ES2666270A1 - DRON MULTI-ROTOR WITH CROSS REACTIVE STABILITY SYSTEM (Machine-translation by Google Translate, not legally binding) - Google Patents

DRON MULTI-ROTOR WITH CROSS REACTIVE STABILITY SYSTEM (Machine-translation by Google Translate, not legally binding) Download PDF

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Publication number
ES2666270A1
ES2666270A1 ES201830077A ES201830077A ES2666270A1 ES 2666270 A1 ES2666270 A1 ES 2666270A1 ES 201830077 A ES201830077 A ES 201830077A ES 201830077 A ES201830077 A ES 201830077A ES 2666270 A1 ES2666270 A1 ES 2666270A1
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Spain
Prior art keywords
rotor
chassis
cross reactive
stability system
drone
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Granted
Application number
ES201830077A
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Spanish (es)
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ES2666270B2 (en
Inventor
Pablo Flores Peña
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Drone Hopper S L
Drone Hopper SL
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Drone Hopper S L
Drone Hopper SL
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Priority to ES201830077A priority Critical patent/ES2666270B2/en
Publication of ES2666270A1 publication Critical patent/ES2666270A1/en
Priority to PCT/ES2019/070017 priority patent/WO2019145584A1/en
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Classifications

    • A—HUMAN NECESSITIES
    • A62—LIFE-SAVING; FIRE-FIGHTING
    • A62C—FIRE-FIGHTING
    • A62C3/00—Fire prevention, containment or extinguishing specially adapted for particular objects or places
    • A62C3/02—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires
    • A62C3/0228—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires with delivery of fire extinguishing material by air or aircraft
    • A62C3/0242—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires with delivery of fire extinguishing material by air or aircraft by spraying extinguishants from the aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C29/00—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft
    • B64C29/0008—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft having its flight directional axis horizontal when grounded
    • B64C29/0016—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft having its flight directional axis horizontal when grounded the lift during taking-off being created by free or ducted propellers or by blowers
    • B64C29/0025—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft having its flight directional axis horizontal when grounded the lift during taking-off being created by free or ducted propellers or by blowers the propellers being fixed relative to the fuselage
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C25/00—Alighting gear
    • B64C25/02—Undercarriages
    • B64C25/06—Undercarriages fixed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
    • B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
    • B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
    • B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/11—Propulsion using internal combustion piston engines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/60—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons

Abstract

Multi-rotor drone with cross-reactive stability system. The drone of the invention materializes in a hexacóptero in which the main rotors are distributed according to two parallel alignments of three engines, so that the engines are embodied in thermal engines, synchronized with each other so that the chassis (1) of the drone is keep at all times in horizontal position, which significantly improves the stability of the whole. To move horizontally, it is provided that under the main propellers (3) are established perpendicular to its axis of rotation, flaps (5) controlled by servo-motors, and governed by a control unit, which is fed through generators associated with the axes of the thermal engines. The chassis includes means for control of rotation and yaw with respect to the horizontal plane, as well as an additional system of security against gusts of wind or failure of one of the engines, distributing the load, preferably tanks (8) of water, vertically in the direction of thrust of each rotor, which also helps in the stability of the drone during its displacements. (Machine-translation by Google Translate, not legally binding)

Description

OBJETO DE LA INVENCiÓN OBJECT OF THE INVENTION

La presente invención se refiere a un dron multi-rotor, y mas concretamente a un hexacóptero, cuya especial estructuración lo hace sumamente estable en sus desplazamientos, ideal para el transporte de cargas de elevado peso, como por ejemplo agua destinada a la extinción de incendios. The present invention relates to a multi-rotor drone, and more specifically to a hexacopter, whose special structuring makes it extremely stable in its displacements, ideal for the transport of heavy loads, such as water intended for firefighting .

El objeto de la invención es proporcionar por tanto un dron multi-rotor con alta capacidad de carga y reducido peso, que mantenga la horizontalidad en todo momento, indistintamente de la dirección en la que se desplace, todo ello con unos sistemas de estabilidad reactiva cruzado ante ráfagas, turbulencias o fallo de algún motor, que permitan asegurar dicha estabilidad en todo momento, lo cual resulta determinante cuando se transportan cargas tales como fluidos u otras cargas de elevada inercia. The object of the invention is therefore to provide a multi-rotor drone with high load capacity and reduced weight, which maintains horizontality at all times, regardless of the direction in which it travels, all with cross reactive stability systems. in case of gusts, turbulence or failure of any engine, which allows to ensure said stability at all times, which is decisive when transporting loads such as fluids or other loads of high inertia.

