DE102014001702B4 - Unmanned small aircraft and method for landing a small aircraft - Google Patents

Abstract

An unmanned small aircraft with a support structure (10) and at least one drive device (20), wherein the support structure (10) is provided with at least one first anchoring device (30, 32, 34, 36) pivotally connected to the support structure (10), wherein the drive means (20) comprises at least one buoyancy rotor (22A, 24A, 26A, 28A) or buoyancy propeller rotating in a plane of rotation (E) substantially horizontal in the hovering flight of the small craft (1), characterized in that the at least a first anchoring device (30, 32, 34, 36) has at least one anchoring support (T) connected to the support structure (10) in a first direction (R1, R2, R3, R4) that can be ejected, and which is formed in order to penetrate and anchor in a landing ground (U) and to remain in the anchored state in connection with the anchor support (T), and in that the support structure (10) is provided with at least one ner second anchoring means (40, 41, 42, 43, 44, 45, 46, 47) is provided.

Description

The present invention relates to an unmanned small aircraft according to the preamble of claim 1. It further relates to a method for landing such an unmanned small aircraft on a non-horizontal landing surface.

Unmanned small aircraft, such as rotary wing aircraft, are already being used for reconnaissance, targeting and tracking purposes in the public safety and military sectors. Such small aircraft usually have a rotor drive with one or more rotor assemblies, with two different drive configurations most commonly used, namely a coaxial configuration with two coaxial rotors on a mostly central main rotor axis rotating counter rotors or a planar multi-rotor configuration in which multiple rotors, for example four or six Rotors are arranged in preferably a common plane of rotation. The rotors with their respective drive are provided on a supporting structure, which also serves to accommodate payloads such as cameras, and in the control electronics, the power supply and the sensors for position (GPS), location (IMU, magnetic field sensor) and Distance (ultrasound) laterally and downwards and sensors for observation and target assignment (day / night vision cameras) are arranged. Such small aircraft are well known and available in the market.

The disadvantage of such small aircraft is that they can take only a very limited supply of energy on a mission due to their limited payload. In the case of an electric drive of the rotors, the weight of the electrical energy storage increases dramatically with the amount of energy to be stored, thereby reducing the weight of the mitnehmbaren payload. In order to find an optimum between payload and energy storage here, in practice feasible flight times in hovering of about 20 to 30 minutes have proven to be realistic. This time is often insufficient for reconnaissance or observation missions.

In stationary operation of such a small aircraft in which this small aircraft does not have to spend the stored energy for the lift generation, but stands on their landing legs forming stators, electrical energy is needed only for the sensors and for the corresponding data transmission devices, so that in this case an observation period of about 3 to 4 hours is feasible. However, an increased, horizontal area is required as a landing and location for the small aircraft for this application. When used in a natural environment, such as in a flat terrain or in a wooded terrain such landing sites are not available. Even in the case of an employment in inhabited area, for example in a village or in a city, such elevated, flat surfaces are only very rarely available as landing sites.

It would therefore be desirable to provide a generic unmanned small aircraft that is capable of landing on non-horizontal surfaces and remaining there without requiring the operation of the aircraft's propulsion equipment.

It is already known from space technology, designed as a landing module daughter module of a satellite, which is provided with landing legs to design so that it can land on the uneven surface of a comet, which is provided with in the landing legs ice screws in the surface of the comet. In order to prevent a shock pulse generated during touchdown, which would cause an uncontrolled return of the landing module due to the extremely low gravity of a comet harpoon are additionally provided on the landing module, which are to be shot in the comet surface and to retain the landing module there. In this regard, reference is made to the publications on the landing module "Philae" of the spacecraft "Rosetta", for example: http://de.wikipedia.org/wiki"philae_(Sonde) "; retrieved on 28.01.2014.

The US 2014/0034776 A1 shows a quadrocopterartiges vehicle whose support structure is provided in the region of each rotor with a gear-like wheel. On the support structure, a hook-like arm is further provided, which is pivotable about a first axis. This hook-type arm can be used to hold the vehicle to a protruding element, such as the window sill of a building. The hook can, for example, also be moved to a vertical position in which it is able to hold the vehicle hanging on a cable, for example on a power line. This known quadrocopter-type vehicle is further provided with a camera which is mounted on a pivotable arm.

The US 8 167 234 B1 relates to a small aircraft with two laterally arranged on a vertical fuselage pivotable propellers and in the exhaust air flow of the propellers on the trunk pivotally provided aerodynamic active surfaces. Furthermore, two gripping arms projecting upwards beyond the plane of the propellers are provided, with which the small aircraft can be attached, for example, to an overhead power line.

