DE102009033821A1 - Aircraft i.e. flight drone, has support arm structure coupled with hull such that support arm structure is movable relative to hull for condition and/or position regulation of aircraft, where hull is stabilized in perpendicular position - Google Patents

Abstract

The aircraft (1) has a support arm structure (3) with a base (30) and three support arms (31a-31c) that radially extend from the base. Three drive units (4a- 4c) are respectively attached to ends of the arms, where each drive unit exhibits rotors (50, 51) and speed-controlled electric motors (60, 61). The motors drive the rotors during an operation of the aircraft. The arm structure is coupled with a hull (2) such that the arm structure is movable relative to the hull for condition and/or position regulation of the aircraft, where the hull is stabilized in a perpendicular position.

Description

The The present invention relates to an aircraft, in particular a flying drone comprising a hull, a support arm structure with a main body and at least three support arms that are extend radially away from the body, and at least three drive units, which are attached to the ends of the support arms, wherein each of the drive units at least a rotor and at least one speed-controlled electric motor has, suitable, the at least one rotor during operation of the aircraft, and means for autonomous position and position control of the aircraft.

An aircraft of the type mentioned is, for example, from the international patent application WO / 2008 000 203 A1 known to the applicant. In particular, it is a miniaturized, compactly constructed flying drone (short: micro drone) with three double rotors for transporting different payloads, such as cameras or environmental sensors. Also known from the prior art are microdrophones with four individual rotors, which preferably rotate in a common plane of rotation. By an electronic attitude control can be achieved, for example, that the aircraft can take a hover position. A control of the aircraft is possible by changing the rotational speeds of the electric motors, wherein each electric motor can be controlled individually by a central control unit. In the known aircraft, the hull is connected to the Tragarmstruktur, so that, for example, in a tilting of the Tragarmstruktur to initiate a change in direction and the fuselage of the aircraft with an optionally accommodated therein or mounted therein payload is tilted with. Sensor means, image recording means, such as photo or video cameras, or the like, which are arranged in or on the fuselage of the aircraft, are thereby also moved, so that - in particular in the case of image recording means - compensation measures may be required to control the movement of the sensor means, Image recording means or the like to compensate. In addition, the entire mass of the aircraft must be moved with a tilt of the support arm, so that the inertia of the aircraft in the initiation of maneuvers that require tilting of the support arm structure, and the required for the tilting of the aircraft energy are relatively large.

Here uses the present invention.

Of the present invention is based on the object, an aircraft to provide the type mentioned, the is designed so that during flight maneuvers, the tilting support arm structure require additional compensation and stabilization measures for sensor means and position-sensitive payloads, such as imaging agents, can be largely avoided, and that about it In addition, energy is more advantageous than that of the prior art known aircraft.

The Solution of this task provides an aircraft of the of the type mentioned above with the features of the characterizing part of the claim 1. The dependent claims relate to advantageous Further developments of the invention.

One Inventive aircraft is characterized characterized in that the support arm structure coupled to the fuselage such is that the support arm structure for position and / or position control of the aircraft relative to the fuselage is movable and the fuselage can be stabilized in a vertical position. The invention In particular, the aircraft can be a miniaturized drone be, with the image capture means and / or environmental analysis sensors can be moved. Because of the mass of the hull at a tilt of the Tragarmstruktur (especially for purposes the position and position control) must not be moved, can with the aid of the solution according to the invention Energy can be saved in a simple and efficient way. In addition, the inertia of the aircraft can be reduced so that it is faster to initiate Flight maneuvers respond by tilting the arm structure can. Furthermore, in a particularly advantageous manner during the execution of a maneuver additional Stabilization and / or compensation measures for sensor means, Image recording means or the like is not mandatory. The support arm structure to which the drive units are attached can - for example, for the purpose of position control - in advantageously move freely without forcing the hull forcibly has to be moved. The fuselage of the aircraft follows itself during a movement of the support arm structure from a "neutral" (horizontal) Position in a contrast inclined position of the vertical Alignment caused by the action of gravity. With In other words, the solution according to the invention with the mechanical decoupling of the movement of the hull from the Movement of the support arm structure has the advantage that the hull is always in a vertical position can be stabilized, even if a certain maneuver a deflection of the support arm structure should require from the horizontal position.

• – Drehratensensoren
• – Beschleunigungssensoren,
• – barometrische Sensoren,
• – magnetometrische Sensoren,
• – Ultraschallsensoren,
• – GPS-Sensoren,
• – optische Sensoren.

