FR2981911A1 - ACTIVE GEOMETRIC EXOSQUELET WITH PSEUDO-RHOMBOELECTRIC ANNULAR CARRIAGE FOR GYROPENDULAR ENGINE - Google Patents

Abstract

The invention relates to a device (FIG. 1) active geometrical exoskeleton for a vehicle with a pilot or a compensating propulsion gyropendular drone and a fluid gradient collimation, multi-media, multimodal, vertical or horizontal takeoff and landing, which can evolve in the various media the following physical types: ground, air, sea, submarine or space, with an active pseudo-rhombohedral annular fairing that 1) protects the different propulsion units and the payload by absorbing shocks, 2) corrects the trim and reorients the aircraft. trajectory during collisions with any obstacle in the physical environment or terrain, such a machine being provided with upper, intermediate and lower propulsion units, and a hollow annular vertebral structure incorporating a payload accommodating the application functions adapted to different areas: 1) defense and civil security in the context of research and development rescue, 2) exploration, navigation, transportation, scene surveillance, 3) detection of oil or ore deposits, drilling or pumping on land, underwater or space, 4) support and stabilization of a mobile submerged pontoon , free or anchored for wind turbines or wind turbines, 5) maintenance work, 6) navigation and endovascular or intracavitary intervention in surgery, 7) terrestrial, aerial, submarine or space telecommunications, and 8) deployment of free space telecommunications.

Description

The present invention relates to an active geometric exoskeleton with a pseudo-rhombohedral annular fairing for a machine with a pilot or a gyropendular drone. The device which is the subject of the invention is an evolution of the concept of an amphibious gyropendular drone or a gyropendular machine with compensatory propulsion and collimation of fluidic gradient, multi-media, multimodal, vertical or horizontal takeoff and landing, with or without a pilot, which can be controlled by an on-board pilot, or remotely in manual or semi-autonomous mode, or in autonomous unmanned mode, which has been the subject of patent applications N ° FR / 0805805 and N ° FR / 1001719, authorizing navigation with an extended flight range under critical environmental conditions, in an air, land, sea, submarine and space environment, comprising a pseudo-rhombohedral annular fairing accommodating the upper, intermediate, lower and lateral propulsion group, which may be of type: electric, thermal, micro-turbines, turbines, helical turbines, gas turboprop engines, turbojets, ramjets, and reactors rocket or plasma, equipped with a rotary wing or not, or a number of contra-rotating propellers or not, with curved or not, curved or non-rotating gas or turbine nozzles or turbine blades or turbojet synchronously controlled electronically, driven by engines or thrusters located in the extension of the axis thereof, performing a fluidic gradient collimation in free space by a column alignment mechanism of the fluid circulated through of the device, materialized in the form of a number of collinear or non-collinear vortices or vortices, and of axial turbo-compression associated with a "Venturi" effect, generating a moment of fluid stabilization between the upper, intermediate and lower propulsion groups and lateral, which has the effect of improving the stability of the attitude along the transverse axis, the inclination along the longitudinal axis and the orientation selo n the yaw axis, the thrust and then the vertical traction of the machine, an articulated active 3D articulated central body, called the vertebral structure, providing a stabilization and orientation function of the progression in space, resulting a gyroscope mechanism and Foucault pendulum, a central bottom plate provided with a hemispherical or any compartment housed above or below integrating the rotating plate with inertial disk, the avionic control device, then the payload accommodating the various application functions, thrusters adjustable according to the three axes fixed on telescopic rods distributed at the periphery, eg at 120 °, orientable along the three axes relative to the plane perpendicular to the central axis according to the flight plan , the route, heading and trajectory of the multi-media vehicle - 2 - multimodal, which it authorizes the use with a payload adapted in different areas of application, eg defense, security, search and rescue, exploration, navigation, transportation, scene surveillance, wind or tidal power generation, endovascular constellations of satellites or other radiofrequency telecommunication networks or point-to-multipoint laser optronic links that can be deployed in free space. The navigational platforms involved in the applications mentioned above, are designed to evolve in the following physical environments: air, land, sea, submarine or space, and allow them to reach or maintain a fixed or variable position in the space, defined by a specific flight plan, route, course, course, and orientation. The active geometric exoskeleton with pseudo-rhombohedral annular fairing, with any polyhedral or cellular structure, with flexible, semi-rigid or rigid walls, of 3D geometrical, concave or convex shape, makes it possible to ensure: 1) a landing by all time, by any means, with absorption of part