ANTECEDENTES DE LA INVENCiÓN BACKGROUND OF THE INVENTION

En el ámbito de aplicación práctica de la invención, el de los drones multi-rotor, este tipo de dispositivos si bien cuando se desplazan exclusivamente en dirección vertical mantienen su horizontalidad, para poder desplazarse en una dirección con una componente horizontal, consiguen dicha componente horizontal de fuerza mediante la inclinación del dispositivo. In the practical scope of the invention, that of multi-rotor drones, these types of devices, although when they move exclusively in the vertical direction, maintain their horizontality, in order to move in a direction with a horizontal component, they achieve said horizontal component of force by tilting the device.

Esta solución resulta peligrosa ante ráfagas de aire y turbulencias, debido a su baja estabilidad, estabilidad que se ve afectada en mayor medida cuando el dron está destinado a transportar determinadas cargas, y más aún cuando dichas cargas no son estáticas, como por ejemplo cuando el dron está destinado a la extinción de incendios, en donde la carga de agua es susceptible de desplazarse en el interior de los depósitos, afectando muy negativamente a la estabilidad del dron. This solution is dangerous to air bursts and turbulence, due to its low stability, stability that is affected to a greater extent when the drone is destined to transport certain loads, and even more so when these loads are not static, such as when the Drone is intended for firefighting, where the water load is likely to move inside the tanks, very negatively affecting the stability of the drone.

Tratando de obviar esta problemática, son conocidos drones como el descrito en la patente US 5890441 , en la que se describe un dron constituido por un chasis con dos hélices principales movidas por uno o dos motores térmicos para despegue y empuje vertical, contando con hélices para el empuje horizontal, de manera que el dron no sea necesario Trying to avoid this problem, drones such as the one described in US 5890441 are known, in which a drone consisting of a chassis with two main propellers moved by one or two thermal motors for takeoff and vertical thrust is described, with propellers for horizontal thrust, so that the drone is not necessary

5 que se incline durante su desplazamiento. 5 that tilts during its movement.

Si bien este dispositivo en condiciones normales soluciona la problemática anteriormente expuesta, ante el fallo de uno de los rotores principales se desequilibraría, y entraría en pérdida de manera irreversible. Although this device under normal conditions solves the problem described above, if one of the main rotors fails, it will become unbalanced, and will irreversibly lose.

10 Esta problemática, (la referente al fallo de uno de los rotores) se incrementa sensiblemente cuando el dron está destinado a portar cargas de elevado peso, en las que la inercia de dicho peso es determinante. 10 This problem (referring to the failure of one of the rotors) is significantly increased when the drone is intended to carry heavy loads, in which the inertia of said weight is decisive.

15 DESCRIPCiÓN DE LA INVENCiÓN 15 DESCRIPTION OF THE INVENTION

El dron multi-rotor que se preconiza resuelve de forma plenamente satisfactoria la problemática anteriormente expuesta, en base a una estructuración que garantiza en todo The multi-rotor drone that is recommended solves in a fully satisfactory way the problem previously exposed, based on a structuring that guarantees in all

20 momento la horizontalidad de su chasis o bastidor, y consecuentemente de la carga, indistintamente de la dirección en la que se desplace dicho dron, pudiéndose estabilizar perfectamente ante fuertes ráfagas de viento o incluso el fallo de uno de sus rotores. 20 moment the horizontality of its chassis or frame, and consequently of the load, regardless of the direction in which said drone moves, being able to stabilize perfectly before strong gusts of wind or even the failure of one of its rotors.

Para ello, y de forma mas concreta, el dron de la invención se constituye a partir de un To do this, and more specifically, the drone of the invention is constituted from a

25 chasis esencialmente rectangular en el que se establecen dos alineaciones paralelas de tres motores térmicos cada una, acoplados a respectivas hélices principales del dispositivo, y cuyo eje de giro esta asociado en oposición a dichas hélices a respectivos pequeños generadores eléctricos, cuya función se expondra con posterioridad. 25 essentially rectangular chassis in which two parallel alignments of three thermal motors each are established, coupled to respective main propellers of the device, and whose axis of rotation is associated in opposition to said propellers to respective small electric generators, whose function will be exposed with later.