From the US 2008/0156932 A1 is known a rotor blade, which is provided on its underside with a downwardly projecting arm, at the lower end of two gripping hooks are provided. This rotor blade can be caught by means of a catching line when one of the gripping hooks of the rotor wing flying over the catching line gets caught.

US 2010/0140415 A1 shows and describes a two-propelled aircraft that has stilt legs on which it can land.

From the WO 2010/083619 A1 is known a cleaning system for a facade of a building, wherein the cleaning system comprises an airship. This airship is parked in a hangar in or on the building and can be pushed out of the hangar by means of a building-fixed telescopic arm and pulled back into it. In the ejected state, the airship can then ascend along the building by means of drive devices, being connected to the telescopic arm via a safety rope. Under the airship, a supply device is provided, which houses a cleaning device and which can be abseilbar down two ropes from the airship. This lowered from the airship supply device is provided with suction cups and can thereby be stuck to the facade of the building. The hanging on the airship cleaning device can move with a landing gear, which has a circumferential chain of Saugnäpfen along the building exterior wall.

The DE 10 2013 104 447 A1 shows and describes a quadrocopter-like device that is equipped with a self-climbing chassis. This quadrocopter-like device should also be used for cleaning building facades. To one side of the quadrocopter-like device to the support structure is provided with a self-climbing chassis, which is mounted on a support arm on the quadrocopter-like device and which is provided with a plurality of Vakuumansaugeinheiten with which the quadrocopter-like device is dockable to a building facade.

The US7 318 564 B1 shows and describes an unmanned aerial vehicle, which is provided on its upper side with a karabinerartigen holder, by means of which it can be attached to an overland power line.

The US 2011/0024559 A1 shows and describes an unmanned aerial vehicle, which is provided at its in a translational flight downwardly facing side with a protruding tubular probe. By means of this probe, the unmanned aerial vehicle can land on a docking station, wherein the tubular probe is received by a tubular opening of the docking station, whereby the aircraft is supported on the docking station and secured against tipping over. About this tubular probe, the unmanned aerial vehicle can then be refueled, for example, with fuel.

The object of the present invention is to provide a generic unmanned small aircraft capable of landing on non-horizontal, oblique or vertical surfaces and remaining there for a predetermined time, and a method of landing such an unmanned small aircraft on a non-aircraft provide horizontal landing space.

This object is achieved with respect to the unmanned small aircraft by the unmanned small aircraft with the features of claim 1 and with respect to the method with the method for landing an unmanned small aircraft with the features of claim 8.

The unmanned aerial vehicle according to the invention, which is equipped with a support structure and at least one drive device, wherein the support structure is provided with at least one first anchoring device, which is pivotally connected to the support structure, which is pivotally connected to the support structure, and wherein the drive means at least one Buoyancy or buoyancy propeller, which rotates in a plane of rotation, which runs in the hovering flight of the small aircraft substantially horizontally, is characterized in that the at least one first anchoring device at least one of an anchoring carrier connected to the support structure in a first direction ejectable anchor means, the is formed to penetrate and anchor in a landing ground and to remain in the anchored state in connection with the anchor support, and that the support structure with at least a second Anankerungse is provided. This makes it possible that the small aircraft fixed to the intended (for example, vertical) landing area first with the first anchoring device and then the second anchoring device can connect to the landing surface of the landing area. The anchoring means that has penetrated into the landing ground is reliably fixed to the ground due to its connection with the anchoring support of the supporting structure, which is still in the anchored state.

The anchoring devices are preferably formed by bolt pushing devices.

The anchoring support of the at least one first anchoring device is preferably in order a pivot axis pivotally connected to the support structure, wherein the pivot axis is parallel to the plane of rotation. This refinement makes it possible for the small aircraft to be first fixed to the intended (for example vertical) landing area with the first anchoring device and then pivoted into a position in which the second anchoring device can also connect to the landing surface of the landing area. In this case, the pivoting movement of the buoyancy rotor or buoyancy propeller of the drive device can be initiated by the aerodynamic forces generated by the buoyancy rotor or buoyancy propeller lift the support structure at the point of application of the buoyancy rotor or buoyancy propeller and about a pivot axis forming joint between the support structure of the rotor and firmly connected to the landing ground Swing anchoring device around.

