EP3188967A1

EP3188967A1 - Unmanned vehicle

Info

Publication number: EP3188967A1
Application number: EP15766915.1A
Authority: EP
Inventors: Jean-François BAUDET
Original assignee: Heliceo
Current assignee: Heliceo
Priority date: 2014-09-05
Filing date: 2015-09-03
Publication date: 2017-07-12
Also published as: WO2016034819A1; FR3025495A1; CN107000838A; US20170253333A1

Abstract

The present invention relates to an unmanned vehicle including: - a vehicle chassis (2) that has at least one actuator (3) involved in the driveability of said vehicle (1); - a set of on-board electronic components, namely at least one on-board electronic/computer control system; - telecommunication means; and - geolocation means. According to the invention, the on-board electronic components are arranged within a carrier so as to form, together, a removable technical unit (5) that is removably mounted on said vehicle chassis (2). Said technical unit (5) and said vehicle chassis (2) comprise mechanical/electrical interface means (7) that are suitable, on one hand, for the releasable mechanical attachment said removable technical unit (5) to said vehicle chassis (2) and, on the other hand, for the releasable electrical connection of said technical unit (5) to said at least one driveability actuator (3).

Description

VEHICLE WITHOUT PILOT BOARD

TECHNICAL FIELD TO WHICH THE INVENTION RELATES The present invention relates to the field of onboard unmanned vehicles, in particular aerodynes of the flying wing or multi-rotor type.

BACKGROUND

After significant development in the field of defense, many civilian applications are emerging for unmanned vehicles onboard.

These vehicles generally consist of small gears that can be either remotely controlled (including radio waves), or semi-autonomous or autonomous. For example, in the air sector, these vehicles are known as unmanned air vehicles (UAVs).

For their operation and their mission, these vehicles embark a set of electronic components, namely:

an on-board computer / electronic control system, in particular for controlling actuator (s) intervening in motor skills,

- a source of electrical energy,

at least one instrument for acquiring shots and / or physical measurements,

- telecommunication means, and

- Geolocation means.

These embedded electronic components are usually distributed on the vehicle frame, which can complicate the maintenance and / or repair operations.

In addition, the cost of these vehicles is often relatively expensive because of the presence of these embedded electronic components.

There is therefore a need for a new embedded unmanned vehicle structure, of which - the maintenance and / or repair operations would be facilitated, and / or - the cost price would be reduced.

OBJ AND INVENTION

In this context, the Applicant has developed such a new embedded unmanned vehicle structure, providing an innovative solution that allows maintenance operations / repair facilitated, but also reduce the cost of this type of vehicle.

In this respect, the onboard unmanned vehicle comprises a vehicle chassis which carries:

a / at least one actuator intervening in the motricity of said vehicle,

b / a set of on-board electronic components, namely at least: an onboard electronic control / computer system, in particular for controlling said motor actuator,

- telecommunication means,

- Geolocation means.

According to the invention, said on-board electronic components are arranged in a support, to form together a removable technical unit which is removably attached to said vehicle chassis. The technical unit and the vehicle chassis comprise mechanical / electrical interface means which are adapted, on the one hand, to the removable mechanical fixing of said removable technical unit with said vehicle chassis and, on the other hand, to the removable electrical connection of said technical unit with said at least one traction actuator.

Such a vehicle has the advantage of allowing a quick and easy replacement of the removable technical unit without requiring direct intervention on the on-board electronic components.

The removable technical unit advantageously consists of a versatile structure that is adapted to adapt to, and compatible with, a range of vehicle chassis.

This removable technical unit still has the advantage of keeping in common the major functions of the vehicle, with a possibility of interchangeability on a range of vehicle chassis with means of motricity (including propulsion) different.