30 Los motores estarán sincronizados entre sí y controlados por una centralita de control electrónica a través de la que se controlará el dron de forma remota. 30 The motors will be synchronized with each other and controlled by an electronic control unit through which the drone will be controlled remotely.

La citada sincronización en giro de las seis hélices garantiza la horizontalidad del dispositivo tanto si éste se mueve en vertical, horizontal o diagonal, de manera que para controlar los desplazamientos con componente horizontal se ha previsto que bajo cada una de las hélices, y en disposición perpendicular a su eje de giro, se dispongan respectivos flaps asistidos por servo-motores, y controlados mediante la citada centralita. The aforementioned rotation synchronization of the six propellers guarantees the horizontality of the device whether it moves vertically, horizontally or diagonally, so that to control the displacements with horizontal component it is provided that under each of the propellers, and in arrangement perpendicular to its axis of rotation, respective flaps assisted by servo motors are arranged, and controlled by the said control unit.

Así pues, los flaps se distribuirán sobre el bastidor en dos direcciones perpendiculares entre sí. Thus, the flaps will be distributed on the frame in two directions perpendicular to each other.

A partir de esta estructuración, cuando los flaps se dispongan en disposición vertical se verán mínimamente afectados por el flujo de aire propulsado por las hélices, mientras que cuando éstos adopten una disposición inclinada sufrirán un empuje por parte del flujo de aire generado por las hélices que determinará una componente de fuerza horizontal que provocará el desplazamiento horizontal del dron, configuración que, a diferencia de los drones convencionales multi-rotor, asegurará que el dispositivo se desplace adoptando una disposición totalmente horizontal, mejorando sensiblemente la estabilidad del vehículo. From this structuring, when the flaps are arranged in a vertical arrangement, they will be minimally affected by the flow of air propelled by the propellers, while when they adopt an inclined arrangement they will suffer a thrust from the air flow generated by the propellers It will determine a horizontal force component that will cause horizontal drone displacement, a configuration that, unlike conventional multi-rotor drones, will ensure that the device moves by adopting a completely horizontal layout, significantly improving vehicle stability.

Si bien a partir de esta estructura es posible controlar el desplazamiento del dron en todas direcciones, para controlar su giro y guiñada con respecto al plano horizontal, en correspondencia con los dos extremos del bastidor del dispositivo se han incorporado respectivas parejas de turbinas eléctricas, con su eje de giro en disposición horizontal, y que se alimentan a través de la energía generada por los generadores asociados a cada uno de los rotores principales del dispositivo, y controladas igualmente por la centralita de control. Although from this structure it is possible to control the drone movement in all directions, to control its rotation and yaw with respect to the horizontal plane, corresponding pairs of electric turbines have been incorporated in correspondence with the two ends of the frame of the device, with its axis of rotation in horizontal arrangement, and that are fed through the energy generated by the generators associated with each of the main rotors of the device, and also controlled by the control unit.

Opcionalmente, estas pequeñas turbinas podrían ser sustituidas igualmente por pequeños motores térmicos asociados a hélices de menor tamaño. Optionally, these small turbines could also be replaced by small thermal engines associated with smaller propellers.

Cabe destacar el hecho de que al estar los motores térmicos alineados con el flujo de aire generado por las hélices, estos dispondrán de una óptima refrigeración, siendo una solución idónea para el objeto de la presente invención, el transporte de cargas elevadas de agua u otro tipo de carga, dado que no necesitan de pesadas baterías como en el caso de los motores eléctricos, pudiéndose ofrecer capacidades de carga sumamente elevadas, en función de la potencia de dichos motores térmicos. It should be noted that since the thermal motors are aligned with the air flow generated by the propellers, they will have optimum cooling, being an ideal solution for the purpose of the present invention, the transport of high water loads or other type of load, since they do not need heavy batteries as in the case of electric motors, being able to offer extremely high load capacities, depending on the power of said thermal motors.

Otro factor que afecta determinantemente a la estabilidad del dron es que la carga en vez de distribuirse uniformemente por toda la superficie del chasis del dispositivo, se divide en seis depósitos independientes de idéntico peso y capacidad , que se distribuyen vertical y centradamente bajo el eje de giro de cada motor térmico, afectando de forma determinante a su estabilidad al estar alineada la carga con la dirección de empuje. Another factor that decisively affects the stability of the drone is that the load instead of being distributed evenly across the entire surface of the chassis of the device, is divided into six independent tanks of identical weight and capacity, which are distributed vertically and centered under the axis of rotation of each thermal motor, affecting its stability decisively when the load is aligned with the thrust direction.