If the support structure then reaches a position in which the second anchoring device comes into contact with the landing or is at a sufficiently small distance to it, the anchoring means of the second anchoring device can be ejected to penetrate also in the landing ground and the support structure on a second position on the ground.

Preferably, two or more first anchoring means are provided on the support structure and pivotally connected thereto. If a plurality of pivotable first anchoring devices are provided on or in the region of an outer side, then the joints between the support structure and the respective first anchoring devices preferably have a common pivot axis on this side. As a result, not only an improved fixation of the support structure and thus the small aircraft on the ground is ensured, but the pivoting itself is more stable and reliable, since any lateral forces are supported by several first anchoring devices. Accordingly, it is also advantageous if a plurality of second anchoring devices are provided in order to finally fix the pivoted and thereby folded to the landing ground small aircraft.

For example, an unmanned small aircraft fixed in this way can not only land on a vertical wall but also remain there without it being necessary to use energy for the generation of lift during standing. The buoyancy rotors or buoyancy propellers can be completely disabled in this "parked" stage of the small aircraft. As a result, more electrical energy is available for the entrained sensor system and the data transmission device, so that the operating times of this aircraft are significantly longer than in the case of an aircraft which must remain in hovering position for long-term observation.

It is advantageous if the at least one second anchoring device is designed in exactly the same way as the first anchoring device and if at least one anchoring support connected to the support structure has ejectable anchoring means in a second direction (relative to the plane of rotation). It is advantageous if the second anchoring device is rigidly connected to the support structure in order to achieve a secure fixation of the small aircraft on the vertical wall.

In a further development of the unmanned aerial vehicle according to the invention, the respective first and second anchoring device or at least a part thereof is detachably formed by the supporting structure. Thus, for example, a small aircraft anchored to the ground in the manner described above can be restarted by decoupling from the supporting structure the anchoring device firmly connected to the landing ground or the part of a respective anchoring device firmly connected to the landing ground.

Another advantageous development of the small aircraft according to the invention is characterized in that the respective anchor means is connected via an extendable from the respective anchor carrier connecting means with the associated anchor carrier and that the connecting means is driven such that the distance between the anchor means and the associated anchor carrier after Anchoring is reducible. This variant has the advantage that the anchor means introduced from the distance in the landing ground, for example, can be shot, where it remains connected via the connecting means with the associated anchoring support. Such a connection means may be, for example, a thin traction cable to which the unmanned small aircraft pulls by means of a drive for the connecting means, such as a miniature winch, to the landing ground. This variant is advantageous if too close Heranmanövrieren the small aircraft to the landing, for example, due to gusts of wind, brings with it the danger that the buoyancy rotors of the small aircraft come into contact with the landing ground.

Advantageously, in particular in the above variant of the small aircraft, the respective anchor means after anchoring in the associated anchor carrier can be locked. This significantly increases the reliability of a secure landing on the ground.

1. a) seitliches Annähern des Kleinfluggeräts an die Landefläche;
2. b) Verankern von zumindest einem Ankermittel von zumindest einer ersten Verankerungseinrichtung in dem Landeuntergrund unter der Landefläche;
3. c) Schwenken des Kleinfluggeräts um die Schwenkachse;
4. d) Verankern von zumindest einem Ankermittel von zumindest einer zweiten Verankerungseinrichtung.

The inventive method for landing an unmanned small aircraft according to the invention on a non-horizontal landing surface is carried out with the following steps:

1. a) lateral approach of the small aircraft to the landing area;
2. b) anchoring at least one anchoring means of at least one first anchoring device in the landing ground below the landing area;
3. c) pivoting the small aircraft about the pivot axis;
4. d) anchoring of at least one anchoring means of at least one second anchoring device.

It is particularly advantageous if the pivoting movement of the small aircraft is not applied by additional rotary actuators, but by the drive device, for example, the at least one buoyancy rotor or buoyancy propeller, generated aerodynamic forces. Of course, it is also possible to provide separate servomotors for the pivoting movement.

• 1 eine schematische Draufsicht auf ein erfindungsgemäßes Kleinfluggerät;
• 2 eine schematische Seitenansicht des erfindungsgemäßen Kleinfluggeräts nach 1 in Richtung des Pfeils II;
• 3A bis 3E eine sequenzielle Darstellung des Landesvorgangs eines erfindungsgemäße Kleinfluggeräts an einer senkrechten Landefläche und
• 4A bis 4D den Startvorgang des erfindungsgemäßen Kleinfluggeräts von einem senkrechten Landeuntergrund.