of the resulting shocks, 2) abrupt re-launch during the approach phase or after a hard landing leaving the vehicle on the ground in a position other than that traditionally defined by the flight range of a rotary wing aircraft or not with conventional gas propulsion. This active geometrical exoskeleton with pseudo-rhombohedral annular fairing, comprising: a) an open fairing that can be partially or totally enclosed, b) a rotary wing, c) a fixed or retractable wing, d) an active or mobile dynamic annular self-supporting umbilical structure variable geometry, limits the impact of the aerodynamic or hydrodynamic drag as appropriate and the collimation of the different fluidic gradients in play, resulting from the combined effect of the different orientable propulsion groups and environmental conditions, depending on the plan flight, route, heading, flight range, flight path, speed, acceleration or deceleration, mass and center of gravity of the craft. The concepts, devices and implementations of aircraft, hydronefs, spationefs, or other devices subject to propulsion and navigation in a three-dimensional space, the most relevant to the present invention are described in the following documents: 0805805, FR / 1001719, DE / 10/2005/003028, DE / 10/2005 / 046155A1, JP / 2004 / 017722A, US / Des.277,976, US / 2,481,745, US / 2,481,746, US / 2,481,747, US / 2,481,748, US / 2,481,749, US / 2,486,990, US / 2,491,733, US / 2,534,353, US / 2,601,104, US / 2,622,826, US / 2,631,676, US / 2,631,679, US / 2,664,700, US / 2,668,026, US / 2,692,475, US / 2,693,079, US / 2,708,081, US / 2,738,147, US / 2,774,554, US / 2,943,816, US / 2,953,321, US / 3,021,095, US 3,306,887, US 3,149,798, US 3,223,144, US 3,381,917, US 3,402,929, US 3,666,209, US / 4,296,894, US / 4,358,110, US / 4,992,999, US / 4,786,008, US / 5,327,034, US / 5,355,039, US / 6,164,263, US / 6,471,160, US / 6,899,075, US / 7,195,207, US / 2004 / 061022A1, US / 2007 / 012818A1 , WO / 83/02098, WO85 / 03267, WO / 86/02330, WO / 89/0 9342, WO / 93/18966, WO / 94/00343, WO095 / 09755, WO / 98/45172, WO099 / 38769A1, WO000 / 32289, WO2002001 / 019025, WO / 2005/075288 , W0 / 2006/016018, W0 / 2006/137880, WO 2008/007147, WO 2008/110385. Existing airborne gears such as autogyros, helicopters, planes, space rockets, dirigible balloons, submarines and satellites make it possible to move at a greater or lesser speed depending on a range of action that depends mainly on their wingspan and wings. , their inertia, their aerodynamic or hydrodynamic characteristics as appropriate and the method of propulsion retained. The latter can evolve either on land, or underground, or in the air, on the sea, or under the sea or in space, depending on their size and maneuverability, and require specific meteorological and astrophysical conditions. The different fields of application are, for example the defense sector, the combat zones and the mined areas, the civil security sector, the search and rescue activities, the treatment of the zones under fire. earthquake zones of all kinds, as well as weather disturbances of increasing frequency and amplitude, buildings and galleries which are in danger of crumbling, large or difficult to access works of art that require all-weather controls and maintenance, crowd control, exploration, navigation, transport, scene monitoring and open-space telecommunications. The major problems related to the use of current aircrafts are 1) the limited capabilities and performance in terms of range 25, flight take-off and flight stability, 2) take-off clearance requirements, and flight when meteorological or astrophysical conditions are critical, 3) the inability to rapidly pass a series of fixed or mobile obstacles with or without collision resulting in more or less violent shocks, 4) the inability to take off from a position out of the flight range (eg in overturned or steeply pitched station), and 5) the inability to land in disaster and take off again when the weather conditions or avionics parameters are not suitable. not for conventional rotary wing craft. Propulsion systems for aerial, marine, submarine and space-based air-craft systems can be broken down into the following types: 1) thrust propellers with single-blade propellers, or turbines 2) combustion or reaction nozzles fueled by a propellant of gas, liquid, gel, powder, solid or plasma type. Propeller propulsion is either unitary on a single axis, in couple on two distinct axes, or in contra-rotation torque on an axis. Combustion propulsion uses one or more nozzles of specific geometry and orientation in order to obtain the best distributed vertical thrust possible. The stabilization of the systems using this mode of propulsion imposes a mixture gaseous fuel, liquid or solid of the most uniform quality possible, knowing that the ambient physical environment introduces important disturbances with respect to this mixture by exposure to the air, moisture, rain, hail, clouds of sand or dust or ashes, etc. The wind blast that varies when the weather is bad induces abrupt localized variations in the pressure at the outlet of the combustion chamber. The fact of moving inside the atmospheric layer in all weathers imposes, with the gear with pilot or the drones, a weak catch with the wind and a very strong reactivity of the system of mechanical, electronic or software stabilization.