De acuerdo con otra de las características esenciales de la invención, se ha previsto que el dron cuente con un sistema de seguridad o de emergencia ante descompensaciones por ráfagas de viento, turbulencias o fallo de uno de los rotores, de manera que el chasis principal, de configuración esencialmente rectangular, presenta en correspondencia con In accordance with another of the essential features of the invention, it is envisioned that the drone has a safety or emergency system against decompensations due to wind gusts, turbulence or failure of one of the rotors, so that the main chassis, essentially rectangular configuration, presents in correspondence with

10 sus vértices cuatro pequeñas turbinas eléctricas, de eje vertical, que se alimentarán en caso de desestabilización a través del generador asociado al motor térmico opuesto lo que contribuye a mantener la horizontalidad del dispositivo. Estas turbinas producen un potente momento de giro casi instantáneo que se suma al creado al obtener la energía eléctrica del rotor en oposición , multiplicando así su efecto. 10 its vertices four small electric turbines, of vertical axis, that will be fed in case of destabilization through the generator associated to the opposite thermal motor which contributes to maintaining the horizontality of the device. These turbines produce a powerful moment of almost instantaneous rotation that adds to the one created by obtaining the electric energy of the opposing rotor, thus multiplying its effect.

15 El dispositivo de la invención está preferentemente ideado para la extinción de incendios, si bien podría ser utilizado para el transporte de otro tipo de cargas, de manera que, los citados depósitos de agua, tal y como se ha dicho con anterioridad se disponen adoptando una disposición alargada verticalmente bajo los motores térmicos, pudiendo estar el The device of the invention is preferably designed for extinguishing fires, although it could be used for the transport of other types of cargo, so that the aforementioned water tanks, as previously stated, are arranged by adopting a vertically elongated arrangement under the thermal motors, the

20 depósito de combustible de dicho motor térmico, debidamente aislado, sumergido en dichos depósitos, para mayor seguridad, conjunto que estará debidamente protegido por un carenado aerodinámico, de manera que los mismos se descargen controladamente a través de su extremidad inferior, mediante cualquier sistema controlable eléctricamente a través de la centralita, con la ventaja de que, al estar la salida del agua bajo el flujo de aire 20 fuel tank of said thermal motor, properly insulated, submerged in said tanks, for greater safety, set that will be duly protected by an aerodynamic fairing, so that they are discharged in a controlled way through its lower extremity, by any controllable system electrically through the switchboard, with the advantage that, when the water outlet is under the air flow

25 de impulsión del dispositivo, dicho flujo provoca la nebulización del agua descargada, lo que optimiza el consumo de dicho fluido, en orden a maximizar la superficie a tratar. 25 of driving the device, said flow causes the fogging of the discharged water, which optimizes the consumption of said fluid, in order to maximize the surface to be treated.

Los propios depósitos sirven como elementos de apoyo o patas a la hora de aterrizar el dispositivo. The deposits themselves serve as support elements or legs when landing the device.

30 Una vez descargada la carga de agua, el propio dispositivo podría ser utilizado para transportar heridos o cualquier otro tipo de carga que fuera necesaria, para lo cual el bastidor principal del dron incluirá en su zona inferior medios de anclaje para la fijación de camillas o carga de que se trate. 30 Once the water load has been unloaded, the device itself could be used to transport wounded or any other type of load that is necessary, for which the main frame of the drone will include in its lower area anchoring means for fixing stretchers or Charge in question.

La independencia de los depósitos y el control selectivo de vaciado de los mismos puede igualmente ser utilizado para estabilizar la aeronave en caso de fallo de uno de sus rotores, permitiendo descargar exclusivamente de forma parcial o total, según sea necesario, el The independence of the tanks and the selective control of their emptying can also be used to stabilize the aircraft in the event of failure of one of its rotors, allowing it to discharge only partially or totally, as necessary, the

5 contenido de éste. Esta característica permite cambiar el centro de gravedad del dron dinámicamente, de forma que se adapte a la configuración de motores resultante tras el fallo. 5 content of this one. This feature allows you to change the center of gravity of the drone dynamically, so that it adapts to the engine configuration resulting after the fault.