According to other advantageous features of realization, which can be taken in combination or independently:

the on-board electronic components also comprise at least one source of electrical energy, and said at least one source of electrical energy is located within the support to form also the removable technical unit, or directly on the chassis, independently of said removable technical unit;

the on-board electronic components also comprise at least one acquisition instrument, for taking pictures and / or for taking physical measurements, and said at least one acquisition instrument is located within the support to also form the removable technical unit, or directly on the chassis, independently of said removable technical unit;

the support of the removable technical unit is in the form of a housing in which embedded electronic components are integrated; the support of the removable technical unit advantageously comprises a front wall forming a lid which is movable between two positions: an open position, for access to the on-board electronic components, and a closed position, to prevent access to said on-board electronic components;

the vehicle chassis comprises a location in which said removable technical unit is brought and which is provided with an opening, and in that the support of the technical unit removable comprises a front wall for closing said opening; the front wall advantageously has an aerodynamic profile;

the support of the removable technical unit comprises housings for the removable reception of the on-board electronic components;

the mechanical / electrical interface means comprise at least one power connector, a first portion of which is carried by the vehicle chassis and a second complementary part of which is carried by the removable technical unit;

the vehicle chassis comprises at least one carrier member chosen from: at least one wing, adapted to ensure traction on the air carrier medium, and / or at least one float adapted to ensure traction on the aquatic carrier medium, and / or means adapted to ensure traction on the earth bearing medium; in this case, the sail advantageously consists of: in at least one fixed wing, and / or in at least one rotary wing, for example of the rotor-lift type; more preferably, the fixed wing is a flying wing, comprising a lower surface and an upper surface, which extrados comprises a location for the reception of the removable technical unit, and which removable technical unit comprises a front wall having an aerodynamic profile to form a part of said extrados;

- The electronic control system / computer comprises: control means adapted to different vehicle chassis adapted to be associated with the removable technical unit, and means for selecting control means adapted to the associated vehicle chassis.

The present invention further relates to an unmanned vehicle system, comprising:

a single removable technical unit, and

- at least two different vehicle chassis.

The present invention also relates to a method for assembling an onboard unmanned vehicle according to the invention, which method comprises the following operations:

an implantation operation of said removable technical unit on the vehicle chassis by the implementation of the mechanical / electrical interface means, and

a selection operation of the control means adapted to said associated vehicle chassis, among the control means adapted to the different vehicle chassis adapted to be associated with said removable technical unit.

DETAILED DESCRIPTION OF THE INVENTION

The present invention will be further illustrated, without being limited in any way, by the following description of various embodiments shown in the appended figures in which:

FIG. 1 represents a first onboard unmanned vehicle according to the invention, namely an aerial vehicle of the flying wing type, represented according to an oriented perspective of the the extrados side and its nose, and wherein the removable technical unit is suitably reported in a dedicated location of the vehicle chassis;

- Figure 2 shows the aerodyne according to Figure 1, wherein the removable technical unit is extracted from its dedicated location of the vehicle frame;

- Figures 3 and 4 show, respectively perspective view and side view, the removable technical unit isolated from the vehicle frame and in a closed configuration;

- Figures 5 and 6 show, respectively perspective view and top view, the removable technical unit isolated from the vehicle frame and in an open configuration;

FIG. 7 represents a second onboard unmanned vehicle according to the invention, namely an aerial vehicle of the multirotor type, represented in a perspective oriented on the extrados side and its nose, and in which the removable technical unit is extracted from its intended location in the vehicle chassis;

- Figures 8 and 9 show, respectively perspective view and top view, a variant of the second unmanned vehicle, which is distinguished by the presence of floats to provide traction on the aquatic carrier medium.

The vehicles 1 according to the invention, represented in the above figures, consist of onboard unmanned vehicles (also called "unmanned vehicle" (UV).

"Embedded unmanned vehicle" means in particular a vehicle without person / person on board, which may be ordered:

- remotely, for example via radio waves, and / or

- semi-autonomous or autonomous, thanks to an electronic control system / on-board computer.

An "onboard unmanned vehicle" according to the invention comprises at least one carrier member adapted to provide traction on a carrier medium of interest.

By "carrier" is meant in particular air, water and soil.

