• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The present invention relates to a drone of industrial activities (10) comprising an overhead vector (1) provided with at least one rotor (11), an activity system (2) and a device (3) for fixing said activities (2) to said air vector (1). Said activity system (2) comprises a structure (21), a calculator (23), a work camera (7) fixed with respect to said aerial vector (10) and allowing a vision of a work area, a device dispensing system (24) having a plurality of compartments (31, 32, 33, 34) and a rotatable motor (29) for relative rotation of said dispensing device (24) relative to said overhead vector (10). Said industrial activity drone (10) hovers so that said work camera (7) is located in front of a work area and said dispensing device (24) is oriented so that said compartment (31,32, 33,34) to be used is facing said work area and thus performs one or more tasks.
    公开号:FR3072654A1
    申请号:FR1771120
    申请日:2017-10-25
    公开日:2019-04-26
    发明作者:Gauthier GIBERT；Nicolas Imbert
    申请人:Airbus Helicopters SAS；
    IPC主号:
    专利说明:

    Drone of industrial activities
    The present invention is in the field of work on areas that are difficult to access or else on dangerous, even hostile, areas for an operator.
    The present invention relates to a drone for industrial activities capable of performing several tasks during a flight over an area difficult to access or else a dangerous or even hostile area for an operator.
    The term "drone" generally designates an aircraft of various shapes with no pilot on board. For example, a drone has a fixed wing and can use different types of propulsion such as one or more reactors or one or more propellers. A drone can also include one or more rotary wings, also called "rotors", participating in the lift and / or propulsion of the drone. A drone comprising one or more rotors makes it possible in particular to perform stationary flights or at low forward speeds as well as cruise flights.
    Each rotor can be driven in rotation by a motor independently and controlled by a centralized control system. A drone conventionally used today can have three, four, six, eight or twelve rotors for example. Each rotor is preferably driven by an electric motor, but can however be driven by a heat engine.
    In addition, a drone can either be remotely controlled by an operator acting as pilot, the drone in this case comprising at least one camera and at least one communication device, or fly autonomously, the drone then comprising positioning, navigation and autopilot. To be autonomous, a drone notably includes positioning devices in its environment in order to evolve taking into account the relief and the obstacles which surround it.
    A device for positioning the drone in its environment is for example a device for localization by laser beam known by the acronym "LIDAR" for the designation in English language "Light Detection And Ranging" and / or an ultrasonic localization device . A locating device can also be a radio altimeter in order to define a height of the drone with respect to the ground.
    A drone can also include at least one gyroscope as a positioning device in order to position itself and orient itself in space and, subsequently, to be able to stabilize itself by piloting each rotor appropriately.
    Finally, a drone can include a satellite location device, such as a GPS receiver for the designation in English "Global Positioning System" for positioning the drone in a landmark.
    In addition, the size of a drone can vary from a few centimeters to several meters, or even more and its mass from a few grams to several tonnes depending on the missions for which the drone is intended.
    The use of drones, initially limited mainly to the military and recreational use, is currently being extended to the civilian professional field, for example for aerial photography. Rapid and varied technological development of drones, thanks in particular to the miniaturization of the aforementioned positioning devices as well as communication devices, opens up to them today prospects for important applications.
    For example, document WO 2016/100601 describes a drone equipped with a shooting device and methodologies for managing such a drone for taking shots of selected targets by means of a shooting device. display displaying the images supplied by the camera.
    The document WO 2015/173627 describes an aerostatic platform in the form of a balloon capable of rising to variable heights and mainly intended to support antennas in order to transmit data as well as aerial surveillance devices. The balloon is anchored to the ground thanks to a device for mooring cables activated in order to allow the balloon to be raised and lowered.
    This recent democratization of drones has, however, required the establishment of national regulations in many countries to govern the use of drones, in particular according to their sizes and / or their masses.
    A drone can be considered as an equipped air vector and, as such, can comprise on the one hand a basic air vector, ensuring the flight of the drone, namely the propulsion and the lift of the drone as well as its positioning in its environment and its navigation, and on the other hand an on-board activity system intended to perform one or more tasks, such as orienting a camera and taking pictures.
    The expression "aerial vector" subsequently designates the subset of the drone ensuring the flight of the drone.
    The prior art also includes applications in the field of target search, and in particular in the field of rescue of accident victims.
    For example, document WO 2014/0353422 is known which describes a remote-controlled drone comprising a main rotor and a rear rotor, a camera, an antenna for transmitting data and rescue equipment. This rescue equipment may include a winch with a cable for transporting the person to be rescued. This life-saving equipment may also include releasable equipment, such as a first aid kit for the person to be rescued.
    Likewise, the document WO 2016/159481 describes a drone comprising several levitation and propulsion rotors as well as a device for releasing rescue equipment for a shipwrecked at sea for example. The drone also includes a camera to detect the presence of such a shipwrecked person as well as a rescue equipment release device in order to drop this rescue equipment near the shipwrecked person.