Se consigue de esta forma un dispositivo ligero, de bajo coste y fácilmente escalable en In this way a light, low cost and easily scalable device is achieved in

10 función de las necesidades de carga de cada caso, sumamente estable en sus desplazamientos, lo que resulta determinante a la hora de transportar fluidos, dada la inercia de los mismos. 10 function of the load needs of each case, extremely stable in its displacements, which is decisive when transporting fluids, given their inertia.

15 DESCRIPCiÓN DE LOS DIBUJOS 15 DESCRIPTION OF THE DRAWINGS

Para complementar la descripción que seguidamente se va a realizar y con objeto de ayudar a una mejor comprensión de las características del invento, de acuerdo con un ejemplo preferente de realización práctica del mismo, se acompaña como parte integrante To complement the description that will then be made and in order to help a better understanding of the characteristics of the invention, according to a preferred example of practical implementation thereof, it is accompanied as an integral part

20 de dicha descripción, un juego de planos en donde con carácter ilustrativo y no limitativo, se ha representado lo siguiente: 20 of said description, a set of drawings where, for illustrative and non-limiting purposes, the following has been represented:

La figura 1.-Muestra una vista esquemática en planta superior de un dron multi-rotor realizado de acuerdo con el objeto de la invención. Figure 1 shows a schematic top plan view of a multi-rotor drone made in accordance with the object of the invention.

La figura 2.-Muestra una vista en alzado del conjunto de la figura anterior. Figure 2.- Shows an elevation view of the assembly of the previous figure.

La figura 3.-Muestra una vista en perfil del dron de las figuras anteriores. Figure 3.- Shows a profile view of the drone of the previous figures.

30 La figura 4.-Muestra, finalmente, un detalle ampliado y en sección del dron a nivel de uno de sus depósitos de agua. 30 Figure 4.- It shows, finally, an enlarged and sectional detail of the drone at the level of one of its water tanks.

REALIZACiÓN PREFERENTE DE LA INVENCiÓN PREFERRED EMBODIMENT OF THE INVENTION

A la vista de las figuras reseñadas, puede observarse como el dron de la invención se constituye a partir de un chasis (1) esencialmente rectangular, en el que se establecen dos alineaciones paralelas de tres motores térmicos (2) cada una, acoplados a respectivas hélices principales (3), cuyo eje de giro está asociado en oposición a dichas hélices a In view of the figures outlined, it can be seen how the drone of the invention is constituted from an essentially rectangular chassis (1), in which two parallel alignments of three thermal motors (2) each, coupled to respective ones, are established main propellers (3), whose axis of rotation is associated in opposition to said propellers to

5 respectivos pequeños generadores eléctricos, de manera que los motores están sincronizados entre sí y controlados por una centralita electrónica a través de la que se controla el dron de forma remota , estando todos los elementos eléctricos y electrónicos que participan en el dispositivo alimentados por los generadores asociados a los motores térmicos (2). 5 respective small electric generators, so that the motors are synchronized with each other and controlled by an electronic control unit through which the drone is controlled remotely, all the electrical and electronic elements participating in the device being powered by the generators associated with thermal motors (2).

10 El número de motores térmicos (2) elegido, concretamente seis, resulta determinante, dado que el dispositivo puede escalarse en función de la capacidad de carga que se precise, pudiendo incluso las hélices principales (3) disponerse a distintas alturas para permitir aproximar más entre sí dichos motores, asegurando dicho número la supervivencia del 10 The number of thermal motors (2) chosen, specifically six, is decisive, given that the device can be scaled according to the required load capacity, even the main propellers (3) can be arranged at different heights to allow closer approximation. each other said motors, said number assuring the survival of the

15 dispositivo ante el fallo de uno de los motores y siendo óptimo frente a la utilización de un número de motores mayor de menor potencia y tamaño, mientras que el uso de un número menor de motores no permitiría estabilizar la aeronave en caso de que uno de dichos rotores fallara. 15 device before the failure of one of the engines and being optimal against the use of a larger number of engines of smaller power and size, while the use of a smaller number of engines would not allow stabilizing the aircraft in case one of Such rotors will fail.

20 En cualquier caso, y como se ha dicho con anterioridad, la sincronización en giro de las seis hélices principales (3) garantiza la horizontalidad del dispositivo tanto si éste se mueve en vertical, horizontal o diagonal, habiéndose previsto que bajo dichas hélices, se dispongan respectivos f1aps (5) cuyo eje de giro es perpendicular al eje de giro de las hélices, asistidos por servo-motores, y controlados mediante la citada centralita. 20 In any case, and as stated above, the synchronization in rotation of the six main propellers (3) guarantees the horizontality of the device whether it moves vertically, horizontally or diagonally, provided that under said propellers, have respective f1aps (5) whose axis of rotation is perpendicular to the axis of rotation of the propellers, assisted by servo motors, and controlled by the said control unit.