The "unmanned vehicle on board" according to the invention thus encompasses in particular:

an aerial vehicle (UAV for "unmanned aerial vehicle"), commonly known as "drone", as represented in FIGS. 1, 2 and 7, provided with at least one wing adapted to provide motive power on the air carrier medium,

- A surface naval vehicle (USV for "unmanned surface vehicle"), for operation on the surface of the water, as shown in Figures 8 and 9, provided with at least one float adapted to provide traction on the aquatic carrier medium,

a land vehicle (UGV) for the unmanned ground vehicle, not shown, provided with means (wheels, tracks, etc.) adapted to ensure traction on the earth bearing medium, and

- a submarine vehicle (UUV) for underwater operation (not shown). The "onboard unmanned vehicle" according to the invention also encompasses hybrid vehicles, that is to say adapted to at least two different carrier media (for example UAV (aerial) and USV (aqueous)).

Each vehicle 1 according to the invention, in the different embodiments, comprises a vehicle chassis 2 which carries:

at least one actuator 3 involved in the traction of said vehicle 1, again designated "traction actuator" and

b / a set of on-board electronic components 4 (shown in FIG. 6), notably involved in controlling said one or more traction actuators 3.

By "motricity" is meant in particular propulsion, a principle that allows a body to move in its surrounding space. In particular, it uses a thruster which converts the energy supplied by the traction actuator into motive power.

By "motor actuator" is meant in particular a motor 3 which is carried by the frame 2 and which intervenes in the movement of the vehicle 1 in its environment.

This motor actuator 2 operates advantageously with electrical and / or thermal energy.

As developed below in relation to the various vehicles 1 according to the invention, this engine 3 is advantageously designed to maneuver in rotation a propeller, a turbine, a wheel, etc., adapted to the carrier medium.

The on-board electronic components 4 are chosen at least from:

an on-board computer / electronic control system 41, in particular for controlling the traction actuator (s) 3 fitted to the vehicle 1,

a source of electrical energy 42,

telecommunication means 43,

- Geolocation means 44.

The electronic control system / on-board computer 41 advantageously comprises:

- low-power microprocessors or microcontrollers,

- a computer program part, partly or entirely programmed in the hardware, usually in a ROM, EPROM, EEPROM, FLASH.

The computer program part comprises program code means for controlling the on-board electronic components 4 of the vehicle, when said computer program is executed by said control system 41.

The power source 42 advantageously consists of a battery.

This source of electrical energy 42 is intended to supply power to the on-board electronic components 4 and possibly the traction actuators 3 fitted to the vehicle 1. The telecommunication means 43 advantageously consist of radiocommunication means.

These telecommunication means 43 are particularly useful for exchanging data with a ground station for controlling and collecting detections.

The geolocation means 44 consist for example of GPS means for

Global Positioning System.

The on-board electronic components 4 advantageously also comprise at least one acquisition instrument 45, for taking pictures (photographic or video) and / or for taking physical measurements (for example radar, infrared, radio and / or electro-optical measurements). ).

According to the invention, at least some of the on-board electronic components 4 are grouped together in a removable technical unit 5 which is removably (removably) connected within a location 21 provided on the vehicle chassis 2.

Such a removable technical unit 5 thus advantageously consists of a structure of the monobloc type, which can be mounted and disassembled in one piece (in one piece) with respect to the vehicle frame 2. The removable technical unit 5 also forms advantageously a versatile structure that is able to adapt to and compatible with a complete range of vehicle chassis 2.

The removable technical unit 5 is shown in more detail in FIGS. 3 to 6.

This removable technical unit 5 comprises a support 6 in which are arranged the above-mentioned on-board electronic components 4 (visible in FIG. 6).

In this case, the removable technical unit 5 integrates:

the onboard electronic control / computer system 41,

the source of electrical energy 42,

the telecommunication means 43,

the geolocation means 44.

The electronic control system / on-board computer 41 still advantageously comprises:

control means adapted to the different vehicle chassis 2 capable of being associated with the removable technical unit 5, and

means for selecting control means adapted to the associated vehicle chassis 2.

Preferably, the control means comprise a computer program comprising at least two program code means which are each adapted to control a vehicle chassis 2 adapted to be associated with the removable technical unit 5, when said computer program is executed by said embedded electronic control / computer system 41.