Stabilization systems for aerial, marine, submarine or space vehicles or drones can be classified as winged, winged, fixed or steerable, winged, fixed or steerable, motorized or unpowered, with jet nozzles. gas or plasma, fixed or adjustable. The control of the payload attitude and the center of gravity of the flying platform is one of the key elements to ensure the proper functioning of a craft with pilot or a remote-controlled or autonomous drone, because of this one depends its ability to respond adequately in real time when the aerodynamic, hydrodynamic or astrophysical characteristics of the environment are disturbed, problematic that a seasoned pilot can quickly interpret and translate into accurate navigation instructions.

Several limitations inherent to these devices can be noted: The use of devices that are too abrupt, too slow, or imprecise, applied to the control of the payload attitude hosting the application functions, eg 1) collection of data. 2D / 3D visual information, 2) intervention using low, medium or high lethality systems, on predetermined or identified targets in real time, 3) low to very high point multipoint telecommunication points, may affect the integrity of these. The approximate control of the center of gravity limits the capacity of the payload as well as the performance that can be achieved by the craft or the drone, eg with respect to speed, acceleration, deceleration, and the importance of a maneuver in a sudden change of course, position, orientation or attitude. Other limitations exist with respect to the maneuverability of these devices: 1) rapid response capability by limiting take-off time and preparation, 2) 5 inability to land on a vessel at sea by all the time inside a very narrow window as is the case during flight when there is initial propulsion by mechanical catapulting of the hydraulic, pneumatic, electromagnetic, chemical reaction type with gas expansion, on gears or 3) the inability for the most part to perform a vertical landing and take-off, an inverted take-off, a catastrophic re-launch after a hard approach phase and shocks resulting in a loss of control of the attitude. Other limitations exist with regard to the robustness of these devices: the fragility of the rotating wings, the avionic control device and the payload accommodating the application functions exposed to the various obstacles. There are several prototype and commercial versions of machines with pilot or drone (aerial, marine, submarine or space) based on the various technologies of use of lift, lift and progression to fixed or rotary wing. However, these technologies face several limitations: take-off and flight stability, range, radio and acoustic signatures, payload capacity, amphibious operation, take-off capability in all weathers, the complexity and the time of landing of a remotely operated or autonomous small vehicle, landing and ditching capacity in the event of a breakdown without destroying the craft. Noting that most of these limitations are due to the integration capability and degree of control of new, high-performance, low-torque, or high-torque space-saving propulsion devices that require a low latency stabilization function and robust in order to authorize navigation in all weathers, the present invention involves the use of a device for navigation, locomotion and stabilization gyropendulaires, autonomous or semi-autonomous type, integrated with the craft with pilot or drone, allowing, while progressing in space, to quickly modify its geometry as a function of the flight range and the trajectory chosen, and to adapt in real time the position of its center of gravity according to the defined context by sudden changes and high intensity of the fluidic navigation support: air, water or space vacuum as appropriate. - 6 - Recent advances made in electric, thermal, turboprop, or gas, liquid, gel, powder, solid, or plasma engines make this technology accessible for applications or a significant capacity in vertical thrust, great maneuverability around a point or within an area in space, great autonomy and low radioelectric and acoustic signatures are a determining factor. The present invention proposes the use of an active geometric exoskeleton with a pseudo-rhombohedral annular fairing associated with a compensating propulsion propulsion machine and a fluidic gradient collimation, multi-media, multimodal, vertical or horizontal take-off and landing, with or without pilot, derived from the concept of amphibious gyropleurous landing and vertical takeoff drone characterized in that it