25 Dichos flaps (5) se disponen en dos direcciones perpendiculares entre sí para controlar el desplazamiento en el plano horizontal, si bien, para controlar el giro y la giñada del dispositivo se ha previsto que el bastidor (1) cuente en sus extremos con respectivas parejas de turbinas eléctricas de eje horizontal (6) que se alimentan a través de la energía 25 Said flaps (5) are arranged in two directions perpendicular to each other to control the movement in the horizontal plane, although, to control the rotation and rotation of the device it is provided that the frame (1) has at its ends with respective pairs of horizontal axis electric turbines (6) that feed through energy

30 generada por los generadores asociados a cada uno de los rotores principales del dispositivo, y controladas igualmente por la centralita de control. 30 generated by the generators associated with each of the main rotors of the device, and also controlled by the control unit.

Opcionalmente, estas pequeñas turbinas podrían ser sustituidas igualmente por pequeños motores térmicos asociados a respectivas hélices de menor tamaño. Optionally, these small turbines could also be replaced by small thermal engines associated with respective smaller propellers.

Como sistema de emergencia ante ráfagas de viento, turbulencias o fallo de algún rotor, se ha previsto que el chasis principal, de configuración esencialmente rectangular, presente en correspondencia con sus vértices cuatro pequeñas turbinas eléctricas de eje vertical (7), que se alimentan en caso de desestabilización a través del generador asociado al motor térmico opuesto, asegurando en todo momento la horizontalidad del dispositivo. Estas turbinas producen un potente momento de giro casi instantáneo que se suma al creado al obtener la energía eléctrica del rotor en oposición, multiplicando así su efecto. As an emergency system in case of wind gusts, turbulence or failure of a rotor, it is provided that the main chassis, essentially rectangular in configuration, has four small vertical axis electric turbines (7) corresponding to its vertices, which are fed into case of destabilization through the generator associated with the opposite thermal motor, ensuring at all times the horizontality of the device. These turbines produce a powerful moment of almost instantaneous rotation that adds to the one created by obtaining the electric energy of the opposing rotor, thus multiplying its effect.

Tal y como se ha dicho con anterioridad, la carga se divide en seis depósitos (8) de idéntico peso y capacidad, alargados verticalmente y que quedan alineados con la dirección de empuje de cada motor térmico (2), lo que influye muy positivamente en la estabilidad del aparato. As previously stated, the load is divided into six tanks (8) of identical weight and capacity, elongated vertically and that are aligned with the thrust direction of each thermal motor (2), which has a very positive influence on The stability of the device.

Tal y como se puede observar en el detalle de la figura 4, cada depósito (8) se dispondrá inferiormente al respectivo motor térmico (2), de manera que su tanque de combustible (9), debidamente aislado, podría incluso ir sumergido en el agua contenida en el depósito (8), como elemento adicional de seguridad. As can be seen in the detail of figure 4, each tank (8) will be disposed inferiorly to the respective thermal engine (2), so that its fuel tank (9), properly insulated, could even be submerged in the water contained in the tank (8), as an additional safety element.

El conjunto estará asistido por una carena (10) aerodinámica, que también hará las veces de patas o medios de apoyo en el aterrizaje, contando dichos depósitos en su zona inferior con medios de apertura (11 ) controlados electrónicamente por la centralita que permitan la salida controlada del agua, la cual, como se ha dicho con anterioridad, al estar dispuesta bajo el flujo de aire de impulsión del dispositivo, dicho flujo provoca la nebulización del agua descargada, lo que optimiza el consumo de dicho fluido, en orden a maximizar la superficie incendiada a cubrir. En tal sentido, no es preciso sistemas de bombeo adicionales, ya que el agua cae por gravedad, y por efecto de succión de la presión dinámica. The set will be assisted by an aerodynamic fairing (10), which will also act as legs or support means at the landing, counting said deposits in its lower area with opening means (11) electronically controlled by the switchboard that allow the exit controlled of the water, which, as it has been said before, being arranged under the flow of supply air of the device, said flow causes the fogging of the discharged water, which optimizes the consumption of said fluid, in order to maximize the burned surface to cover. In this sense, no additional pumping systems are necessary, since the water falls by gravity, and by the effect of dynamic pressure suction.

