of rotation of each cylinder (4) is limited by electronic control, the nose comprises at least one mechanical rotation stop (7) that limits the rotation movement of each sensor-bearing cylinder (4).
    [0082] The inside of the cylinders (4) houses a loading bay (8) in which the sensors to be stabilized are housed. Each of the sensors is housed in a receptacle tailored for it. The exterior of this receptacle has the appropriate measures to fit into the loading bay (8) of the cylinders (4). In this way, several sensors can be housed in said bay (8), each with its corresponding receptacle. All cables, or optical fibers, that come from the sensors pass through the cylinders (4) to the inside of the nose, leaving only the signal receivers exposed to the outside.
    [0083]
    [0084] According to the embodiment shown, the invention comprises three motors (5, 6), a main motor (5) for turning the nose, another auxiliary motor (6) for turning the upper cylinder (4), and another auxiliary motor (6) for that of the lower cylinder (4). The movement of these motors is controlled with an electronic board connected to an absolute orientation sensor, which is located on a piece attached to one of the cylinders, in such a way that the stabilization of this part implies the stabilization of the sensors. The entire system is powered by the corresponding batteries. The system stores information about the position of the sensor to be compared later with the telemetry of the aircraft and to improve the gyro-stabilization of the sensors.
    [0085]
    [0086] To protect the sensors during take-off and landing of the airplane, it is programmed by an algorithm so that the position of the cylinders (4) at that time is not controlled by the accelerometer, but is kept rotated so that the sensors do not remain exposed to the outside.
    [0087]
    [0088] As can be seen in Fig. 6c, the gyro-stabilizing warhead comprises a chamber module (9), also of cylindrical configuration, which is fixed to the sensor-bearing cylinder module (3), where said chamber module (9) houses the minus a camera for taking pictures. Preferably two video cameras, one pointing towards the sky and the other towards the ground, which remain stabilized with respect to the roll.
    [0089]
    [0090] Also, as can be seen in Fig. 6d, the warhead comprises a pyro-fire module (10) that is fixed to the camera module (9), although in in the absence of this, it could be directly to the sensor holder cylinder module (3). Each module can have a specific function. The replacement of any of these modules allows the installation of different instruments, without the need to modify the other modules.
    [0091]
    [0092] In view of this description and set of figures, the person skilled in the art will understand that the described embodiments of the invention can be combined in multiple ways within the object of the invention. The invention has been described according to some preferred embodiments thereof, but for the person skilled in the art it will be evident that multiple variations can be introduced in said preferred embodiments without exceeding the object of the claimed invention.
    权利要求:
    Claims (7)
    [1]
    1. - Gyro-stabilizing warhead for unmanned aircraft, which allows accommodating at least one radiometric sensor and a stabilizer control of roll and pitch in the aircraft, comprising a coupling module (1) that can be attached to the fuselage of the aircraft constituting a fixed part of the nose, characterized in that, in turn, the coupling module (1) is assembled by means of a turning crown (2) to a module of sensor-holder cylinders (3) that houses at least one sensor-holder cylinder (4), which in turn, it can house at least one radiometric sensor, so that the sensor-bearing cylinder module (3) can rotate with respect to the coupling module (1) by actuating the main driving means (5) and at least one accelerometer means, where In turn, at least one sensor-bearing cylinder (4) can rotate with respect to the sensor-bearing cylinder module (3) by means of auxiliary driving means (6).
    [2]
    2. - Gyrostabilizing warhead according to claim 1, comprising two sensor-bearing cylinders (4) whose relative arrangement is parallel and each being actuated by independent auxiliary driving means (6).
    [3]
    3. Gyro-stabilizing warhead according to any of the preceding claims, comprising a sensor protection mechanism during the take-off and landing phases of the aircraft, where said mechanism activates the driving means (5, 6) to orient said at least one sensor holder cylinder module (5) and said at least one sensor holder cylinder (4) according to a stable orientation during said take-off and landing phases.
    [4]
    4. - Gyro stabilizer warhead according to any of the preceding claims, comprising at least one mechanical turning stop (7) that limits the turning movement of a sensor-bearing cylinder (4).
    [5]
    5. - Gyrostabilizing warhead according to any of the preceding claims, comprising at least one loading bay (8) housed in a sensor holder cylinder (4).
    [6]
    6. - Gyrostabilizing warhead according to any of the preceding claims, comprising a chamber module (9) that is fixed to the module of sensor-bearing cylinders (3), where said chamber module (9) houses at least one chamber for taking images.
    [7]
    7. - Gyro-stabilizer warhead according to any of the preceding claims, comprising a pyro-fire module (10) that is attached to any of the sensor-bearing cylinder modules (3) or the camera module (9).
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    同族专利:
    公开号 | 公开日
    ES2755821B2|2021-07-20|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US20070152099A1|2003-12-12|2007-07-05|Dominique Moreau|Onboard modular optronic system|
    WO2013158050A1|2012-04-16|2013-10-24|Airnamics, Napredni Mehatronski Sistemi D.O.O.|Stabilization control system for flying or stationary platforms|
    US20130277500A1|2012-04-19|2013-10-24|Kirk A. Miller|Shock-resistant device and method|
    US20160291445A1|2015-03-31|2016-10-06|Vantage Robotics, Llc|Miniature stabilized unmanned aerial vehicle gimbal|
    法律状态:
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    优先权:
    申请号 | 申请日 | 专利标题
    ES201831027A|ES2755821B2|2018-10-23|2018-10-23|Gyro-stabilizing warhead for unmanned aircraft|ES201831027A| ES2755821B2|2018-10-23|2018-10-23|Gyro-stabilizing warhead for unmanned aircraft|
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