The aircraft has means for autonomous position and position control, in addition to a central control unit, preferably at least partially within the fuselage of the aircraft under is brought, for example, may have gyro and acceleration sensors. Furthermore, the aircraft may preferably comprise one or more of the following sensor means (also in combination):

• - rotation rate sensors
• - acceleration sensors,
• - barometric sensors,
• - magnetometric sensors,
• - ultrasonic sensors,
• - GPS sensors,
• - optical sensors.

At least some of the aforementioned sensor means and / or the transmitter and receiver means and / or payload also be attached to the fuselage of the aircraft. For example can use the aircraft one or more cameras and / or Sensors for environmental analysis are transported to Take aerial photographs or record environmental data.

In a particularly advantageous embodiment is proposed in that the hull is gimballed to the support arm structure. As a result, the decoupling of the tilting movement of the Tragarmstruktur from the movement of the hull in a constructively simple way be implemented.

to technical realization of the gimbal connection of the support arm structure to the hull, in a particularly preferred embodiment be provided that the aircraft has a gimbal, which is arranged between the fuselage and the support arm structure, suitable, gimbal the hull with the support arm structure to couple. The gimbal can be beneficial on opposite sections of his Outside a first bearing means and a second bearing means having a first and second bearing means receiving opening, which are formed in the support arm structure, are engaged. Preferably, the two bearing means receiving openings (opposite each other) on an inner side of the main body the support arm, which may be formed in particular annular can, provided. This allows a degree of rotational freedom of the support arm structure are obtained relative to the gimbal. At opposite Sections of its inside can benefit from the gimbals third storage means and a fourth storage means having with a third bearing means receiving opening and a fourth Bearing means opening which are formed on the hull, in engagement stand. This allows a rotational degree of freedom of the fuselage of the aircraft are obtained relative to the gimbal. The axis of rotation between the Support arm structure and the gimbal is orthogonal to the axis of rotation oriented between the hull and the gimbal. Preferably the bearing means made substantially cylindrical.

There especially on curved flights on centrifugal forces can act on the fuselage of the aircraft trying to the gimbal connected to the support arm hull from his Can move vertical position, in a particularly advantageous embodiment be provided that the aircraft a number of additional Actuators, suitable to the hull in his endeavor, in the vertical position, to support. At least one of the actuators may be an additional rotor, the acts on the hull. It is also possible that at least one of the actuators is designed electromagnetically.

Around to achieve further stabilization of the aircraft, is proposed in a preferred embodiment, that the aircraft has a sensor means suitable, during operation of the aircraft a horizontal Detect position of the support arm structure. Alternatively or in addition the aircraft may have a sensor means which suitable and furnished during operation of the aircraft to detect a vertical position of the fuselage. Alternatively or additionally, the aircraft a position sensor means with wegerkennenden elements for the Have support arms that are suitable and furnished while the operation of the aircraft, the position of the support arm structure capture.

In a particularly advantageous embodiment is provided that each of the drive units, a first rotor, by means of a first speed-controlled electric motor is driven, and a second rotor controlled by a second speed controlled Electric motor is driven, has, wherein the directions of rotation of the two rotors during operation of the aircraft are opposite. Preferably, the first and second rotors are each drive unit arranged coaxially.

The Support arm structure of the aircraft may be in an alternative advantageous embodiment also four radially from Base body extending away support arms, wherein at Each of the support arms, a rotor and a speed-controlled electric motor is provided to drive the respective rotor. Preferably All rotors in this embodiment have a common Rotation level on.

The Aircraft may advantageously be a power supply device have, within the hull in its longitudinal direction slidably and releasably fixed in it is arranged. This allows the center of gravity of the entire aircraft either be relocated.

Further Features and advantages of the present invention will become apparent with reference to the following description of preferred embodiments with reference to the attached figures. Show in it

1 a perspective view of an aircraft according to a preferred embodiment of the present invention;

2 a side view of the aircraft according to 1 ;

3 another, re 2 rotated side view of the aircraft according to 1 ;

4 a side view of the aircraft according to 1 at a tilt of the Tragarmstruktur, in particular for initiating a change in direction of the aircraft;

5 another side view of the aircraft according to 1 at a tilt of the Tragarmstruktur, in particular for initiating a change in direction of the aircraft;

6 a plan view of the aircraft according to 1 ;

7 an enlarged view of the view according to 6 to illustrate the gimbal connection of the fuselage to the support arm structure;

8th a perspective view of a gimbal, which is provided for the gimbal connection of the hull with the support arm structure;