Ante el fallo de alguno de los motores/rotores, el dispositivo podrá vaciar selectivamente el depósito de agua asociado al mismo, en virtud de sus medios de descarga independientes, en orden a facilitar las maniobras de auto-estabilización de la aeronave. Esta característica permite cambiar el centro de gravedad del dron dinámicamente, de forma que se adapte a la configuración de motores resultante tras el fallo. In the event of the failure of any of the engines / rotors, the device may selectively empty the water tank associated therewith, by virtue of its independent discharge means, in order to facilitate the self-stabilization maneuvers of the aircraft. This feature allows you to change the center of gravity of the drone dynamically, so that it adapts to the engine configuration resulting after the fault.

Solo resta señalar por último que el chasis o bastidor (1) incorporará en puntos estratégicos medios de anclaje (12) que podrían ser utilizados para transportar heridos o cualquier otro tipo de carga que fuera necesaria, una vez descargado el agua contenida en sus It only remains to point out finally that the chassis or frame (1) will incorporate at strategic points anchoring means (12) that could be used to transport wounded or any other type of load that was necessary, once the water contained in its

5 depósitos. 5 deposits

El dispositivo así descrito es fácilmente escalable en función de las necesidades específicas de cada caso, pudiéndose desarrollar dispositivos de gran capacidad de carga en base a la inclusión de motores térmicos de gran potencia, pudiendo por tanto llegar a The device thus described is easily scalable according to the specific needs of each case, being able to develop devices with high load capacity based on the inclusion of high-power thermal motors, and can therefore reach

10 dispositivos con capacidad de carga igualo mayor que la de un hidroavión. 10 devices with a load capacity equal to or greater than that of a seaplane.

Claims (2)