The invention will now be described by way of example with reference to the drawings. In this shows:

• 1 a schematic plan view of an inventive small aircraft;
• 2 a schematic side view of the small aircraft according to the invention 1 in the direction of arrow II;
• 3A to 3E a sequential representation of the landing process of a small aircraft according to the invention on a vertical landing area and
• 4A to 4D the starting process of the small aircraft according to the invention from a vertical landing ground.

1 shows a schematic plan view of an unmanned small aircraft 1 according to the present invention. The trained as a rotary wing aircraft small aircraft 1 is provided with a support structure 10 and with a drive device 20 , which in the example shown four rotor arrangements 22 . 24 . 26 . 28 includes. Every rotor arrangement 22 . 24 . 26 . 28 has a buoyancy rotor shown only schematically in the figure 22A . 24A . 26A . 28A on, each from an electric drive motor 22B . 24B . 26B . 28B directly driven. The buoyancy rotors lie in a common plane of rotation e ,

The electric motors 22B . 24B . 26B . 28B be from a battery 21 supplied with electrical energy. The battery 21 is in a payload area shown only schematically in the figure 12 the supporting structure 10 provided and also in the payload range 12 provided control device 23 with the electric motors 22B . 24B . 26B . 28B electrically connected.

In the payload range 12 the supporting structure 10 is also a sensor signal processing device 25 provided with distance sensors 50 , 51, 52, 53, 54, 55, 56, 57 and possibly other sensors of the small aircraft 1 is in communication and which also with the controller 23 communicates for data exchange. The sensor signal processing device 25 is also with a likewise in the payload range 12 provided data transmission device 27 connected, wherein the data transmission device 27 also with the control device 23 in communication with each other.

As in 2 it can be seen, is the supporting structure 10 with a plurality of landing legs 14 . 16 , which are also referred to as stators provided. These stators support the support structure 10 with the drive device 20 and the payload in the state. When in 2 also only two landing legs 14 . 16 are shown, so has the support structure 10 but at least three landing legs, but preferably four landing legs.

In the lower section of the payload area 12 are reconnaissance sensors 29 such as a camera 29A or a laser rangefinder 29B arranged. Of course, other types of reconnaissance sensors may be provided depending on the mission involved.

Along its circumference is the support structure 10 with a protective frame 18 provided in the event of a collision of the small aircraft with foreign objects, the corresponding rotor assemblies 22 . 24 . 26 . 28 protects. On the protective frame 18 is in the example shown on each side a horizontal with respect to the plane of rotation E of the rotor assemblies 22 . 24 . 26 . 28 parallel to the plane of rotation e acting anchoring device 30 . 32 . 34 . 36 intended. These will hereinafter be referred to as "horizontal anchors" or "first anchors" for the sake of simplicity.

Furthermore, on the protective frame 18 second anchoring devices 40 . 41 , 42, 43, 44, 45, 46, 47, which are perpendicular to the plane of rotation e and therefore be referred to as "vertical anchoring devices".

Besides, are on the protective frame 18 distributed over the circumference a plurality of distance sensors 50 . 51 . 52 . 53 . 54 . 55 . 56 . 57 provided by means of which the lateral distance (in the plane of rotation e ) and preferably also the vertical distance (at right angles to the plane of rotation e ) in 2 can be determined upwards between the distance sensor and an obstacle and the signal transmission with the sensor signal processing means 25 are connected.

The respective anchoring devices are with one of an anchoring support T Ejectable anchor means A and a shear module associated therewith and acting on the anchor means with a shock pulse S Mistake. The anchor means A For example, is formed by a bolt and the shear modulus is formed for example by a the bolt with an outward thrust acting on propellant or a drivable by a propellant piston-cylinder unit. In this way, the respective anchor means A by the propellant directly or indirectly from the anchorage carrier T be shot out to the surface of one in the 3 and 4 represented Landeuntergrunds U penetrate.

The first anchoring devices 30 . 32 . 34 . 36 are each assigned to the support structure by an associated, to the plane e and to the course of the protective edge 18 in the region of the mounting location of the respective anchoring device 30 . 32 . 34 . 36 parallel axis X ₁ . X ₂ . X ₃ . X ₄ pivotally mounted.

In her in 1 and 2 shown, not pivoted basic position are the first anchoring devices 30 . 32 . 34 . 36 aligned so that you anchorage A in a first direction R ₁ , R ₂ , R ₃ , R _{4 is} ejected, which is parallel to the plane e and substantially perpendicular to the protective border 18 in the region of the place of installation of the respective anchoring device 30 . 32 . 34 . 36 from the supporting structure 10 runs away.