    Document EP 2520343 describes a drone allowing the search for a target by detection of a signal emitted by the target. The detection of the target is made according to the intensity of the signal received by the drone. The location of a detected target can be performed by transmitting its coordinates determined by an on-board location device. The drone can also include a means of marking the position of the detected target allowing for example to deposit a paint, a smoke or a sound beacon. This application concerns in particular the search for victims following an accident and an avalanche in particular.
    In addition, document EP 2899491 is known in the military field, describing a small flying unit configured to fly at low altitudes and comprising a marking device provided with a specific transmitter allowing the designation of a target. The flying unit can land with the transmitter on the target, such as a tank or a mine for example, or drop the transmitter only on the target to allow a missile to be guided to the target thanks to the transmitter. The flying unit can also embark and detonate an explosive charge near a target.
    The purpose of the present invention is therefore to overcome the limitations mentioned above and to propose a drone of industrial activities allowing a simple and rapid implementation as well as the accomplishment of several tasks during a flight of the drone activities in work areas that are difficult to access, dangerous or hostile to an operator.
    In this context, the present invention relates to an activity drone comprising:
    -an aerial vector provided with at least one rotor participating in the lift and / or propulsion of the drone,
    -a system of activities, and
    -a device for fixing the activity system to the air vector.
    The aerial vector ensures the flight of the drone, namely the propulsion and the lift of the drone as well as its positioning in its environment and its navigation. The air vector can fly independently or be remotely controlled by an operator. As such, the air vector comprises at least one lift and propulsion rotor and a centralized control system provided in particular with positioning devices in its environment and with navigation and piloting devices as well as with communication devices. The aerial vector optionally includes at least one flight camera in order to be controlled remotely by an operator. The air vector preferably comprises at least three rotors. The air vector comprises for example three, four, six, eight or twelve rotors. Consequently, the activity drone according to the invention can perform stationary flights or advance flights at low speeds as well as cruise flights at higher speeds.
    Each rotor is independently rotated and controlled by the centralized control system to ensure the movement and stabilization of the drone. Each rotor is preferably driven by an electric motor, but can also be driven by a heat engine.
    The aerial vector also comprises at least one energy source in order to supply on the one hand each motor driving a rotor and on the other hand the centralized control system. For this purpose, the aerial vector preferably comprises one or more electric batteries.
    The air vector can advantageously be a standard air vector, namely an existing and marketed air vector, therefore requiring no specific development and / or manufacturing costs.
    The activity drone according to the invention is remarkable in that the activity system comprises:
    - a structure,
    - a computer,
    at least one work camera fixed relative to the aerial vector and allowing a vision of a work area, and
    a distribution device for carrying out successively several tasks, the distribution device comprising several compartments respectively containing at least one object, at least one task being attached to each compartment.
    The activity system is thus capable of performing several tasks during a flight of the activity drone, and in particular during a hover in front of a work area.
    Each work camera is fixed relative to the aerial vector and thus always remains oriented on the work area during this hovering flight. Each work camera then allows an operator located at a distance from the work area to have a vision of this work area. Each work camera can also be used to record the tasks performed by the activity drone, the activity system then comprising a device for storing the images recorded by each work camera.
    It is then possible to “post-process” these recorded images, in order for example to extract measurement measurements and / or to perform digital processing such as image and shape recognition so as to search in particular for predefined specific forms.
    At least one working camera can be shared with the aerial vector and then also constitutes a flight camera to allow remote control of the activity drone by an operator in order to limit the mass of the activity drone. Such a work and flight camera can for example be arranged on the aerial vector or else on the structure of the activity system.
    However, each work camera can be dedicated to the activity system, the focal point or focal points necessary for the performance of the envisaged tasks not being compatible with the achievement of a safe flight. In addition, the activity system can include several working cameras with different focal lengths, for example allowing a broad view of the work area on the one hand and a precise view of a specific part of the work area on the other hand. The activity system can also include a single work camera with variable focal lengths allowing a wide view of the work area as well as a precise view of a specific part of the work area.
    The activity system may also include a lighting system to illuminate the work area. This lighting system is provided for example with one or more light-emitting diodes designated by the acronym "LED" for the designation in English "Light-Emitting Diode", or any other lighting device.
    The aerial vector of the activity drone according to the invention comprises at least one rotor allowing the achievement of a stable hovering flight. Therefore, for the performance of a task or several tasks, the activity drone performs a stable hover so that the work camera remains facing the work area.
    Advantageously, a device for positioning the activity drone, such as a device for locating by laser beam or else a device for locating by ultrasound, allows the activity drone to position itself vis-à-vis its environment and in particular at a predetermined distance from the work area, guaranteeing on the one hand a safety distance between the work area and the activity drone and on the other hand a distance allowing the performance of the tasks provided in this work area.
    The use of a distribution device makes it possible to successively carry out several tasks in the work area, the activity drone remaining in stable hover in front of the work area. In addition, the compartments of the dispensing device respectively contain one or more objects in order to perform these tasks on the work area.