REIVINDICACIONES 18 ._ Dran multi-rolor con sistema de estabilidad reactivo cruzado, caracterizado porque está constituido a partir de un chasis (1) en el que se establecen dos alineaciones paralelas de tres motores térmicos (2) cada una, motores asociados a respectivas hélices principales (3), cuyo eje de giro está asociado a su vez a respectivos generadores eléctricos, motores térmicos (2) sincronizados entre sí y controlados por una centralita electrónica, con la particularidad de que como medios de desplazamiento horizontal bajo las hélices principales (3) se establecen f1aps (5) cuyo eje de giro es perpendicular al eje de giro de las hélices principales (3), f1aps (5) controlados por servo-motores, y gobernados mediante la centralita de control , habiéndose previsto que el chasis incluya medios de control de giro y guiñada con respecto al plano horizontal en al menos uno de sus extremos, así como un sistema de emergencia ante ráfagas de viento, turbulencias o falio de uno de los motores, a base de cuatro pequeñas turbinas eléctricas de eje vertical (7), dispuestas en correspondencia con los cuatro vértices del rectángulo que forma el chasis (1), alimentadas en caso de desestabilización a través de un generador asociado al motor térmico que se dispone en oposición sobre dícho chasís (1). 18 ._ Dran multi-rolor with cross reactive stability system, characterized in that it is constituted from a chassis (1) in which two parallel alignments of three thermal motors (2) each, motors associated with respective main propellers are established (3), whose axis of rotation is in turn associated with respective electric generators, thermal motors (2) synchronized with each other and controlled by an electronic control unit, with the particularity that as means of horizontal displacement under the main propellers (3) f1aps (5) are established whose axis of rotation is perpendicular to the axis of rotation of the main propellers (3), f1aps (5) controlled by servo motors, and governed by the control unit, the chassis being provided to include means of turn and yaw control with respect to the horizontal plane at least one of its ends, as well as an emergency system in case of gusts of wind, turbulence or failure of one of the motorcycles res, based on four small vertical axis electric turbines (7), arranged in correspondence with the four vertices of the rectangle that forms the chassis (1), fed in case of destabilization through a generator associated with the thermal motor that is available in opposition on said chassis (1). 2a._ Oran multi-rotor con sistema de estabilidad reactivo cruzado, según reivindicación 1a, caracterizado porque incluye seis depósitos (8) de idéntico peso y capacidad , alargados verticalmente y que quedan alineados con la dirección de empuje de cada motor térmico (2), depósitos dotados de medios de control de descarga independiente para cada uno. 2a._ Oran multi-rotor with cross reactive stability system, according to claim 1, characterized in that it includes six tanks (8) of identical weight and capacity, elongated vertically and that are aligned with the thrust direction of each thermal motor (2) , tanks equipped with independent discharge control means for each one. 3a ._ Oron multi-rotor con sistema de estabilidad reactivo cruzado, según reivindicación 1a, caracterizado porque los medios de control de giro y guiñada con respecto al plano horizontal se materializan en parejas de turbinas eléctricas de eje horizontal (6), dispuestas en cada uno de los extremos del chasis (1) Y alimentadas a través de la energía generada por los generadores asociados a cada uno de los rotores principales del dispositivo. 3a ._ Multi-rotor Oron with cross reactive stability system, according to claim 1a, characterized in that the turning and yaw control means with respect to the horizontal plane materialize in pairs of horizontal axis electric turbines (6), arranged in each one of the ends of the chassis (1) And fed through the energy generated by the generators associated with each of the main rotors of the device. 4a ._ Oron multi-rotor con sistema de estabilidad reactivo cruzado, según reivindicación 1a, caracterizado porque los medios de control de giro y guiñada con respecto al plano horizontal se materializan en pequeños motores térmicos de eje horizontal y asociados a las correspondientes hélices. 4a ._ Multi-rotor Oron with cross reactive stability system, according to claim 1, characterized in that the turning and yaw control means with respect to the horizontal plane are embodied in small horizontal axis thermal motors and associated with the corresponding propellers. 5a._ Oron multi-rotor con sistema de estabilidad reactivo cruzado, según reivindicación 2a, caracterizado porque el tanque de combustible (9) de cada motor térmico (2) está aislado y queda sumergido en el agua contenida en el depósito (8) situado bajo éste. 5a._ Multi-rotor Oron with cross reactive stability system, according to claim 2a, characterized in that the fuel tank (9) of each thermal engine (2) is insulated and submerged in the water contained in the tank (8) located under this one. 5 6a._ Oron multi-rotor con sistema de estabilidad reactivo cruzado, según reivindicación 2a, caracterizado porque cada depósito (8) de agua está asistido por una carena (10) aerodinámica como medio de apoyo en el aterrizaje, contando cada depósito (8) en su zona inferior con medios de apertura (11) Y expulsión del agua controlada electrónicamente a tra vés de la centralita de control. 5 6a._ Multi-rotor Oron with cross reactive stability system, according to claim 2, characterized in that each water tank (8) is assisted by an aerodynamic cowl (10) as a means of landing support, counting each tank (8 ) in its lower zone with opening means (11) and expulsion of electronically controlled water through the control unit. 10 7a._ Oron multi-rotor con sistema de estabilidad reactivo cruzado, según reivindicación 1a, caracterizado porque el chasis o bastidor (1 ) incorporará en puntos estratégicos medios de anclaje (12) para la fijación de cargas. 10 7a._ Multi-rotor Oron with cross reactive stability system, according to claim 1a, characterized in that the chassis or frame (1) will incorporate in means strategic points of anchorage (12) for fixing loads.
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PCT/ES2019/070017 WO2019145584A1 (en) 2018-01-29 2019-01-14 Multi-rotor drone with reactive cross-stability system

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5890441A (en) * 1995-09-07 1999-04-06 Swinson Johnny Horizontal and vertical take off and landing unmanned aerial vehicle
US20100076625A1 (en) * 2006-11-30 2010-03-25 Raphael Yoeli Flight control cockpit modes in ducted fan vtol vehicles
US9676477B1 (en) * 2014-08-25 2017-06-13 Amazon Techonlogies, Inc. Adjustable unmanned aerial vehicles
WO2017141069A1 (en) * 2016-02-17 2017-08-24 Ardn Technology Limited Multicopter with different purpose propellers

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5890441A (en) * 1995-09-07 1999-04-06 Swinson Johnny Horizontal and vertical take off and landing unmanned aerial vehicle
US20100076625A1 (en) * 2006-11-30 2010-03-25 Raphael Yoeli Flight control cockpit modes in ducted fan vtol vehicles
US9676477B1 (en) * 2014-08-25 2017-06-13 Amazon Techonlogies, Inc. Adjustable unmanned aerial vehicles
WO2017141069A1 (en) * 2016-02-17 2017-08-24 Ardn Technology Limited Multicopter with different purpose propellers

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