comprises: 1) an active geometric exoskeleton device with pseudorhomboedric annular fairing delimiting a low drag fluidodynamic protection envelope, a polyhedral solid which combines a pseudo-rhombohedral structure with a hexagonal structure, ie a vertical right prism associated with an intermediate hexagon and a mathematical diamond (or asymmetric bipyramid) having a crown or sheath greater than a certain number of facets (for example from three to fifteen facets of star type, b ezel and haléfi) and a breech or sheath inferior to a number of facets (e.g. from three to nine faceted halftone and flag), as well as a top and bottom table to a number of facets (eg from three to twelve facets), ensuring the stability of the machine at rest as well as that in the course of progression in space the protection of the associated sensitive organs: a) wing-type or non-rotary wing propulsion units, b) avionic control device and c) payload accommodating the application functions, while minimizing the together disturbances that may impact the fluid gradient collimation resulting from the propulsion groups, the atmospheric environment, the terrain configuration, the obstacles encountered, and shocks resulting from them according to the physical parameters (speed, acceleration, trajectory, vibrations, localized depression, strong winds, marine currents, meteorite rains, magnetic storms, ...) impacting the navigation, the flight range, the avionics control function ai as well as the integrity of the machine and its payload accommodating the application functions, 2) an inertial gyropendular stabilization device (integrating the gyroscopic and pendulum functions of the Foucault type), implying mechanisms of adaptation of the center of gravity and compensation of couples or induced moments, implemented through an active 3D articulated central body, offering according to the principle of biomimicry the same flexibility and adaptability as the vertebral column in the mammal, the reptile, the fish, or that the tentacles of the jellyfish, and a lower central plateau on or below which are fixed the different compartments housing the lower rotating plate with inertial disk, the avionic control device incorporating a function of correction of attitude of type "Steadicam" performed by 3D ball joints, and the payload hosting various application functions, all to support the different li abovementioned mitations, 3) a device comprising upper, intermediate, lower and lateral propulsion units of the electric drive type, electromagnetic wheel motors, thermal engines, micro-turbines, turbines, quasiturbines, gas turbulators, or gas-fired reactors, gel, powder, solid, plasma or pulsed, with a rotary wing or not, or a number of simple or counter-rotating propellers, with curved or not, or with rotating gas nozzles or no, or turbine blades, or turbo-propellers, turbojet engines, ramjets, pulsoreactors, or rocket reactors, or with helical or non-helical turbines (e.g. "Carpyz" type with obligatory presence of an opposing circular envelope according to the patent WO089 / 09342 of Carrouset, Pierre published October 5, 1989), to bring the machine or the drone to a certain altitude or depth and keep this one in lift in the air or in floating in the water, in immersed mode or not, or in the space in gravitational fields or in weightlessness 4) a stabilizing device with articulated body active dynamic 3D 3D, of flexibility variable, as column or vertebral structure of the machine or the drone to perform a function of stabilizing and maintaining the configuration of the platform in progression in the fluid, by real-time adaptation of its geometry and the position of its center of gravity during the progression in space according to the flight range and the trajectory retained, then to decorrelate the respective plates of the upper propulsion units, intermediate 5) a central bottom plate unit for attaching the compartment accommodating the inertial disk rotary plate, the avionic control device and the payload, to telescopic rods which can be rotated by means of an inertial disk. 3D ball joints, making it possible to modify the center of gravity of the machine with the pilot or the gyro-rigid drone, to support and orient the lower thrusters, while keeping the attitude of the compartment accommodating the payload and other devices, 6) an autonomous or non-real-time control device for navigation, locomotion and inertial gyropendular stabilization, synchronization and fluid gradient collimation, integrated in an FPGA-type programmable logic component housed in