9 a plan view of the gimbal according to 8th ,

With reference to 1 and 2 includes an aircraft 1 , which is executed according to a preferred embodiment of the invention and in the present case is a miniature drone flight (short: micro drone), a hull 2 and a support arm structure 3 , at the three drive units 4a . 4b . 4c are attached. The support arm structure 3 is rigid and includes a body 30 which is substantially annular in this embodiment. From the main body 30 extend three support arms 31a . 31b . 31c , which are frustoconical in this embodiment, away in the radial direction. The (not explicitly shown here) from the main body 30 also in the radial direction away extending longitudinal axes of the three support arms 31a . 31b . 31c lie in a common plane, which will be referred to below as the "support arm level". At the ends of each of the three support arms 31a . 31b 31c is in each case one of the three drive units 4a . 4b . 4c arranged.

Each of the three drive units 4a . 4b . 4c includes in this embodiment a first rotor 50 and a second rotor 51 , which are each carried out zweiblättrig and arranged coaxially and during operation of the aircraft 1 be driven in opposite directions. The rotors 50 . 51 each of the three drive units 4a . 4b . 4c are independently of each other by an electric motor 60 . 61 driven, so the aircraft 1 in this embodiment, a total of six rotors 50 . 51 as well as six electric motors 60 . 61 having. The electric motors 60 . 61 are speed-controlled and advantageous brushless and gearless executed. Characterized in that in the embodiment presented here, three drive units 4a . 4b . 4c each with two rotors 50 . 51 can provide an efficient position and attitude control for the aircraft 1 to provide. Thus, for example, no additional flap arrangements or the like for the position or position control of the aircraft 1 needed. During operation of the aircraft 1 rotate the first rotors 50 the three drive units 4a . 4b . 4c together in a first plane of rotation and the second rotors 51 the drive units 4a . 4b . 4c rotate together in opposite directions in a second plane of rotation parallel to the first plane of rotation of the first rotors 50 is oriented. The provision of two rotors 50 . 51 per drive unit 4a . 4b . 4c provides advantageously for increased redundancy of the entire system. If, for example, one of the rotors 50 . 51 a drive unit 4a . 4b . 4c during operation of the aircraft 1 fails, the remaining rotor can 50 . 51 the affected drive unit 4a . 4b . 4c Provide sufficient thrust to the aircraft 1 to move or to hold in his position.

• – Drehratensensoren,
• – Beschleunigungssensoren,
• – barometrische Sensoren,
• – magnetometrische Sensoren,
• – Ultraschallsensoren,
• – GPS-Sensoren,
• – optische Sensoren.

The aircraft 1 has means for autonomous position and position control, in addition to a central control unit, which preferably at least partially within the hull 2 of the aircraft 1 is housed, for example, gyro and acceleration sensors have. Furthermore, the aircraft can 1 preferably one or more of the following sensor means (also in combination):

• - rotation rate sensors,
• - acceleration sensors,
• - barometric sensors,
• - magnetometric sensors,
• - ultrasonic sensors,
• - GPS sensors,
• - optical sensors.

These sensor means are in 1 from club not explicitly shown. Inside the hull 2 For example, in addition to the central control unit, at least some of the aforementioned sensor means as well as transmitter and receiver means may be used for communication of the aircraft 1 be housed with a ground station and a payload. At least some of the sensor means and / or the transmitter and receiver means and / or payload may also be on the fuselage 2 to be appropriate. For example, with the aircraft 1 one or more cameras and / or sensors for environmental analysis are transported to take aerial photographs or to record environmental data.

The aircraft 1 also has a power supply device 7 on, the present at least partially within the hull 2 arranged and preferably is a rechargeable battery. The power supply device is advantageous 7 , which is block-shaped in this embodiment, opposite the hull 2 movable (in particular displaceable) and designed to be fixed in the fuselage. This allows the location of the center of gravity of the aircraft 1 if necessary (at least to some extent).