Preferably, the selection means also comprises program code means of said computer program, for the selective execution of one of the program code means of the control means, when said computer program is executed. by said onboard electronic control / computer system 41.

Alternatively, not shown, the source of electrical energy 42 could be arranged directly on the frame 2, independently of the removable technical unit 5.

The acquisition instrument 45 is located here in the support 6 to also form part of the removable technical unit 5.

Alternatively, not shown, this acquisition instrument 45 could be arranged directly on the frame 2, independently of the removable technical unit 5.

The on-board electronic components 4 are suitably electrically connected within the removable technical unit 5, advantageously via the embedded electronic control / computer system 41.

The support 6 of the removable technical unit 5 is in the form of a housing in which the above-mentioned on-board electronic components 4 (here including the source of electrical energy 42 and the acquisition instrument 45) are integrated.

Preferably, this support 6 constitutes a continuous envelope so as to ensure optimum protection of the electronic components 4 reported, in particular with respect to mechanical shocks but also preferably tight against liquids.

For this, this support 6 has here a parallelepipedal general shape, comprising:

- A base 61 in which are formed housing 61 1 opening on the top to each receive at least one of the embedded electronic components 4, and - a front wall 62 forming a cover, able to close said housing 61 1.

The base 61 consists for example of a piece made of a plastic material, composite or metal.

This base 61 comprises a bottom wall 612 extended by side walls 613, a front wall 614 and a rear wall 615.

In particular, the bottom wall 612 is here provided with a light 612a for positioning the objective of the acquisition instrument 45 for taking pictures.

The front wall 62 is delimited by two lateral edges 621, a front edge 622 and a rear edge 623.

This front wall 62 is movable between two positions:

an open position, for access to the housings 61 1 of the base 61 and, where appropriate, to the on-board electronic components 4 reported, and a closed position, to prevent access to the housings 61 1 of the base 61 and, if appropriate, to said on-board electronic components 4.

In the present case, the front edge 622 of the front wall 62 and the upper edge of the front wall 614 of the base 61 cooperate with each other through means 63 of the hinge type, defining an axis of rotation 63 'for the operation of the front wall 62 between its two open and closed positions.

The front edge 622 of the front wall 62 and the front wall 614 of the base 61, cooperating through the hinge means 63, are intended to be located on the front side of the vehicle 1 so as to reinforce the maintenance in the closed position of the front wall 62.

As developed below, this front wall 62 is intended to close an access opening at the location 21 of the vehicle frame 2.

For this reason, the front wall 62 advantageously has an aerodynamic profile.

The term "aerodynamic profile" generally means a profile whose shape makes it possible to reduce as much as possible the resistance to air, when the vehicle is moving in the air.

In this case, this front wall 62 has a camber, with a downward slope from the front wall 614 to the rear wall 615 of the base 61.

In general, this front wall 62 may constitute part of an aerodynamic fairing, that is to say an outer coating improving the aerodynamics of the vehicle 1 in motion.

In the case of an air vehicle (FIGS. 1 and 2 in particular), the aerodynamic profile is also advantageously used to participate in generating a lift, that is to say a force perpendicular to the flow that passes through it.

The location 21 intended to receive the removable technical unit 5 consists of a recess whose shape advantageously corresponds, with the clearance, to the outer contour of the base 61 of the removable technical unit 5.

This location 21 is provided with an opening 21 1 (Figure 2), through which is reported and extracted this removable technical unit 5.

In this case, the opening 21 1 is closed by the front wall 62 of the removable technical unit 5, that is to say that the contour of the front wall 62 corresponds, with the game, to the contour of this opening 21 1 (Figures 1 and 8).

To ensure its dismountability, the removable technical unit 5 and the vehicle frame 2 comprise mechanical / electrical interface means 7 which are adapted, on the one hand, to the removable mechanical fastening of said removable technical unit 5 with said vehicle frame 2 and, on the other hand, to the removable electrical connection of said technical unit 5 with said at least one traction actuator 3. The term "electrical connection" advantageously encompasses the transmission of data between said technical unit 5 and said at least one traction actuator 3.