    In this way, the use of a distribution device advantageously saves time compared to a rotation of the activity drone in its entirety. Indeed, the drone makes it possible to maintain a stable hovering flight during a relative rotation of the distribution device with respect to the air vector. On the other hand, a rotation of the activity drone in its entirety, the distribution device then being fixed relative to the air vector, requires a time to stabilize the hover at the new position thereby increasing the duration of completion of the various tasks .
    In addition, the activity drone according to the invention can easily reach work areas that are difficult to access or even dangerous for an operator. The activity drone thus allows interventions in work areas that are difficult to access, for example:
    - upper areas of an airplane, such as a tailplane,
    - upper areas of monuments or pylons, - the deck and the pillars of bridges, and
    -the structure of an oil platform.
    The activity drone also allows interventions in dangerous or even hostile work areas for an operator, such as for example work areas likely to contain toxic gases.
    The activity drone thus makes it possible to carry out interventions comprising several tasks in the place of an operator and without the installation of complex infrastructures allowing an operator to reach the work area and / or ensure operator safety.
    The activity system is preferably positioned under the aerial vector, which allows good centering of the mass center of gravity of the activity drone.
    The structure of the activity system makes it possible to support the other elements of the activity system, in particular the computer and the distribution device. The structure can also form a fixed landing gear of the activity drone, namely a non-retractable landing gear, advantageously allowing the drone to be autonomous in order to remain on the ground stably and without degrading its components and in particular the rotors of the air vector. In this way, the drone according to the invention can take off and land autonomously directly relative to the ground. In addition, this structure also provides protection for the other components of the activity system, in particular the computer and the distribution device.
    In the absence of a landing gear, the drone according to the invention requires an operator holding the drone during takeoff and catching the drone during a landing in order to avoid any degradation of the drone.
    The structure of the activity system is formed, for example, of composite materials or else of plastic materials so as to advantageously limit the mass of the structure while allowing sufficient rigidity for this structure and, consequently, for the activity system. The structure can also be made of metallic materials, for example aluminum.
    The activity drone activity system according to the invention may include a rotary motor allowing relative rotation of the distribution device with respect to the air vector. In this way, the rotary motor makes it possible to position the compartment to be used for carrying out a task at a predetermined use position relative to the working area. Then to move on to carrying out a new task on the same work area, the rotary motor advantageously allows the relative rotation of the dispensing device with respect to the air vector and the work area so that a new compartment must be used is in turn in the predetermined position of use, the activity drone being hovered substantially stationary vis-à-vis the work area. The rotary motor advantageously allows the successive passage of each compartment to the predetermined position of use with respect to the work area for carrying out these tasks on the work area.
    This predetermined position of use of each compartment relative to the work area is for example located opposite the work area.
    The structure can be fixed relative to the aerial vector and relative to the working camera. In this case, the rotary motor is preferably arranged between the structure and the dispensing device allowing relative rotation of the dispensing device with respect to the structure and the air vector. The fixing device then allows a connection between the structure of the activity system and the aerial vector.
    The structure may be integral with the distribution device and therefore movable in rotation relative to the aerial vector and relative to the working camera. In this case, the rotary motor is preferably arranged between the structure and the air vector allowing a relative rotation of the distribution device and the structure with respect to the air vector. The fixing device then allows a connection between the rotary engine of the activity system and the aerial vector.
    The rotary motor optionally includes an electric motor, for example a stepping motor.
    The activity drone is generally remotely controlled by an operator to reach the work area and return to the starting base or to go to a return point. The activity drone can then include a communication device so as, on the one hand, to receive control commands from the operator and, on the other hand, to transmit the images provided by the flight camera. This communication device also makes it possible to transmit the images provided by each work camera to an operator located at a distance from the work area and to receive work orders provided by the operator for carrying out the tasks.
    The communication device is connected to the computer of the activity system by a wired link or else a wireless link in a known manner. The computer then makes it possible to control, according to these work orders, the rotary motor in order to position each compartment of the distribution device so that the compartment to be used is in the predetermined position of use. The activity system calculator then makes it possible to always control, according to these work orders, the distribution device and in particular the compartment to be used for carrying out one or more tasks. For this purpose, the computer is connected to the rotary engine and, if necessary, to the distribution device by a wired link or else by a wireless link.
    The activity system calculator can also provide control commands to the air vector and in particular to the centralized air vector control system so that the drone quickly and autonomously reaches the work area, whose coordinates have been provided beforehand to the drone, and on the other hand that the drone returns to a departure base or else heads towards a return point, the coordinates of which were provided to the drone, at the end of the intervention or when his on-board energy level is insufficient to continue the intervention. For this purpose, the activity system computer is connected to the centralized vector control system by a wired link or by a wireless link in a known manner. In addition, the activity drone may include a location device, such as a GPS receiver, making it possible to locate the activity drone in a landmark.