As will be explained in more detail below, the support arm structure 3 with the hull 2 of the aircraft 1 connected by a gimbal. In this way, the drive of the aircraft 1 from the hull 2 mechanically decoupled such that the support arm structure 3 (for example, to initiate a maneuver) can be tilted from a horizontal equilibrium position, while the fuselage 2 at the same time remains in a vertical position. In particular, for the purpose of attitude control and to initiate a maneuver so the Tragarmstruktur can 3 with their attached drive units 4a . 4b . 4c relative to the hull 2 move without disturbing the hull 2 - As with the known from the prior art aircraft - forced to move along. This can be saved in an efficient way energy, as a significant part of the mass of the aircraft 1 , on the hull 2 and the components and payloads of the aircraft immediately housed or attached thereto 1 accumulated mass, does not have to be moved with measures of attitude control. The mechanical decoupling of the movement of the fuselage 2 from the movement of the support arm structure 3 through the gimbal suspension allows the hull 2 can always be stabilized in a vertical position when the initiation of maneuvers a deflection of Tragarmstruktur 3 with the attached drive units 4a . 4b . 4c requires. The aircraft 1 Overall, it can speed up the initiation of flight maneuvers by tilting the support arm structure 3 react.

A permanently vertical orientation of the fuselage 2 and thus a significant portion of the entire mass of the aircraft 1 (eg the power supply, payloads, etc.) inside the fuselage 2 is particularly advantageous because any of the hull 2 fastened and / or in the hull 2 accommodated sensor means, image capture means or the like which are sensitive to movements of the trunk 2 do not need to be individually stabilized. This allows the aircraft 1 be made cheaper.

In 2 and 3 is the aircraft 1 , whose basic structure is described above with reference to 1 during operation in a "neutral" flying position, in which the support arm structure has been described 3 is aligned in a stable, horizontal position. The hull 2 of the aircraft 1 is vertically oriented due to the gravitational force acting on it.

In 4 and 5 Two situations are shown in which the support arm structure 3 with the attached drive units 4a . 4b . 4c no longer in the 2 and 3 shown horizontal position, but opposite the fuselage 2 is tilted. Certain flight maneuvers of the aircraft 1 require such tilting of the support arm structure 3 with the attached drive units 4a . 4b . 4c , In addition, gusts of wind can also affect the aircraft 1 act, possibly a tilt of the Tragarmstruktur 3 have as a consequence. It becomes clear that the hull 2 of the aircraft 1 due to the effect of gravity and gimbal coupling with the support arm structure 3 despite the tilting of the support arm structure 3 remains in its vertical position. The gimbal coupling of the hull 2 with the support arm structure 3 In other words, this causes a decoupling of the movement of the support arm structure 3 from the movement of the hull 2 ,

In an advantageous development of the embodiment described here, for example, one or more additional actuators may be provided which are connected to the fuselage 2 so coupled and designed to be the hull 2 of the aircraft 1 in his, already by the gimbal coupling with the support arm structure 3 given endeavors to stay oriented in the vertical position. This is especially true when cornering the aircraft 1 advantageous to counteract the centrifugal forces acting thereby. The actuators are preferably designed to change the position of the support arm structure 3 not in the location of the fuselage 2 inject. Examples of such actuators are additional rotor means or rotor means arrangements, which are based on the hull 2 can act, or electromagnetic actuators. An independent of the support arm level actuator (for example, an air screw drive) is conceivable.

With reference to 6 to 9 Below details of the above already outlined in general gimbal connection of the hull 2 to the support arm structure 3 of the aircraft 1 be explained in more detail. The heart of the cardan connection is a gimbal 8th in two different views in 8th and 9 is shown. The gimbal 8th has on its outside a first storage means 80a and a second storage means 80b on, which are arranged opposite to each other, extend away from the outside and are formed here as a substantially cylindrical shaped bearing projections. The first two storage vehicles 80a . 80b engage during assembly into corresponding first and second bearing means receiving openings, which at opposite areas of an inner wall of the body 30 the support arm structure 3 are formed. This will cause a rotational movement of the support arm structure 3 relative to the gimbal 8th allows.

Inside, the gimbal has 8th also two opposing sections 82a . 82b with one compared to the rest of the gimbal 8th increased material thickness. At the first section 82a is a third storage facility 81a trained and on the second section 82b is a fourth storage medium 81b educated. The third storage facility 81a and the fourth storage means 81b are also designed here as cylindrical bearing projections. As in particular in 7 to recognize, grab the third storage means 81a and the fourth storage means 81b during assembly in each case in a corresponding third and fourth bearing means receiving opening (not provided with reference numerals) a. The third bearing means receiving opening and the fourth bearing means receiving opening are on the fuselage 2 of the aircraft 1 formed, allowing a rotation of the fuselage 2 relative to the gimbal 8th is possible. From the above it is clear that the axis of rotation of the Tragarmstruktur 3 relative to the gimbal 8th orthogonal to the axis of rotation of the hull 2 relative to the gimbal 8th is oriented.