The mechanical / electrical interface means 7 here comprise a power connector of which:

a first part 71 (male or female) is carried by the vehicle frame 2 (FIG.

2) and

- A second portion 72, complementary (respectively female or male), is carried by the removable technical unit 5 (Figure 4).

The first portion 71 of the mechanical / electrical interface means 7 is connected to the electrical circuit of the chassis 2.

This electrical circuit also comprises the traction actuators 3, for their power supply and their control.

As the case may be, this electric circuit may also carry the electric power source 42, for the power supply of the traction actuators 3 and for the supply of energy to said removable technical unit 5 via the mechanical interface means. Electric 7.

The second part 72 of the mechanical / electrical interface means 7 is connected to the electrical circuit of the removable technical unit 5, on which are implanted at least some of the various electronic components 4 (as appropriate with or without the source electrical energy 42 and / or the acquisition instrument 45).

In particular, the second portion 72 of the mechanical / electrical interface means 7 is formed in the bottom wall 612 of the base 61.

In practice, an operator reports the removable technical unit 5 (incorporating the electronic components 4) on the vehicle frame 2, if necessary by introducing its base 6 in the dedicated location 21.

During this positioning, the mechanical / electrical interface means 7 are advantageously implemented automatically.

In this case, the first part 71 carried by the vehicle frame 2 and the second part 72 carried by the removable technical unit 5 are automatically interlocked with each other.

The means for selecting control means adapted to the associated vehicle chassis are then implemented, so as to activate the corresponding control means.

The method of assembling an onboard unmanned vehicle 1 according to the invention thus advantageously comprises the following operations:

an implantation operation of the removable technical unit 5 (integrating at least some of the electronic components 4) on the vehicle chassis 2 by the implementation of the mechanical / electrical interface means 7, where appropriate by introducing its base 6 in dedicated slot 21, and a selection operation of the control means adapted to said associated vehicle chassis 2, among the control means adapted to the different vehicle chassis 2 capable of being associated with the removable technical unit 5.

During a mission, in a conventional manner, the control system 6 controls the various electronic components of the vehicle 1, including:

the electronic components 4 integrated in the removable technical unit 5, and

- the traction actuators 3 fitted to the vehicle chassis 2.

To replace the removable technical unit 5, or to report this removable technical unit 5 to another vehicle frame 2 to form a new vehicle 1, it is sufficient for the operator to exert traction on this removable technical unit 5 by relative to the vehicle chassis 2 (possibly after inactivation of the mechanical / electrical interface means 7).

In general, the invention also relates to the unmanned vehicle system, comprising:

a single removable technical unit 5, and

at least two different vehicle frames 2.

A same removable technical unit 5 can be successively associated with different vehicle chassis 2 to obtain different functional vehicles 1, as described below in connection with the various embodiments.

According to a first exemplary embodiment

A first embodiment of a vehicle according to the invention is shown schematically in FIGS. 1 and 2.

The corresponding vehicle 1 consists of an aerial vehicle, that is to say in particular an aerodyne whose lift comes from an aerodynamic lift.

For this, the chassis 2 of this vehicle 1 comprises bearing members of the wing type, adapted to provide lift on the air carrier.

This frame 2 consists of a fixed wing in the form of a flying wing, that is to say in particular an aerodyne having no empennage, and all of the various movable surfaces necessary for its piloting is located on the fixed wing.

Such a vehicle 1 is for example interesting in the fields of topography, marine (scientific research, deep-sea fishing, etc.) or agriculture.

The chassis 2 is equipped:

- propulsion / traction means 8, hereinafter more generally means of propulsion, and

lift means 9, separate from said propulsion means 8, involved in a vertical take-off and landing function. The corresponding vehicle 1 is thus able to be controlled between two flight modes: - a so-called "lift" mode, provided by the lift means 9, and - a so-called "propulsion" mode, provided by the propulsion means 8.

The chassis 2 of the vehicle 1 here has a general shape delta wing, which consists in this case of two removable trapezoidal wings simple and positive arrows (Figure 2).