    The calculator can also include an image analysis device configured to analyze the images provided by each work camera and to perform the tasks independently. In addition, the calculator can integrate means and analyzes from the field of artificial intelligence allowing it to learn from its experience as the image analyzes and interventions are carried out. In this way, the computer is able to make decisions following its image analysis in order to be more and more efficient.
    In addition, the activity system calculator can be transferred to the air vector and for example be integrated into the centralized air vector control system. In this way, the computer is shared between the activity system and the aerial vector in order to limit the mass of the drone.
    Furthermore, the activity system may include an energy source, such as an electric battery, the activity system then being autonomous in terms of energy.
    The activity system may not include an energy source and use at least one energy source from the aerial vector in order to electrically supply the computer, each work camera, the rotary engine and the distribution device, as well as each compartment it contains if necessary. This common use of energy sources by the aerial vector and the activity system can advantageously make it possible to optimize the mass of the activity drone according to the invention.
    The activity drone according to the invention preferably has reduced dimensions and mass in order to allow easy transport as close as possible to a work area. In addition, these reduced dimensions and mass can also make it possible to limit the regulatory restrictions to which the activity drone according to the invention may be subjected.
    The mass of the drone according to the invention is for example less than or equal to three kilograms (3 kg), the activity system having a mass of the order of 1 kg. Its dimensions are for example a height of the order of 0.3 meters (0.3m) as well as a width and a length of the order of 1m.
    Furthermore, the device for fixing the activity system to the aerial vector preferably allows rapid assembly and disassembly between the aerial vector and the activity system, thereby limiting the size of the drone according to the invention when it is disassembled and thus facilitates its transport. Likewise, the aerial vector is also preferably removable.
    In this way, the activity drone according to the invention can advantageously be easily transported, for example by a transporter to a place requiring its intervention. Then, the activity system can be quickly assembled with the aerial vector to form the activity drone according to the invention which is thus quickly operational.
    Finally, the intervention to be carried out by the activity drone can be done without the presence of an expert on the mission site, the expert being able to analyze its progress or its results after its completion. This intervention can also be followed remotely by an expert, during its realization, the drone possibly being able to be piloted remotely by this expert. In both cases, the costs of the intervention remain limited and its implementation can be rapid without mobilizing an expert over a long period, nor significant infrastructure.
    A fixing device may for example comprise at least one screw and a nut, or else only one or more screws in order to maintain the system of activities with the aerial vector. The mass of the activity system being small, a fixing device can also be formed by self-gripping bands known for example under the trade name "Velcro®", a male self-gripping band being for example integral with the air vector and a female hook-and-loop strap being integral with the activity system.
    Any other fixing means allowing a reliable and easily removable connection can be used as a fixing device between the aerial vector and the activity system.
    In addition, the activity system is also easily and quickly interchangeable to adapt the activity drone to the intervention to be carried out in order to pass, for example, from a corrosion analysis mission to a analysis mission. toxicity of a gas from a leak.
    The activity system can also be, for example, a system for searching and marking a target in order, for example, to search for victims of an avalanche. In this case, the activity system comprises at least one device for detecting a target, namely the victim, and the distribution device is adapted in order to distribute a marking element for each target detected, each compartment of the device for distribution being intended to contain respectively a marking element, such as colored powder or else paint.
    Furthermore, the activity system may include a common pole used in common by several compartments of the distribution device. The use of a common pole by several compartments makes it possible to share this common pole with these compartments and thus makes it possible to optimize the mass of the activity system and, consequently, the mass of the activity drone. The computer also makes it possible to control this common pole according to the work orders received.
    According to a first embodiment of the activity drone according to the invention, the activity system comprises a rotary motor allowing the relative rotation of the distribution device with respect to the air vector so that the compartment to be used for the realization of 'a task is at a predetermined position of use relative to said work area. The common pole comprises a pressure generator while objects contained respectively in several compartments are a fluid and a spray nozzle so that, when one of the compartments comprising a fluid and a spray nozzle is in the position of use predetermined for carrying out a task, the activity system sprays the fluid through the spray nozzle of the compartment on the work area using the pressure generator. The rotary motor of the activity system allows for this first embodiment to position the compartment to be used at this predetermined position of use which is generally located opposite the working area. If necessary and depending on the activity to be carried out, the fluid can be replaced by a powder capable of being sprayed via the spray nozzle.
    For this first embodiment, the common pole may also include a system of valves making it possible to connect the fluid of the compartment to be used with the pressure generator of this common pole, this system of valves being controlled by the computer. In this way, this valve system allows the pressure generator to act on the fluid and direct it towards the spray nozzle of the compartment used.
    According to this first embodiment, the structure of the activity system can be secured to the distribution device and mobile in rotation relative to the aerial vector and to the working camera, the common pole then preferably being secured to the structure and the distribution device.
    The structure of the activity system can also be fixed relative to the aerial vector, the distribution device then being mobile relative to the structure and the aerial vector. The common pole can then be integral with the structure, the valve system making it possible to connect the fluid of the compartment to be used with the pressure generator of the common pole, this compartment being movable with respect to the pressure generator. The common pole may also be integral with the distribution device.