The second anchoring devices 40 . 41 . 42 . 43 . 44 . 45 . 46 . 47 are solid with the support structure 10 connected and aligned so that their respective anchor means A in a second direction R ₅ , R ₆ from the associated anchor carrier T is ejected, which is perpendicular to the plane of rotation e (in 2 ) upwards. "Above" here refers to a direction from the one with the landing feet 14 . 16 provided underside of the support structure 10 turned away.

The 3A to 3E show the landing sequence of an unmanned small aircraft according to the invention on a vertical landing surface L , In 3A is the vertical landing area L that the surface of a land background U represents and is formed for example from the surface of a building wall, shown schematically. The small aircraft also shown schematically 1 approaches in sideways hovering according to the arrow V the landing area L , Device the small aircraft 1 with his protective frame 18 in contact with the landing area L or on this side of the supporting structure 10 provided distance sensors 50 . 57 a sufficiently short distance to the landing area L So at least one of them becomes the landing surface L pointing, horizontally acting first anchoring device 30 activated and their anchor means penetrates through the landing area L in the country underground U and fixed in this way the small aircraft 1 at the landing area L , as in 3B is shown. The on the landing area L away side of the small aircraft 1 arranged buoyancy rotors 26A . 28A are now controlled so that they generate a relative to the hover increased lift, so that the small aircraft 1 , as in 3C can be seen, around the pivot axis X ₁ the anchoring device 30 swings upwards in the counterclockwise direction as well as in 3D you can see.

Once on the ground of the land U locked first anchoring device 30 opposite side located second anchoring device 44 and also on this side of the small aircraft 1 located and in the 3A to 3E not illustrated second anchoring device 43 each in contact with the landing surface L advised, like this in 3E is shown, or if provided in this area distance sensors 53 , 54 a sufficiently small distance to the landing area L sense, the respective second anchoring device 44 . 43 triggered and their anchor means is ejected and penetrates through the landing area L in the country underground U one. This is the small aircraft 1 by means of anchoring devices 30 , 44 and 43 on the vertical landing area L fixed. Once this fixation is done, the drive device 20 switched off. The stored electrical energy carried by the small aircraft is now available exclusively for the payload.

• - Der Pilot des Kleinfluggeräts 1 wählt eine Landefläche L (senkrechte Wand aus geeignetem Material) aus.
• - Der Pilot steuert das Kleinfluggerät 1 zur Landefläche bis die Abstandssensoren des Kleinfluggeräts 1 eine hinreichende Nähe zur Landefläche L sensieren.
• - Der Pilot aktiviert den automatischen Verankerungsvorgang.
• - Das Kleinfluggerät 1 dreht sich gegebenenfalls, so dass eine Seite mit einer ersten schwenkbaren Verankerungseinrichtung 30 der Landefläche L gegenüberliegt.
• - Das Kleinfluggerät 1 nähert sich mit der Seite, an der die erste Verankerungseinrichtung 30 montiert ist, schwebend der Landefläche L bis die Seite die Landefläche L berührt.
• - Die Rotoren des Kleinfluggeräts 1 werden kurz vor dem oder im Moment des das Ankermittel aus dem Verankerungsträger ausstoßenden Bolzenschusses auf Vollschub hochgefahren, so dass schwebend eine maximale Kraftwirkung gegen die senkrechte Landefläche L wirkt, um dem Rückstoß des Bolzenschusses entgegenzuwirken.
• - Die Treibladung des zugeordneten Schubmoduls S wird gezündet, das Ankermittel wird in das Material unter der senkrechten Landefläche L getrieben und fixiert das Kleinfluggerät 1 an der senkrechten Fläche.
• - Die wandseitigen Rotoren werden abgestellt, die wandabseitigen Rotoren erzeugen den erforderlichen Schub, um das Kleinfluggerät 1 in waagrechter Lage zu halten.
• - Die wandabseitigen Rotoren erhöhen den Schub, so dass das Kleinfluggerät 1 sich um das Drehgelenk der ersten Verankerungseinrichtung 30 ohne seitliches Wegkippen nach oben dreht, um so in eine Lage parallel zur senkrechten Landefläche L zu gelangen.
• - Das Kleinfluggerät erreicht die senkrechte Lage, die beiden zweiten Verankerungseinrichtungen 45, 43 liegen an der senkrechten Landefläche L an.
• - Die Rotoren werden kurz vor dem oder im Moment des Bolzenschusses auf Vollschub hochgefahren, so dass das Kleinfluggerät 1 mit maximaler Kraft gegen die senkrechte Landefläche L drückt.
• - Die Treibladungen der zugeordneten Schubmodule S werden gezündet, die Ankermittel werden in das Material unter der senkrechten Landefläche L getrieben und fixieren das Kleinfluggerät 1 nun an der Oberseite.
• - Die Rotoren werden abgestellt, da das Kleinfluggerät 1 nun unten und oben fixiert ist.