This frame 2 comprises a center plane 2 ', vertical and front / rear (shown schematically by an axis in Figures 1 and 2), oriented perpendicular to the general horizontal plane in which this frame 2 extends.

The frame 2 comprises, on either side of this middle plane 2 ', edges:

two leading edges 25, here rectilinear, which meet in a V on a nose 26, and

two trailing edges 27, rear.

In particular, the leading edges 25 are in positive arrow, each forming an angle less than 90 ° with the middle plane 2 'of the frame 2

The trailing edges 27 here advantageously consist of fins for the control of the vehicle 1 in roll, associated with a servomotor still constituting one of the traction actuators 3 of the vehicle 1.

The chassis 2 further comprises a lower surface 28 (lower face) and an upper surface 29 (upper face) providing lift.

According to the invention, the extrados 29 comprises the location 21 for the reception by embedding of the removable technical unit 5.

This location 21 is advantageously arranged so as to extend on either side of the middle plane 2 '.

As shown again in FIG. 1, the front wall 62 of the removable technical unit 5 has an aerodynamic profile to form part of the extrados 29.

The levitation means 9 are useful for the vertical takeoff and landing, also called VTOL for "Vertical Take Off and Landing".

These levitation means 9 are of the multi-rotor type, that is to say that they comprise a plurality of lift rotors 91 each rotated about an axis 91 'by a motor actuator 3 above.

These levitation means 9 here comprise three lift rotors 91, namely:

a front lift rotor 91 1, which is arranged near the nose 26 of the frame 2 and on the middle plane 2 'of this frame 2, and

- Two rear levers 912 rear, which are formed symmetrically on either side of the center plane 2 ', each close to one of the trailing edges 27.

The vehicle 1 is still equipped with propulsion means 8 intended to create a force

(thrust), which results from the acceleration of a mass of air. The propulsion means 8 here comprise a propeller 81 arranged on the middle plane 2 'of the wing 2, in a rear arrow recess.

The propeller 81 is here propellant. Alternatively or complementary, it could be provided at least one tractive propeller.

Furthermore, the propulsion means 8 are advantageously equipped with operating means (not shown) for their orientation on either side of the center plane 2 ', that is to say advantageously according to a degree of freedom in pivoting around a vertical axis of rotation extending in the middle plane 2 '.

For example, these operating means consist of a servomotor also constituting a motor actuator.

This feature allows control of the yaw axis during the flight of the aircraft 1.

The propulsion means 8 and the levitation means 9 may be associated with the same energy source, or preferably respectively with two separate onboard energy sources (not shown).

In this second case, preferably, the propulsion means 8 are associated with their own energy source (for example a battery for electric propulsion or a thermal energy source for thermal propulsion), and the levitation means 9 are associated with their own source of energy (for example a battery for an electric levitation or a source of thermal energy for a thermal levitation).

In this case, preferably:

the battery 42 corresponds to the power source integrated in the removable technical unit 5, and

the source of thermal energy is directly carried by the chassis 2.

Preferably, the energy sources are provided for electrical levitation and thermal propulsion.

The control system 41 thus drives the propulsion means 8 and the lift means 9.

These control means 41 intervene in particular in the control:

fins 27 for controlling the roll, by controlling an associated servomotor,

the speed of rotation of each of the lift rotors 91, by acting on the associated motors 3,

- The speed of rotation of the propulsion rotor 81, by driving the associated engine 3.

The control system 41 comprises in particular conversion means (also called "transition means"), advantageously in the form of a computer program, which are adapted to control the propulsion means 8 and the lift means 9 , so as to ensure a flight transition of said vehicle 1 (advantageously autonomous) between the mode "levitation" and the "propulsion" mode mentioned above. According to a second exemplary embodiment

A second embodiment of a vehicle according to the invention is shown schematically in FIG.

The corresponding vehicle 1 also consists of an aerial vehicle, that is to say in particular an aerodyne whose lift comes from an aerodynamic lift.

It differs from the first embodiment in that it comprises rotating wings 10 of the multirotor type, involved in the propulsion / traction and also in the lift of the vehicle.

