EP4061710A1 - Drone - Google Patents
DroneInfo
- Publication number
- EP4061710A1 EP4061710A1 EP20804577.3A EP20804577A EP4061710A1 EP 4061710 A1 EP4061710 A1 EP 4061710A1 EP 20804577 A EP20804577 A EP 20804577A EP 4061710 A1 EP4061710 A1 EP 4061710A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- rotor
- drone
- front part
- relative
- launcher
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
- 230000007246 mechanism Effects 0.000 claims description 18
- 230000005540 biological transmission Effects 0.000 claims description 14
- 238000006073 displacement reaction Methods 0.000 claims description 6
- 230000009471 action Effects 0.000 claims description 4
- 230000008859 change Effects 0.000 claims description 3
- 230000000903 blocking effect Effects 0.000 claims 2
- 125000004122 cyclic group Chemical group 0.000 description 3
- 238000012937 correction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000002787 reinforcement Effects 0.000 description 2
- 230000002441 reversible effect Effects 0.000 description 2
- 241000272525 Anas platyrhynchos Species 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 239000007789 gas Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/22—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft
- B64C27/24—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft with rotor blades fixed in flight to act as lifting surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C3/00—Wings
- B64C3/38—Adjustment of complete wings or parts thereof
- B64C3/56—Folding or collapsing to reduce overall dimensions of aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/12—Canard-type aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D35/00—Transmitting power from power plants to propellers or rotors; Arrangements of transmissions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/04—Ground or aircraft-carrier-deck installations for launching aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/25—Fixed-wing aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/10—Wings
- B64U30/12—Variable or detachable wings, e.g. wings with adjustable sweep
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
- B64U30/21—Rotary wings
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U70/00—Launching, take-off or landing arrangements
- B64U70/70—Launching or landing using catapults, tracks or rails
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C11/00—Pivots; Pivotal connections
- F16C11/04—Pivotal connections
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/13—Propulsion using external fans or propellers
- B64U50/14—Propulsion using external fans or propellers ducted or shrouded
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U70/00—Launching, take-off or landing arrangements
Definitions
- the present invention relates to a drone having a scalable wing, and a corresponding launcher.
- Application WO 2018/024567 discloses an evolving wing drone, comprising two wings connected to a rotor, the wing being able to evolve between a fast flight configuration where the rotor is stationary relative to the fuselage and a rotary wing flight configuration, where the rotor is driven in rotation relative to the fuselage.
- the invention aims to meet this need, according to a first of its aspects.
- the subject of the invention is thus a drone comprising a front part, an airfoil carried by a rotor situated behind the front part, and a propulsion propeller at the rear, the airfoil comprising two wings rotating with the rotor, the airfoil.
- a flight configuration where the rotor is stationary relative to the front part and the propulsion is provided by the propeller, and a flight configuration with rotary wing, where the rotor is rotated relatively to the front part, the rotor being connected to the front part with a possibility of orientation of its axis of rotation relative to the latter in order to be able to steer the drone in rotary wing configuration, playing on said orientation
- the drone With the ability to orient the rotor in forward flight in a rotary airfoil configuration, the drone can be steered horizontally, without having to provide complex cyclic pitch control at the link between the wings and the rotor.
- the drone comprising a stator carrying the rotor, the stator can be connected by at least one actuator to the front part, the actuator being arranged to modify the orientation of the stator relative to the front part when it is actuated.
- the drone comprises several actuators connecting the front part to the stator and making it possible, when actuated, to modify the orientation of the stator relative to the front part around at least two geometric axes. More preferably, the drone comprises three actuators connecting the front part to the stator, arranged at 120 ° to each other around the longitudinal axis of the stator. These actuators are preferably linear actuators, and are preferably each connected by a ball joint to the stator.
- the drone according to the invention can have a collective pitch control and a cyclic pitch control.
- Collective pitch control can be provided by actuators located in the wings. Cyclic pitch control is achieved by tilting the stator.
- the wings can pivot relative to the rotor to change their incidence, which makes it possible to change the collective pitch in the rotary airfoil configuration.
- the drone has a ball joint between the front part and the stator.
- a connection advantageously makes it possible to take up part of the mechanical forces between the front part and the stator.
- a deflector advantageously covers this connection, to make it possible to maintain continuity of the fuselage at the transition between the front part and the stator, despite changes in orientation of the latter.
- the drone has a motor to rotate the propeller propeller.