    This first embodiment of the activity drone according to the realization of a work area in order to provide a bridge or else of the invention can in particular be intended for chemical analysis with several fluids, for example to check the state of monument degradation. This first embodiment is particularly suitable for producing a metallic element of an aircraft. This first mode the application on the area to analyze the presence of corrosion and, depth of this corrosion.
    analysis of the state of corrosion of the bridges, of a monument or even of an embodiment allows in particular the work of several fluids so if necessary, the type and the
    A working camera on the area allows you to check the effect of the spraying of the chemical reaction fluid, which possibly the level of degradation. The working camera can, like having a variable focal length or else precise vision on the fluid part has been sprayed.
    This first invention allows for a cost of carrying out work and can occur in a specific manner so this mentioned adapted from the area of embodiment of the particular drone to deduce the work area therefrom.
    previously, in order to have a work where the activities according to carry out this analysis for advantageously of expert not needing to be on such analysis allows in particular to estimate the state of reduced, this analysis . A pre-diagnosis before sending a team adequately.
    corrosion corrosion
    By the man.
    if necessary so in addition, some corrosions
    It’s connectors to treat this harmful for r them can be corrosion su for example the case of electrical harnesses, of the fashion activity drone
    Consequently, the first according to the invention advantageously makes it possible to carry out the analysis of the corrosion of production of these elements remotely, thus avoiding any risk of contact of an operator with this type of corrosion.
    The activity drone according to the invention can also be adapted for the analysis of any other type of degradation, for example the analysis of fungi and other plants likely to be found on engineering structures.
    According to a second embodiment of the activity drone according to the invention, the common pole comprises a pressure generator and a single spray nozzle while an object contained respectively in several compartments is a fluid so that, when compartments containing a fluid must be used, the activity system sprays the fluid thanks to the pressure generator through the spray nozzle of the common pole on the work area. The common pole may also include a valve system making it possible to connect the fluid of the compartment to be used with the pressure generator and the spray nozzle, this valve system being controlled by the computer. In this way, this system of valves allows the pressure generator to act on the fluid and direct it towards the spray nozzle of the common pole. In all cases, the spray nozzle of the common pole is directed through the air vector to the work area.
    According to a first variant of this second embodiment, the distribution device is fixed relative to the aerial vector. The valve system of the common pole connects respectively and permanently the fluid of each compartment with the pressure generator, the computer then controlling the valve system in order to open this valve system adequately so that the fluid of the compartment in front to be used is directed towards the spray nozzle.
    According to a second variant of this second embodiment, the distribution device is movable in rotation relative to the aerial vector, the activity system comprising a rotary motor allowing the relative rotation of the distribution device relative to the aerial vector so that the compartment to be used for carrying out a task is in a predetermined position of use with respect to said work area. Consequently, the common pole valve system makes it possible to connect the fluid from the compartment located at the predetermined position of use with the pressure generator and the spray nozzle of the common pole.
    According to this second variant of the second embodiment, the structure of the activity system is preferably fixed relative to the aerial vector and the working camera, the common pole then being integral with this structure. The rotary motor thus allows relative rotation of the task distribution device with respect to the structure, the air vector and the common pole.
    This second embodiment of the activity drone according to the invention can in particular be intended for carrying out a chemical analysis with several fluids on the work area, like the first embodiment.
    According to a third embodiment of the activity drone according to the invention, the activity system comprises a rotary motor allowing the relative rotation of the distribution device with respect to the air vector so that the compartment to be used for the realization of 'a task is at a predetermined position of use relative to said work area. The common pole comprises an articulated arm so that, when one of the compartments containing at least one object is in the predetermined position of use for carrying out a task, the articulated arm grasps an object contained in the compartment to carry out the task. The structure of the activity system is preferably fixed relative to the aerial vector and the work camera, the common pole, namely the articulated arm, then being integral with this structure. The rotary motor thus allows relative rotation of the task distribution device with respect to the structure, the air vector and the common pole.
    For example, an object contained in several compartments comprises a fabric impregnated with a component intended to react with a specific gas so as to analyze the air and detect the possible presence of a specific gas, and in particular a toxic gas. In this way, the articulated arm can successively grasp, after each rotation of the dispensing device, the different fabrics impregnated with different components in these compartments and present them near the working area where the presence of one or more toxic gases is suspected for example following a leak. Advantageously, the presence of one or more gases can be demonstrated without risk for an operator.
    In addition, an object contained in a compartment of the distribution device can also be a tool used by the articulated arm of the common pole.
    Thus, the activity drone according to the invention advantageously makes it possible to perform various tasks quickly, limiting the means and therefore the costs incurred. First of all, the drone according to the invention allows faster access to a work area, whatever its access conditions. Then, an expert can follow the intervention remotely, which helps to limit the costs of the intervention. Finally, the activity drone according to the invention makes it possible to adapt easily and quickly to the tasks to be carried out, the activity system being interchangeable.