More specifically, the frame 2 comprises a middle plane 2 ', vertical and front / rear

(Diagrammatically represented by an axis in FIG. 7), oriented perpendicularly to the horizontal general plane in which this frame 2 extends.

This frame 2 has a parallelepipedal general shape, which consists of different parts:

a central part 2a at which location 21 is located for the reception of the removable technical unit 5, and

- two lateral parts 2b, extending laterally the central portion 2a and in each of which are installed rotating wings 10.

As shown in this Figure 7, the frame 2 is adapted to be divided into two identical elements in the middle plane 2 '. Each element comprises one half of the central portion 2a and one of the lateral portions 2b.

The rotating wings 10 consist of rotors each rotated by a motor actuator 3 above.

These rotors 10 are here six in number, distributed in the side portions 2b of the frame 2, on either side of the middle plane 2 'of the frame 2.

The central portion 2a of the frame 2 comprises:

a leading edge or nose 2a1, before, and

a trailing edge 2a2, rear.

This central portion 2a further comprises a lower surface 2a3 (lower face) and an upper surface 2a4 (upper face) participating in the lift.

The extrados 2a4 again includes the location 21 for the reception of the removable technical unit 5.

This location 21 is advantageously arranged so as to extend on either side of the middle plane 2 '. It is intended to be formed by the two associated chassis parts 2.

The front wall 62 of the removable technical unit 5 has an aerodynamic profile to form a portion of the upper surface 2a4 (shown in Figures 8 and 9). In practice, the control system 41 of the removable technical unit 5 thus controls the speed of rotation of each of the rotors 10, by acting on the motors 3 associated respectively and ensuring their power supply. According to a third exemplary embodiment

A third embodiment of a vehicle according to the invention is shown in FIGS. 8 and 9.

The corresponding vehicle 1 is similar to that described above in relation to FIG. 7 and is distinguished only by the presence of carrier members in the form of floats.

According to this third embodiment, there is thus the chassis 2 comprising a center plane 2 ', vertical and front / rear (shown schematically by an axis in Figures 8 and 9), oriented perpendicularly to the general horizontal plane in which extends this chassis 2.

This frame 2 always has a parallelepipedal general shape, which consists of a central portion 2a, at the level of which is located the location 21, extended laterally by two lateral portions 2b in each of which are installed rotating wings 10.

The extrados 2a4 of the central portion 2a again includes the location 21 for the reception of the removable technical unit 5.

The intrados 2a3 of the central portion 2a receives meanwhile two carrier members 1 1, in the form of floats, which are adapted to ensure traction of the vehicle on the aquatic carrier medium.

Each carrier member 1 1 comprises a cylindrical float which extends parallel to the median plane 2 'of the vehicle frame 2 and which is secured to the vehicle frame 2 by means of connecting arms.

Preferably, these carrier members 1 1 incorporate means for generating propulsion in the aqueous medium, for example a marine turbine associated with a traction actuator or any other propulsion system.

The corresponding vehicle 1 is thus able to be controlled between two modes of traction, controlled by the control system 41 integrated in the removable technical unit 5:

a so-called "navigation" mode, floating on the surface of the water and whose displacement is ensured by a control of the aqueous propulsion means, and

- a mode known as "flight", traveling in the air and whose movement is ensured by a steering of the rotating wings 10. According to an alternative embodiment not shown, the intrados 2a3 of the central portion 2a receives two carrier members which are adapted to provide land propulsion, for example wheels or caterpillars.

- a so-called "ground propulsion" mode, on the surface of the ground and whose displacement is ensured by a control of the means of terrestrial propulsion, and

- a mode known as "flight", traveling in the air and whose movement is ensured by a steering of the rotating wings 10.