- This engine is preferably housed in the front part, a transmission line connecting the engine to the propulsion propeller, this transmission line comprising a transmission joint making it possible to transmit the drive from the engine to the propulsion propeller despite the orientation changes of the axis of rotation of the rotor relative to the front part.
- the drone is arranged such that the orienting movements of the axis of rotation of the rotor take place around a center of rotation on which the transmission joint is centered.
- the propeller and the rotor are driven by the same engine.
- the rotor can be driven via a planetary gear reducer.
- the drone may have a rear part carrying the propeller, the rotor rotating between the front and rear parts.
- each wing is connected to the rotor by a mast comprising an articulation allowing the wing to be folded over the fuselage during a launch phase of the drone, when the latter is contained in a launcher.
- the drone comprises a mechanism which makes it possible to block the hinge once the wing has been deployed.
- This locking mechanism may include a locking ring which comes in the locking position to cover the hinge and thus immobilize the mast in a configuration where it is coaxial with the ring.
- An actuator housed in the wing can generate a relative movement between the mast and the locking ring making it possible to bring the latter into its locking configuration.
- the variation of the incidence of the wing relative to the rotor can be obtained by a mechanism which transforms a rotational movement of an actuator into an axial displacement of the mast.
- the latter may include a first lug close to the actuator and a second lug close to the rotor. The two pins move together under the action of the actuator.
- the latter rotates a drive ring which has an axial slot in which the first lug is engaged.
- the first lug is also engaged in a helical slot of a tubular part fixed with the wing, integral with the locking ring.
- the second lug is engaged in a slot made on a tubular part which is fixed to the rotor, and which rotates with it.
- This slot has a first portion, which is linear and extends radially, and a second portion which is helical.
- a launcher that can be used to launch a drone as defined above, comprising a cover capable of housing the drone, and four boosters with vectorial thrust, to orient the launcher.
- the drone has folding wings, which can be folded back against the fuselage when the drone is contained in the launcher.
- the fairing comprises two articulated parts which are kept closed by the aerodynamic thrust during the evolution of the launcher at high speed.
- the drone has folding wings, which can be folded back against the fuselage when the drone is contained in the fairing.
- each booster comprises a deflector comprising a body which can pivot about a first axis of rotation, this body enclosing an element which can pivot about a second axis perpendicular to the first.
- the body may in particular be formed of two blocks which are assembled around a toroidal section constituting said element.
- a redundant actuator system controls the pivoting of the deflector along these two axes of rotation.
- FIG. 1 represents an example of a drone in fast flight configuration with fixed wing
- FIG. 2 represents the drone of FIG. 1 in a rotary wing configuration
- Figure 3 is a partial and schematic longitudinal section of the drone of Figures 1 and
- Figure 4 shows a detail of the connection between the stator and the front part of the drone, for a given orientation of the axis of rotation of the rotor
- Figure 5 is a view similar to Figure 4 for a different orientation of the axis of rotation of the rotor
- FIG 6 is a schematic exploded perspective view of the connection between the stator and the front part
- Figure 7 is a partial and schematic view of the rotor drive mechanism
- Figure 8 is a partial and schematic view, with longitudinal section, of the mechanism of Figure 7,
- FIG. 9 partially and schematically represents the connection between the wings and the rotor
- Figure 10 shows a detail of the connection between a wing and the rotor
- FIG 11 is a view similar to Figure 10 of another embodiment detail
- Figure 12 illustrates the folding of the wings along the fuselage, for launch
- FIG. 13 represents an example of a launcher in front view
- Figure 14 shows the launcher of Figure 13 in side view
- Figure 15 shows the launcher of Figure 13 in bottom view
- Figure 16 shows the launcher of Figure 13 in top view
- Figure 17 shows a detail of the assembly of a deflector
- FIG 18 Figure 18 partially and schematically illustrates the deflector orientation mechanism
- Figure 19 illustrates the opening of the launcher
- Figure 20 shows a connector allowing the drone to exchange information with the launcher, when present within it,
- Figure 21 is a longitudinal section, schematic and partial, of the mechanism integrated into the root of a wing
- FIG 22 represents the wing at the level of its root
- FIG 23 represents the mechanism of figure 21, from another angle of view
- FIG 24 is a view similar to Figure 23, from another viewing angle
- FIG 25 shows the mechanism of Figures 23 and 24, with the drive ring removed.
- the drone 1 according to the invention shown in Figures 1 and 2 comprises two movable wings 10 relative to the fuselage 2 between a configuration with fixed wing, corresponding to Figure 1, and a configuration with rotary wing, illustrated in Figure 2.