The remote controlled by a pilot landing or landing the small aircraft according to the invention 1 on the landing area L takes place, preferably supported by a small aircraft 1 provided camera, as follows:

• - The pilot of the small aircraft 1 chooses a landing area L (vertical wall made of suitable material).
• - The pilot controls the small aircraft 1 to the landing area until the distance sensors of the Small aircraft 1 a sufficient proximity to the landing area L sensing.
• - The pilot activates the automatic anchoring process.
• - The small aircraft 1 optionally rotates, leaving one side with a first pivotable anchoring device 30 the landing area L opposite.
• - The small aircraft 1 approaches with the side at which the first anchoring device 30 is mounted, floating the landing area L until the side of the landing area L touched.
• - The rotors of the small aircraft 1 are raised shortly before or at the moment of the anchor means ejecting from the anchor carrier bolt shot to full thrust, so that floating a maximum force against the vertical landing surface L acts to counteract the recoil of the bolt shot.
• - The propellant charge of the assigned shear module S is fired, the anchoring agent is in the material under the vertical landing surface L driven and fixed the small aircraft 1 on the vertical surface.
• - The wall-side rotors are turned off, the off-board rotors generate the required thrust to the small aircraft 1 to keep in a horizontal position.
• - The off-board rotors increase the thrust, leaving the small aircraft 1 around the hinge of the first anchoring device 30 without lateral tilting turns upwards, so in a position parallel to the vertical landing surface L to get.
• - The small aircraft reaches the vertical position, the two second anchoring devices 45 . 43 lie on the vertical landing area L at.
• - The rotors are raised shortly before or at the moment of the bolt shot to full thrust, so that the small aircraft 1 with maximum force against the vertical landing surface L suppressed.
• - The propellant charges of the assigned shear modules S are ignited, the anchoring means are in the material under the vertical landing area L driven and fix the small aircraft 1 now at the top.
• - The rotors are turned off because the small aircraft 1 now fixed down and up.

Has the small aircraft 1 done his mission, it may be out of the 3E shown parking position, the in 4A shown position, drop off again, as based on the 4A to 4D will be explained below.

First, the upper anchoring devices 44 and 43 from the supporting structure 10 of the small aircraft 1 , for example, by breaking off, solved. The small aircraft 1 is now only through the lower, first anchoring device 30 with the land background U connected. The small aircraft 1 now pivots counterclockwise around the axis due to its mass and the gravity acting on it X ₁ the first anchoring device 30 , The drive device 20 of the small aircraft 1 can assist this pivoting process by controlling the corresponding buoyancy rotors and also slow down if necessary. Once the small aircraft in 4C has reached substantially horizontal position, the buoyancy rotors of the drive device 20 so driven that they are responsible for a hovering of the small aircraft 1 generate necessary lift, whereupon then the first anchoring device 30 from the supporting structure 10 of the small aircraft 1 solved, for example, blasted, is. The small aircraft 1 is now in hover again and moves sideways, as in 4D shown is from the landing area L , The anchoring devices 30 . 44 . 43 or their from the support structure 10 of the small aircraft 1 detached parts remain at the landing area L back.