    The invention and its advantages will appear in more detail in the context of the description which follows with examples of embodiment given by way of illustration with reference to the appended figures which represent:
    - Figures 1 to 3, various embodiments of an activity drone, and
    - Figures 4 to 7, detailed views of these embodiments of an activity drone.
    The elements present in several separate figures are assigned a single reference.
    In common with the three embodiments shown in the figures, an activity drone 10 comprises an aerial vector 1, an activity system 2 and a device 3 for fixing the activity system 2 to the aerial vector 1. The vector aerial 1 and the fixing device 3 are identical for the three embodiments of an activity drone 10.
    The air vector 1 represented in the figures comprises four rotors 11, each rotor 11 being driven in rotation respectively by an electric motor 13 and participating in the lift and propulsion of the activity drone 10. Each rotor 11 is installed at the end of an arm 12, each arm 12 being connected to a central body 14. This central body 14 provides the connection between the four arms 12 as well as the necessary rigidity of the air vector 1. The central body 14 comprises a centralized control system 15 and two electric batteries 16.
    The arms 12 and the central body 14 can be easily and quickly separated and assembled in order to limit the size of the air vector 1 during its transport.
    The centralized control system 15 makes it possible to control the piloting of the activity drone 10, whether this piloting is autonomous or else remotely controlled, by acting on the electric motors 13 driving each rotor 11 and thus causing the displacements and / or the realization of a hovering of the activity drone 10 as well as its stabilization in flight. The centralized control system 15 is connected to each electric motor 13 by a wired link or else by a wireless link and in particular comprises devices for positioning the activity drone 10 in its environment and navigation and piloting devices as well as 'a communication device.
    The activity systems 2 of the three embodiments of the activity drone 10 commonly include:
    - a structure 21,
    - a computer 23,
    a work camera 7 fixed relative to the air vector 1 and allowing a vision of a work area,
    - a common pole 40,
    a distribution device 24 for successively carrying out several tasks on this work area and comprising several compartments 31, 32, 33, 34 containing one or more objects 35, and
    a rotary motor 29 allowing relative rotation of the distribution device 24 relative to the air vector 1.
    The rotary motor 29 allows a relative rotation of the distribution device 24 relative to the air vector 1 so that the compartment 31,32,33,34 to be used is in a predetermined position relative to the working area, this area corresponding to the field of vision of the working camera 7.
    The work camera 7 also constitutes a flight camera allowing an operator piloting the activity drone 10 remotely to view the environment of the activity drone 10. For this purpose, the activity drone 10 uses the communication of the centralized control system 15 of the air vector 1. The work camera 7 can also be orientable in order on the one hand to facilitate the vision of the working area and on the other hand to orient its field of vision in the flight direction of the activity drone 10 when the working camera 7 constitutes a flight camera.
    In addition, for the three embodiments of the activity drones 10, the structure 21 can form a fixed landing gear 20 advantageously allowing the activity drone 10 to maintain itself stably on the ground while protecting the components of the activity system 2.
    The first embodiment of the activity drone 10 is represented in FIGS. 1 and 4, an exploded view of its activity system 2 being represented in FIG. 5. Each compartment
    31,32,33,34 contains two objects, a spray nozzle 37 and a reservoir 36 containing a fluid. The common pole 40 includes a pressure generator 41 and a system of valves (not shown) making it possible to connect the fluid of the compartment
    31,32,33,34 to be used with the pressure generator 41, this valve system being controlled by the computer 23. In this way, this valve system allows the pressure generator 41 to act on the fluid and to direct it towards the spray nozzle 37 of the compartment 31, 32, 33, 34 used to spray the fluid on the working area.
    According to this first embodiment, the rotary motor 29 is arranged between the structure 21 and the air vector 1, as shown in FIG. 4, thus allowing relative rotation of the distribution device 24 and of the structure 21 relative to the air vector 1. The fixing device 3 then allows a connection between the rotary motor 29 and the central body 14 of the air vector 1 by means of the four screws 39.
    In fact, the working camera 7 is fixed on the aerial vector 1, and in particular on the central body 14 in order to allow a vision on the working area during a hovering of the activity drone 10 and whatever the position of the dispensing device 24.
    The common pole 40 is for example positioned at the center of the distribution device 24 as shown in FIG. 5 so that the valve system connects the pressure generator 41 with the fluid of each compartment 31, 32, 33, 34.
    The second embodiment of the activity drone 10 is represented in FIGS. 2 and 6, an exploded view of its activity system 2 being represented in FIG. 7. Each compartment
    31,32,33,34 contains a single object 35, a reservoir 36 containing a fluid. The common pole 40 comprises a single spray nozzle 47, a pressure generator 41 and a valve system (not shown). This valve system makes it possible to connect the fluid of the compartment 31, 32, 33, 34 to be used with the pressure generator 41 and the spray nozzle 47 of the common pole 40, this system of valves being controlled by the computer 23. From In this way, this valve system allows the pressure generator 41 to act on the fluid of the compartment 31, 32, 33, 34 used and to direct it towards the spray nozzle 47 of the common pole 40 in order to spray this fluid on the Work zone.