- the drone 1 has, at the rear, a propeller 3 shown schematically in Figure 2 and, at the front, ailerons 3 of duck plane.
- the rear part 5 of the drone 1 can carry ailerons and / or control surfaces 6.
- the wings 10 are fixed relative to the fuselage, with an inverted sweep configuration, which allows the drone to evolve like an airplane, in rapid flight.
- the reverse boom configuration offers a combination of advantages, including fuel efficiency with low drag, optimized lift and payload, improved maneuverability and greater tolerance to stall at very low engine speeds.
- the drone's fuselage has a central bay, with a prism section, which contributes to its lift.
- the wings 10 rotate with a rotor relative to the front part 4 of the drone, with opposite incidences.
- the wings 10 act like helicopter blades.
- the propeller 3 can then turn in the opposite direction of the wings 10, to serve as an anti-torque.
- the dorsal ridge of the prism section of the central bay is preferably placed facing the relative wind.
- the axis of rotation of the rotor is orientable relative to the front part 4, which makes it possible to control the progress of the drone in the rotary wing configuration.
- the drone 1 comprises a main electric motor 20, preferably of the brushless type, housed in the front part 4, and connected to the propeller 3 by a transmission line 30 comprising a shaft 31.
- the front part 4 houses three actuators 40 arranged at 120 ° to each other around the axis of rotation of the motor 20.
- These actuators 40 are linear actuators in the example considered, and each comprise a rod 41 movable axially relative to the shaft. body 42 of the actuator.
- the rods 41 are connected at their end by a ball joint 43 to a stator 50, and make it possible to control the orientation of the latter relative to the front part 4.
- the stator 50 comprises a peripheral skirt 51 in the form of a portion of a sphere, which forms a ball joint with an internal skirt 60 of corresponding shape of the front part 4.
- a deflector 61 mounted on the fuselage of the front part 4 partially covers the peripheral skirt 51 and ensures a certain continuity of the outer surface of the drone 1, for better aerodynamic performance.
- the wings 10 are carried by a rotor 70 which can rotate relative to the stator 50.
- the motor 20 preferably incorporates an electromagnetic eddy current brake and a rotor positioning sensor such as an optical encoder.
- the electromagnetic brake quickly brings the rotor 70 to a stop when it is launched at full power. Its position is continuously determined by the optical encoder, which allows the motor controller to reposition the rotor if necessary.
- a transmission mechanism 80 allows the rotor 70 to be driven with the motor 20.
- this mechanism 80 is of the epicyclic gearbox type, and comprises, as can be seen more particularly in FIG. 7, an internal sun gear 32 constituted by a pinion mounted on the shaft 31, a large ring 81 forming an integral part of the gear. rotor 70, and a planet carrier 82.
- the rotor 70 is guided by bearings 84 and 85 carried by the stator 50. When the latter is blocked, the rotation of the shaft 31 drives that of the rotor 70, with a reduction factor. In this case, the propeller 3 rotates in the opposite direction of the rotor 70.
- the rotor 70 can be locked in rotation.
- Actuators make it possible to selectively block the rotation of the planet carrier 82 or of the rotor 70.
- the transmission line 30 comprises a transmission joint 33 between the shaft 31 and the motor 20, which makes it possible to transmit the torque of the motor 20 to the shaft 31, while allowing freedom of orientation of the shaft. 31 relative to engine 20.
- This transmission joint 33 may be of the constant velocity type, and include, as illustrated in FIG. 6, a cage 34 provided on its inner surface with grooves 35 which house balls 36 ensuring the transmission of torque with an internal ball 37.
- the cage 34 of the constant velocity joint 33 and the ball joint formed between the skirts 51 and 60 are substantially concentric.
- the roots of the wings 10 comprise mats 11 connected to the rotor 70 and each comprising an articulation 12, visible in Figure 10, which allow the wings to be folded over the fuselage. , as shown in figure 12.
- a rotary actuator 13 is housed in each wing to modify their incidence in the rotary wing configuration or to block their incidence in the fixed wing configuration.
- each ring 18 is in the form of a cylindrical segment integral with its respective wing and provided with a pull reinforcement 17 perpendicular to its end.
- the reinforcement 17 follows the chord of the roots and fits into the profile of the wing, behind the leading edge.
- a mechanism transforms a rotational movement of the actuator 13 into an axial displacement of the mast 11.
- the latter may include a first lug 311 close to the actuator and a second lug 312 close to the rotor.