• - Der Pilot aktiviert den automatischen Lösevorgang oder eine Coming-Home-Funktion wird automatisch ausgelöst, da der Energievorrat der Batterie zur Neige geht.
• - Die oberen Rotoren werden so angesteuert, dass sie eine leichte Kraftwirkung gegen die senkrechte Landefläche L ausüben.
• - Die Verbindung der beiden, oberen Verankerungseinrichtungen 45, 43 zur Struktur des Kleinfluggeräts 1 werden mittels eines jeweiligen Ver-/Entriegelungs-Mechnismus' gelöst, die oberen Rotoren werden so geregelt, dass das Kleinfluggerät 1 in nahezu senkrechter Lage gehalten wird.
• - Der Schub der oberen Rotoren wird so geregelt, dass eine Kippbewegung des Kleinfluggeräts 1 nach unten um das Drehgelenk der unteren, ersten Verankerungseinrichtung 30 einsetzt.
• - Das Kleinfluggerät 1 erreicht die waagrechte Lage.
• - Die wandseitigen Rotoren werden so angesteuert, dass sich das Kleinfluggerät 1 im Schwebezustand befindet, um das Lösen der ersten Verankerungseinrichtung 30 von der Struktur des Kleinfluggeräts 1 zu erleichtern.
• - Die Verbindung der ersten Verankerungseinrichtung 30 zur Struktur des Kleinfluggeräts 1 wird mittels eines Ver-/Entriegelungs-Mechnismus' gelöst, das Kleinfluggerät schwebt nun ohne Verbindung zur senkrechten Landefläche L.
• - Das Kleinfluggerät 1 entfernt sich in waagrechter Lage von der senkrechten Landefläche L, die Steuerung des Kleinfluggeräts 1 übernimmt nun wieder der Pilot.

Remote control of the small aircraft by the pilot 1 from the landing area L is done in detail as follows:

• - The pilot activates the automatic release process or a coming home function is triggered automatically, as the energy supply of the battery is running low.
• - The upper rotors are controlled so that they exert a slight force against the vertical landing surface L exercise.
• - The connection of the two upper anchoring devices 45 . 43 to the structure of the small aircraft 1 are solved by means of a respective locking / unlocking mechanism, the upper rotors are controlled so that the small aircraft 1 is kept in a nearly vertical position.
• - The thrust of the upper rotors is regulated so that a tilting movement of the small aircraft 1 down around the hinge of the lower, first anchoring device 30 starts.
• - The small aircraft 1 reaches the horizontal position.
• - The wall rotors are controlled so that the small aircraft 1 in the Suspended state is to release the first anchoring device 30 from the structure of the small aircraft 1 to facilitate.
• - The connection of the first anchoring device 30 to the structure of the small aircraft 1 is solved by means of a locking / unlocking mechanism, the small aircraft now floats without connection to the vertical landing area L ,
• - The small aircraft 1 moves away from the vertical landing area in a horizontal position L , the control of the small aircraft 1 The pilot takes over again.

Because the small aircraft 1 distributed over its circumference is provided with a plurality of first and second anchoring means, as in 1 shown and described in relation to this figure, it can make a landing on a non-horizontal landing surface with the remaining, still functional anchoring devices. Only when there are insufficient first and second operational anchoring facilities available, the unmanned small aircraft must 1 in the maintenance to install new, functional anchoring devices again.

Reference signs in the claims, the description and the drawings are only for the better understanding of the invention and are not intended to limit the scope.

LIST OF REFERENCE NUMBERS

1

Kleinfluggerät

10

Tragstruktur

12

Nutzlastbereich

14

Landebein

16

Landebein

18

Schutzrahmen

20

Antriebseinrichtung

21

Batterie

22

Rotoranordnung

22A

Auftriebsrotor

22B

Elektromotor

23

Steuerungseinrichtung

24

Rotoranordnung

24A

Auftriebsrotor

24B

Elektromotor

25

Sensorsignalverarbeitungseinrichtung

26

Rotoranordnung

26A

Auftriebsrotor

26B

Elektromotor

27

Datenübertragungseinrichtung

28

Rotoranordnung

28A

Auftriebsrotor

28B

Elektromotor

29

Aufklärungssensoren

29A

Kamera

29B

Laserentfernungsmesser

30

erste Verankerungseinrichtung

32

erste Verankerungseinrichtung

34

erste Verankerungseinrichtung

36

erste Verankerungseinrichtung

40

zweite Verankerungseinrichtung

41

zweite Verankerungseinrichtung

42

zweite Verankerungseinrichtung

43

zweite Verankerungseinrichtung

44

zweite Verankerungseinrichtung

45

zweite Verankerungseinrichtung

46

zweite Verankerungseinrichtung

47

zweite Verankerungseinrichtung

50

Abstandssensor

51

Abstandssensor

52

Abstandssensor

53

Abstandssensor

54

Abstandssensor

55

Abstandssensor

56

Abstandssensor

57

Abstandssensor

A

Ankermittel

E

Rotationsebene

L

Landeuntergrund

S

Schubmodul

T

Verankerungsträger

U

Landeuntergrund

V

Pfeil

X₁

Achse

X₂

Achse

X₃

Achse

X₄

Achse

They denote:

1

Small aircraft

10

supporting structure

12

payload range

14

landing gear

16

landing gear

18

protective frame

20

driving means

21

battery

22

rotor assembly

22A

lift rotor

22B

electric motor

23

control device

24

rotor assembly

24A

lift rotor

24B

electric motor

25

Sensor signal processing device

26

rotor assembly

26A

lift rotor

26B

electric motor

27

Data communications equipment

28

rotor assembly

28A

lift rotor

28B

electric motor

29

reconnaissance sensors

29A

camera

29B

Laser rangefinders

30

first anchoring device

32

first anchoring device

34

first anchoring device

36

first anchoring device

40

second anchoring device

41

second anchoring device

42

second anchoring device

43

second anchoring device

44

second anchoring device

45

second anchoring device

46

second anchoring device

47

second anchoring device

50

distance sensor

51

distance sensor

52

distance sensor

53

distance sensor

54

distance sensor

55

distance sensor

56

distance sensor

57

distance sensor

A

anchor means

e

plane of rotation

L

Landing ground

S

shear modulus

T

anchor carrier

U

Landing ground

V

arrow

X ₁

axis

X ₂

axis

X ₃

axis

X ₄

axis

Claims (9)

An unmanned small aircraft with a support structure (10) and at least one drive device (20), wherein the support structure (10) is provided with at least one first anchoring device (30, 32, 34, 36) pivotally connected to the support structure (10), wherein the drive means (20) comprises at least one buoyancy rotor (22A, 24A, 26A, 28A) or buoyancy propeller rotating in a plane of rotation (E) substantially horizontal in the hovering flight of the small craft (1), characterized in that the at least a first anchoring device (30, 32, 34, 36) has at least one anchoring support (T) connected to the support structure (10) in a first direction (R1, R2, R3, R4) that can be ejected, and which is formed in order to penetrate and anchor in a landing ground (U) and to remain in the anchored state in connection with the anchoring support (T), and in that the support structure (10) is provided with at least e in the second anchoring device (40, 41, 42, 43, 44, 45, 46, 47) is provided. Unmanned small aircraft after Claim 1 , characterized in that the anchoring support (T) of the at least one first anchoring device (30, 32, 34, 36) is pivotally connected to the support structure (10) about a pivot axis (X ₁ , X ₂ , X ₃ , X ₄ ), wherein the pivot axis (X ₁ , X ₂ , X ₃ , X ₄ ) is parallel to the plane of rotation (E). Unmanned small aircraft according to one of the preceding claims, characterized in that the at least one second anchoring device (40, 41, 42, 43, 44, 45, 46, 47) as the at least one first anchoring device (30, 32, 34, 36) is formed and at least one anchoring support (T) connected to the support structure (10) has ejectable anchoring means (A) in a second direction (R ₅ , R ₆ ). Unmanned small aircraft after Claim 3 , characterized in that the at least one second anchoring device (40, 41, 42, 43, 44, 45, 46, 47) is preferably rigidly connected to the support structure (10). Unmanned small aircraft according to one of the preceding claims, characterized in that the at least one first and second anchoring means (30, 32, 34, 36, 40, 41, 42, 43, 44, 45, 46, 47) or at least a part thereof the support structure (10) is detachably formed. Unmanned small aircraft according to one of the preceding claims, characterized in that - the respective anchor means (A) via a from the respective anchorage carrier (T) extendable connecting means with the associated anchoring support (T) is connected and - that the connecting means is driven such that the Distance between the anchor means (A) and the associated anchor carrier (T) after anchoring of the anchor means (A) can be reduced. Unmanned small aircraft according to one of the preceding claims, characterized in that the respective anchor means (A) after anchoring in the associated anchor carrier (T) is lockable. Method for landing an unmanned small aircraft (1) according to one of the preceding claims on a non-horizontal landing surface (L) with the steps: a) lateral approach of the small aircraft (1) to the landing area (L); b) anchoring at least one anchoring means (A) of at least one first anchoring device (30, 32, 34, 36) in the landing ground (U) under the landing surface (L); c) pivoting of the small aircraft (1) about the pivot axis of the at least first anchoring device (30, 32, 34, 36); d) anchoring of at least one anchoring means (A) of at least one second anchoring device (40, 41, 42, 43, 44, 45, 46, 47) in the ground (U). Method according to Claim 8 , characterized in that the pivoting of the small aircraft (1) in step c) by the drive means (20) of the small aircraft (1) generated aerodynamic forces.

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