    According to this second embodiment, the rotary motor 29 is arranged between the structure 21 and the distribution device 24 thus allowing relative rotation of the distribution device relative to the structure 21 and to the air vector 1. The structure 21 is then fixed relative to the air vector 1, the fixing device 3 allowing a connection between the structure 21 and the arms 12 of the air vector 1 by means of the four screws 39 as shown in FIG. 6, the structure 21 comprising four holes 30.
    The work camera 7 is fixed to the structure 21 which is therefore fixed relative to the air vector 1 in order to allow a vision of the work area during a hovering of the activity drone 10 and whatever the position of the dispensing device 24.
    The common pole 40, namely the spray nozzle 47, the valve system and the pressure generator 41, is itself integral with the structure 21 so that the valve system connects on the one hand the pressure generator 41 with the fluid in compartment 31,32,33,34 used and on the other hand this fluid in compartment 31,32,33,34 used and the spray nozzle 47. The valve system is then controlled by the computer 23 so that the pressure generator 41 acts on the fluid in the compartment
    31,32,33,34 to be used and direct it towards the spray nozzle 47 of the common pole 40 in order to spray this fluid on the working area.
    According to a variant of this second embodiment, the distribution device 24 can be fixed relative to the structure 21 and to the air vector 1. In this case, the activity system 2 does not include a rotary motor 29.
    This first and this second embodiment of the activity drone 10 are in particular intended for carrying out a chemical analysis with several fluids on the work area in order for example to verify the state of degradation or else the state of corrosion of a bridge or a monument for example.
    For the third embodiment of the activity drone 10 represented in FIG. 3, each compartment 31, 32, 33, 34 can contain one or more objects 35. The common pole 40 comprises an articulated arm 42 provided with a clamp gripping 43. The articulated arm 42 can then grasp, by means of the gripping pliers 43, an object located in the compartment 31, 32, 33, 34 to be used and then position this object close to the working area . This object is for example a tool or a cloth impregnated with a component reacting with a specific gas.
    As for the second embodiment, the structure 21 is fixed relative to the air vector 1 and the rotary motor 29 is arranged between the structure 21 and the distribution device 24 allowing relative rotation of the distribution device 24 relative to the structure 21 and to the aerial vector 1. The fixing device 3 therefore links the structure 21 with the arms 12 of the aerial vector 1 and the working camera 7 is fixed to the structure 21.
    The common pole 40, namely the articulated arm 42, is also fixed to the structure 21.
    Naturally, the present invention is subject to numerous variations as to its implementation. Although several embodiments have been described, it is understood that it is not conceivable to identify exhaustively all the possible modes.
    In particular, although only an activity drone 10 comprising an aerial vector 1 provided with four arms 12 and four rotors 11 has been described, the invention also relates to an activity drone 10 comprising an aerial vector 1 provided with three, six, eight or twelve arms 12 and three, six, eight or twelve rotors 11 for example.
    Likewise, the fixing device 3 can comprise any fixing means allowing a reliable and easily removable connection 5 between the air vector 1 and the activity system 2.
    It is of course conceivable to replace a device described by an equivalent device without departing from the scope of the present invention.
    权利要求:
    Claims (12)
    [1" id="c-fr-0001]
    1. Activity drone (10) comprising:
    an air vector (1) provided with at least one rotor (11) participating in the lift and / or propulsion of said drone (10),
    -an activity system (2), and
    a device for fixing (3) said activity system (2) to said aerial vector (1), characterized in that said activity system (2) comprises:
    - a structure (21),
    - a computer (23),
    at least one work camera (7) fixed relative to said aerial vector (1) and allowing a vision of a work area, and
    a distribution device (24) for successively carrying out several tasks on said work area, said distribution device (24) comprising several compartments (31, 32, 33, 34) containing at least one object (35), at least one task being attached to each compartment (31,32,33,34).
    [2" id="c-fr-0002]
    2. Activity drone (10) according to claim 1, characterized in that said activity system (2) comprises a rotary motor (29) allowing a relative rotation of said distribution device (24) relative to said air vector ( 1) so that said compartment (31, 32, 33, 34) to be used for carrying out a task is in a predetermined position of use with respect to said work area.
    [3" id="c-fr-0003]
    3. Activity drone (10) according to claim 2, characterized in that said structure (21) is fixed relative to said aerial vector (1) and to said working camera (7), said rotary motor (29) allowing a relative rotation of said distribution device (24) relative to said structure (21) and to said aerial vector (1).
    [4" id="c-fr-0004]
    4. Activity drone (10) according to claim 2, characterized in that said structure (21) is fixed relative to said distribution device (24), said rotary motor (29) allowing relative rotation of said distribution device ( 24) and of said structure (21) relative to said air vector (1).
    [5" id="c-fr-0005]
    5. Activity drone (10) according to any one of claims 1 to 4, characterized in that said activity system (2) comprises a common pole (40) used in common by several compartments (31,32 , 33,34) for the performance of several tasks.