- the two pins 311 and 312 move together under the action of the actuator 13.
- the latter drives in rotation a drive ring 320 which has an axial slot 321 in which the first lug 311 is engaged.
- the first lug 311 is also engaged in a helical slot 325 of a tubular part 330 fixed with the wing, integral with the locking ring 18.
- a rotation of the drive ring 320 is accompanied by a displacement. axial of the mast 11 relative to the locking ring 18 and to the fixed tubular part 330.
- the second lug 312 is engaged in a slot 340 formed on a tubular part 341 which is fixed to the rotor 70, and which rotates with it.
- This slot 340 has a first portion 343, which is linear and extends radially, and a second portion 344 which is helical.
- the first portion 343 serves to lock the wing 10 in the fixed wing advancement configuration.
- the second portion 344 makes it possible to modify the incidence of the wing 10 in the rotary airfoil configuration, in order to vary the collective pitch.
- the actuators 13 can be supplied from the rotor by rotary collectors.
- the actuators can be checked by power lines, for example.
- the asymmetry between the propeller 3 and the rotor 70 is mechanically compensated by the epicyclic gear which adjusts the number of revolutions per minute between the two.
- the volume of air swept by the propeller 30 is preferably substantially equal to the volume of air swept by the wings 10 rotating with the rotor.
- the drone 1 can be launched while being contained with all wings folded, as illustrated in FIG. 12, in a launcher 100 such as that represented in FIGS. 13 to 19.
- this launcher is capable of maneuvering at high velocity and, during the launch phase, borrows the flight characteristics of a surface-to-air missile.
- the launcher comprises a cap 101 of circular section and a cruciform tail 102.
- the maneuverability and controllability of the launcher are ensured by four 120 boosters arranged symmetrically around the fairing.
- the cover 101 comprises two shells, connected below by a joint 103, visible in FIG. 15.
- the symmetrical thrust of the four boosters 120 helps to keep the fairing 101 closed until their deceleration phase.
- Vector thrust optimizes positioning times with a very tight turn between vertical ejection and horizontal flight. Regardless of its maneuverability, the use of vector thrust makes it possible to maintain control of the launcher with three boosters in the event of a failure of one of the boosters.
- the four 120 boosters each have two degrees of freedom (vertical and horizontal), resulting in vector propulsion.
- Each booster is directly connected to a deflector 122 which forces the gases to borrow an toroidal section 123 with an integrated nozzle, visible in FIG. 17, ensuring the horizontal corrections.
- the vertical corrections are made by the body of the deflector, composed of two blocks 124 which encapsulate the toric section 123. The latter can pivot about an axis of rotation X relative to the body of the deflector formed by the blocks 124.
- the section 123 is produced. with ends of diametrically opposed axes 127, which are received in corresponding openings of the body of the deflector, these openings being formed by the meeting of notches 126 present on each of the blocks 124.
- Each block 124 comprises half-ends of diametrically opposed axes, which form when the blocks 124 are joined together of the ends of axes 128, as illustrated in FIG. 18, making it possible to orient the deflector around an axis of rotation Y perpendicular to the X axis.
- Each actuator system 125 of a booster baffle 120 is preferably provided with symmetrical redundancy regarding the control in rotation about both the X axis and the Y axis, ensuring system reliability.
- the body of the deflector can carry two actuators each connected to a respective end of axle 127, in order to control the tilting of the toric section 123 relative to the body of the deflector, and the latter can pivot around the axis Y under the action of two actuators each connected to an end of axis 128 by means of a respective link mechanism 150.
- the air flow exerts pressure on the convex deflection surface of the fairing and the separation takes place at a controlled velocity during deceleration.
- the launcher opening velocity is controlled by concomitant measurements of the air pressure, for example using a Pitot tube, and the mechanical pressure exerted on the fuselage, for example by means of a piezoelectric pressure sensor.
- the fairing 101 opens, as illustrated in Figure 19, and ejects the drone 1 which can continue its flight in fixed wing or rotary wing configuration. Once the mission is completed, the drone 1 can be recovered by an autonomous ground system with which it communicates.
- the drone can comprise, as illustrated in FIG. 20, a connector 300 connected to a corresponding connector present on the launcher (not visible) for the exchange of data between the two, and in particular allowing the control of the boosters and the deflectors by the electronics of the drone during the launch phase.
- the connectors separate.
- the connector 300 may be present on the ventral face of the fuselage.