QUOTES INCLUDE IN THE DESCRIPTION

This list The documents listed by the applicant have been automated generated and is solely for better information recorded by the reader. The list is not part of the German Patent or utility model application. The DPMA takes over no liability for any errors or omissions.

Cited patent literature

• WO 2008000203 A1 [0002]

Claims (15)

Aircraft ( 1 ), in particular a drone, comprising - a hull ( 2 ); A support arm structure ( 3 ) with a basic body ( 30 ) and at least three support arms ( 31a . 31b . 31c ) extending radially from the base body ( 30 ), and - at least three drive units ( 4a . 4b . 4c ), which at the ends of the support arms ( 31a . 31b . 31c ), each of the drive units ( 4a . 4b . 4c ) at least one rotor ( 50 . 51 ) and at least one speed-controlled electric motor ( 60 . 61 ), suitable, the at least one rotor ( 50 . 51 ) during operation of the aircraft ( 1 ), and - means for the autonomous attitude and position control of the aircraft ( 1 ), characterized in that the support arm structure ( 3 ) with the fuselage ( 2 ) is coupled in such a way that the support arm structure ( 3 ) for attitude and / or position control of the aircraft ( 1 ) relative to the fuselage ( 2 ) is movable and the fuselage ( 2 ) can be stabilized in a vertical position. Aircraft ( 1 ) according to claim 1, characterized in that the hull ( 2 ) cardanically with the support arm structure ( 3 ) is coupled. Aircraft ( 1 ) according to claim 2, characterized in that the aircraft ( 1 ) a gimbal ( 8th ), which between the fuselage ( 2 ) and the support arm structure ( 3 ) is arranged, suitable to the hull ( 2 ) cardanically with the support arm structure ( 3 ) to couple. Aircraft ( 1 ) according to claim 3, characterized in that the gimbal ( 8th ) at opposite portions of its outer side a first bearing means ( 80a ) and a second storage means ( 80b ) provided with a first and second bearing means receiving opening in the support arm structure ( 3 ) are in engagement. Aircraft ( 1 ) according to one of claims 2 to 4, characterized in that the gimbal ( 8th ) at opposite portions of its inside a third storage means ( 81a ) and a fourth storage means ( 81b ) having a third and a fourth bearing means receiving opening in the fuselage ( 2 ) are in engagement. Aircraft ( 1 ) according to one of claims 1 to 5, characterized in that the aircraft ( 1 ) has a number of additional actuators that are suitable and adapted to the hull ( 2 ) in his endeavor to remain in a vertical position. Aircraft ( 1 ) according to claim 6, characterized in that at least one of the actuators is a rotor. Aircraft ( 1 ) according to claim 6 or 7, characterized in that at least one of the actuators is designed electromagnetically. Aircraft ( 1 ) according to one of claims 1 to 8, characterized in that the aircraft ( 1 ) has a sensor means, suitably, during the operation of the aircraft ( 1 ) a horizontal position of the support arm structure ( 3 ) capture. Aircraft ( 1 ) according to one of claims 1 to 9, characterized in that the aircraft ( 1 ) has a sensor means, suitably, during the operation of the aircraft ( 1 ) a vertical position of the fuselage ( 2 ) capture. Aircraft ( 1 ) according to one of claims 1 to 10, characterized in that the aircraft ( 1 ) a position sensor means with Wegerkennenden elements for the support arms ( 31a . 31b . 31c ), during operation of the aircraft ( 1 ) the pivotal position of the support arm structure ( 3 ) capture. Aircraft ( 1 ) according to one of claims 1 to 11, characterized in that each of the drive units ( 4a . 4b . 4c ) a first rotor ( 50 ), which by means of a first speed-controlled electric motor ( 60 ) is drivable, and a second rotor ( 51 ), which by means of a second speed-controlled electric motor ( 61 ) is drivable, wherein the directions of rotation of the two rotors ( 50 . 51 ) are opposite. Aircraft ( 1 ) according to claim 12, characterized in that the first and second rotors ( 50 . 51 ) of each drive unit ( 4a . 4b . 4c ) are arranged coaxially. Aircraft ( 1 ) according to one of claims 1 to 11, characterized in that the aircraft ( 1 ) At least four radially from the body ( 30 ) extending away support arms, wherein on each of the support arms, a rotor and a speed-controlled electric motor is provided to drive the respective rotor. Aircraft ( 1 ) according to one of claims 1 to 14, characterized in that the aircraft ( 1 ) a power supply device ( 7 ) located within the fuselage ( 2 ) Is arranged displaceably in the longitudinal direction and releasably fixed therein.

Images