Claims

- CLAIMS -

1. On-board unmanned vehicle, comprising a vehicle chassis (2) carrying: a / at least one actuator (3) involved in the traction of said vehicle (1),

b / a set of on-board electronic components (4), namely at least:

an onboard electronic control / computer system (41), in particular for controlling said traction actuator (3),

telecommunication means (43),

- Geolocation means (44),

characterized in that said on-board electronic components (4) are arranged within a support (6), to form together a removable technical unit (5) which is removably attached to said vehicle frame (2),

which technical unit (5) and which vehicle frame (2) comprise mechanical / electrical interface means (7) which are adapted, on the one hand, to the removable mechanical fastening of said removable technical unit (5) with said vehicle frame (2) and, on the other hand, the removable electrical connection of said technical unit (5) with said at least one traction actuator (3).

2. On-board unmanned vehicle according to claim 1, characterized in that the onboard electronic components (4) further comprise at least one source of electrical energy (42), and

in that said at least one source of electrical energy (42) is:

in the support (6) to also form the removable technical unit (5), or

- directly on the frame (2), independently of said removable technical unit (5).

3. On-board unmanned vehicle according to any one of claims 1 or 2, characterized in that the on-board electronic components (4) further comprise at least one acquisition instrument (45) for taking pictures and / or for taking physical measurements, and

in that said at least one acquisition instrument (45) is:

in the support (6) to also form the removable technical unit (5), or

4. On-board unmanned vehicle according to any one of claims 1 to 3, characterized in that the support (6) of the removable technical unit (5) is in the form of a housing in which are integrated the on-board electronic components (4).

5. on-board unmanned vehicle, according to claim 4, characterized in that the support (6) of the removable technical unit (5) comprises a front wall (62) forming a lid which is movable between two positions:

an open position for access to the on-board electronic components (4), and a closed position, to prevent access to said on-board electronic components (4).

6. On-board unmanned vehicle according to any one of claims 1 to 5, characterized in that the vehicle frame (2) comprises a location (21) in which is reported said removable technical unit (5) and which is provided an opening (21 1), and in that the support (6) of the removable technical unit (5) has a front wall (62) for closing said opening (21 1).

7. On-board unmanned vehicle according to claim 6, characterized in that the front wall (62) has an aerodynamic profile.

8. on-board unmanned vehicle, according to any one of claims 1 to 7, characterized in that the support (6) of the removable technical unit (5) comprises housings (61 1) for the removable reception of electronic components. embedded (4).

9. On-board unmanned vehicle according to any one of claims 1 to 8, characterized in that the mechanical / electrical interface means (7) comprise at least one power connector of which a first portion (71) is carried by the vehicle frame (2) and a second part (72) complementary is carried by the removable technical unit (5).

10. On-board unmanned vehicle according to any one of claims 1 to 9, characterized in that the vehicle chassis (2) comprises at least one carrier member selected from:

at least one wing (2, 9, 10) adapted to ensure traction on the air carrier medium, and / or

at least one float (1 1), adapted to ensure motricity on the aquatic carrier medium, and / or

- Means adapted to ensure traction on the earth bearing medium.

1 1. An unmanned vehicle on board, according to claim 10, characterized in that the wing consists of:

in at least one fixed wing (2), and / or

in at least one rotary wing (9, 10), for example of the lift rotor type.

12. On-board unmanned vehicle, according to claim 1 1, characterized in that the fixed wing (2) is a flying wing, comprising a lower surface (28) and an upper surface (29),

in that said upper surface (29) has a location (21) for receiving the removable technical unit (5), and

in that said removable technical unit (5) has a front wall (62) having an aerodynamic profile to form a portion of said extrados (29).

13. On-board unmanned vehicle according to any one of claims 1 to 12, characterized in that the electronic control system / computer (41) comprises: control means adapted to the various vehicle chassis suitable for being associated with the removable technical unit, and

means for selecting control means adapted to the associated vehicle chassis.

The unmanned vehicle system according to any one of claims 1 to 13, comprising:

a removable technical unit (5), and

at least two different vehicle frames (2).

A method for assembling an onboard unmanned vehicle (1) according to claim 13, which method comprises the following operations:

an implantation operation of said removable technical unit (5) on the vehicle chassis (2) by the implementation of the mechanical / electrical interface means (7), and

a selection operation of the control means adapted to said associated vehicle chassis (2), among the control means adapted to the different vehicle chassis (2) capable of being associated with said removable technical unit (5).