    [6" id="c-fr-0006]
    6. activity drone (10) according to claim 5, characterized in that said common pole (40) comprises a pressure generator (41) and a spray nozzle (47) while an object (35) contained respectively in several compartments (31,32,33,34) is a fluid so that, when one of said compartments (31,32,33,34) comprising a fluid is used for the performance of a task, said system of activities (2) sprays said fluid contained in said compartment (31,32,33,34) through said spray nozzle (47) of said common pole (40) on said work area.
    [7" id="c-fr-0007]
    7. activity drone (10) according to claim 5, characterized in that, said activity system (2) comprising a rotary motor (29) allowing relative rotation of said distribution device (24) relative to said air vector (1) so that said compartment (31,32,33,34) to be used for carrying out a task is at a predetermined position of use with respect to said work area, said common pole (40) comprises a pressure generator (41) while objects (35) contained respectively in several compartments (31,32,33,34) are a fluid and a spray nozzle (37) so that, when one of said compartments ( 31, 32, 33, 34) containing a fluid and a spray nozzle (37) is in said predetermined position of use for carrying out a task, said activity system (2) sprays said fluid through said spray nozzle (37) of said compar timent (31,32,33,34) on said work area.
    [8" id="c-fr-0008]
    8. Activity drone (10) according to any one of claims 5 to 7, characterized in that, said activity system (2) comprising a rotary motor (29) allowing relative rotation of said distribution device (24 ) with respect to said air vector (1) so that said compartment (31, 32, 33, 34) to be used for the performance of a task is in a predetermined position of use with respect to said work area, said common pole (40) comprises an articulated arm (42) so that, when one of said compartments (31,32,33,34) is in said predetermined position of use for carrying out a task, said arm articulated (42) grabs an object (35) contained in said compartment (31,32,33,34) to perform said task.
    [9" id="c-fr-0009]
    9. Activity drone (10) according to claim 8 characterized in that an object (35) contained in several compartments (31,32,33,34) is a fabric impregnated with at least one component intended to react to a specific gas so as to analyze the air and detect the possible presence of a specific gas.
    [10" id="c-fr-0010]
    10. Activity drone (10) according to any one of claims 1 to 9, characterized in that said computer (23) comprises an image analysis device configured to analyze the images provided by each camera. work (7) and to carry out said tasks independently.
    11. Drone activity (10) according to I 'a any of the claims 1 at 10, characterized in what I Adite structure (21) form a train fixed landing (20). 12. Drone activity (10) according to I 'a any of the
    Claims 1 to 11, characterized in that said activity drone (10) comprises a communication device in order to receive control orders from an operator and to transmit to said operator images supplied by each work camera (7).
    [11" id="c-fr-0011]
    13. activity drone (10) according to any one of claims 1 to 1 2, characterized in that said activity drone (10) comprises a location device (15) so as to position itself in a terrestrial reference .
    [12" id="c-fr-0012]
    14. activity drone (10) according to any one of claims 1 to 1 3, characterized in that said activity drone (10) comprises positioning devices (16,17) in its environment so as to evolve independently.
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    同族专利:
    公开号 | 公开日
    FR3072654B1|2020-06-26|
    EP3476733A1|2019-05-01|
    EP3476733B1|2020-08-12|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US20160260207A1|2012-07-05|2016-09-08|Bernard Fryshman|Object image recognition and instant active response with enhanced application and utility|
    US20150041593A1|2013-03-04|2015-02-12|Michael Beaugavin Markov|Aerial insect release apparatus|
    DE102015015742B3|2015-12-04|2017-03-16|Audi Ag|Procedure and unmanned aerial vehicle for assessing an accident|
    US20170291439A1|2016-04-08|2017-10-12|Toshiba Tec Kabushiki Kaisha|Printing device and printing method|
    KR102236654B1|2019-10-24|2021-04-06|주식회사 포스웨이브|Drone for pest control|
    CN112340031A|2020-10-26|2021-02-09|北京洛必德科技有限公司|All direction movement supervisory-controlled robot device|
    CN113682485B|2021-10-20|2022-01-25|四川迅联达智能科技有限公司|Positioning method of precise positioning device of aircraft|
    法律状态:
    2019-04-26| PLSC| Publication of the preliminary search report|Effective date: 20190426 |
    2019-10-28| PLFP| Fee payment|Year of fee payment: 3 |
    2020-10-21| PLFP| Fee payment|Year of fee payment: 4 |
    2021-10-21| PLFP| Fee payment|Year of fee payment: 5 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1771120A|FR3072654B1|2017-10-25|2017-10-25|INDUSTRIAL ACTIVITY DRONE|
    FR1771120|2017-10-25|FR1771120A| FR3072654B1|2017-10-25|2017-10-25|INDUSTRIAL ACTIVITY DRONE|
    EP18191265.0A| EP3476733B1|2017-10-25|2018-08-28|Industrial activity drone|
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