- the drone is gyrostabilized by motors equipped with small propellers housed in the fuselage. These motors play no role in the lift of the drone, and their ability is strictly limited to produce anti-torque thrust and create a moment that allows an approach path to be maintained at a given angle during landing.
- the openings can be closed by a circular slide mechanism integrated into the nose of the cell. The mechanism can be passive and the slide can return to its position by gravity. In the event of a reversion of the wing configuration (rotating wing / fixed wing), the extension generated by the slide shifts the center of gravity towards the rear of the platform, thus helping to increase its stability at low engine speeds. At high speed, the slide retracts under the pressure of the relative wind.
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Toys (AREA)
- Transmission Devices (AREA)
- Structures Of Non-Positive Displacement Pumps (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1912888A FR3103174B1 (en) | 2019-11-19 | 2019-11-19 | DRONE |
PCT/EP2020/082443 WO2021099334A1 (en) | 2019-11-19 | 2020-11-17 | Drone |
Publications (1)
Publication Number | Publication Date |
---|---|
EP4061710A1 true EP4061710A1 (en) | 2022-09-28 |
Family
ID=71452274
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP20804577.3A Withdrawn EP4061710A1 (en) | 2019-11-19 | 2020-11-17 | Drone |
Country Status (4)
Country | Link |
---|---|
US (1) | US12054255B2 (en) |
EP (1) | EP4061710A1 (en) |
FR (1) | FR3103174B1 (en) |
WO (1) | WO2021099334A1 (en) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3999420A4 (en) | 2019-08-14 | 2023-07-26 | Unmanned Aerospace LLC | Aerial vehicle |
Family Cites Families (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3116040A (en) * | 1961-06-26 | 1963-12-31 | Us Industries Inc | Supersonic rotary wing platform |
US6056237A (en) * | 1997-06-25 | 2000-05-02 | Woodland; Richard L. K. | Sonotube compatible unmanned aerial vehicle and system |
JP4499155B2 (en) * | 2004-04-14 | 2010-07-07 | アールトン,ポール,イー. | Rotor transportation means |
DE102004061977B4 (en) * | 2004-12-23 | 2008-04-10 | Lfk-Lenkflugkörpersysteme Gmbh | Small Missile |
US8492692B2 (en) * | 2010-04-30 | 2013-07-23 | Elbit Systems Of America, Llc | Unmanned aerial vehicle based sonar buoy |
US9004393B2 (en) * | 2010-10-24 | 2015-04-14 | University Of Kansas | Supersonic hovering air vehicle |
US10054939B1 (en) * | 2012-09-22 | 2018-08-21 | Paul G. Applewhite | Unmanned aerial vehicle systems and methods of use |
US9789950B1 (en) * | 2013-04-24 | 2017-10-17 | Bird Aerospace Llc | Unmanned aerial vehicle (UAV) with multi-part foldable wings |
US11117649B2 (en) * | 2015-11-11 | 2021-09-14 | Area-I Inc. | Foldable propeller blade with locking mechanism |
FR3054825B1 (en) | 2016-08-02 | 2018-08-24 | De Perera Sylvain Roldan | DRONE |
US10407169B2 (en) * | 2016-08-30 | 2019-09-10 | Bell Textron Inc. | Aircraft having dual rotor-to-wing conversion capabilities |
WO2018187844A1 (en) * | 2017-04-13 | 2018-10-18 | Iridium Dynamics Pty Ltd | Dual flight mode aircraft |
US11027840B2 (en) * | 2017-08-29 | 2021-06-08 | Hangzhou Zero Zero Technology Co., Ltd. | Autonomous self-stabilizing aerial system and method |
US10946956B2 (en) * | 2018-08-30 | 2021-03-16 | Textron Innovations Inc. | Unmanned aerial systems having out of phase gimballing axes |
-
2019
- 2019-11-19 FR FR1912888A patent/FR3103174B1/en not_active Expired - Fee Related
-
2020
- 2020-11-17 WO PCT/EP2020/082443 patent/WO2021099334A1/en unknown
- 2020-11-17 US US17/778,152 patent/US12054255B2/en active Active
- 2020-11-17 EP EP20804577.3A patent/EP4061710A1/en not_active Withdrawn
Also Published As
Publication number | Publication date |
---|---|
WO2021099334A1 (en) | 2021-05-27 |
FR3103174B1 (en) | 2021-12-03 |
US12054255B2 (en) | 2024-08-06 |
FR3103174A1 (en) | 2021-05-21 |
US20230002045A1 (en) | 2023-01-05 |
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