the compartment housing the avionic control device , allowing the platform to modify in real-time its geometry during the flight plan and to adapt the position of its center of gravity, according to the context defined by the abrupt modifications and of strong intensity of the fluidic support of navigation: the air, or the water or the vacuum of the space as the case, the all ensuring take-off, air, sea, underwater or space navigation, according to a flight plan, an itinerary, a heading, a specific trajectory, then the landing, or landing, or landing, or the geostationary orbital orbit, or the moon landing, or the installation on a star or a planet, as well as the stability of the device with pilot or the gyropendular drone and its payload, 7) a device of orientation and maintaining the upper, intermediate, lower and lateral thrusters for modifying the three-dimensional geometry of the rotary wing, the orientation and the intensity of the fluidic collimation gradient ensuring the lift, the lift and the displacements of the machine according to the domain e) a device with cylindrical cavities allowing the release of a group of active piezo-fiber parachutes, articulated or not, eg on three points to slow down the braking. downhill, 9) a horizontal take-off rolling device, 10) dynamic shock-absorbing gyropendor devices operating in networks and peripherally located on the various exposed edges of the pseudo-rhombohedral annular fairing, 11) an umbilical structure active dynamic annular freestanding with variable geometry. The device with pilot or the gyro-endoscopic drone comprises as complementary devices: 1) a device with cylindrical cavities located in the center of the upper propulsion unit, and disposed at the periphery of the central structure, eg at 120 ° to the three edges of the triangular base, to accommodate safety devices in case of sinking (parachute, stratospheric inflatable balloon, distress flare, laser tracking or interception module, radiofrequency alert module, ...), 2) a payload device with a cylindrical housing that can go from one end to the other of the vertebral structure to accommodate specific application functions, or many other devices (control, visualization, detection, interception, cushions inflatable shock absorbers on arrival on the ground, a harpooning device capable of towing a victim into the sea or docking other machine, platform or to a terrain element, securing device for hoisting a passenger or a victim, multi-arm or center-plate hexapod gripping device, articulated robotic arm, gas spray or liquid sprayer , hypodermic dart gun, "Picatinnyn" type multi-function mounting rails, missile launcher (air mortar function) facing upwards or downwards, launch platform of nanosatellites), 3) a device inflatable balloon safety device at the periphery of the upper propulsion unit to ensure buoyancy in case of failure, 4) a semi-rigid sill umbrella device at the periphery of the upper propulsion unit for braking the fall in case of failure or in economy mode.

The rotational torque of the rotating propellers or nozzles has the effect of stabilizing the machine or the gyro-endoscopic drone along its central axis (such as the principle of the rotated rotor), which improves the attitude control of the localized propulsion device. in the upper part of it, especially when strong disturbances (aerodynamic, hydrodynamic, astrophysical or other), governed by the law of fluid mechanics, classical mechanics or celestial mechanics, are applied to the platform sailing. In a variant, the contra-rotation of the propellers makes it possible to cancel almost completely the induced gyroscopic torque. In another variant, the addition to the active 3D articulated central body of an axial turbine, of smaller diameter than the upper thruster but of higher rotational speed, with a downwardly curved radial lamella structure generating a cone fluidic thrust (completing the vertical thrust of the upper propulsion unit), contra-rotation of the upper propulsion group makes it possible to compensate for the global induced gyroscopic torque. The active geometrical exoskeleton with pseudo-rhombohedral annular fairing associated with the concept of gyro-terminal machine or drone which is the subject of this patent is characterized by a geometric solid of polyhedron type having a concave or convex configuration, ie 1) cubic: octahedron, rhombicuboctahedron, rhombododecahedron, tetrahexahedral, hexaisoctahedral, conical, biconic, 2) quadratic: right or wrong prism, pyramid, trapezohedron, octagonal pyramid, dioctahedron, 3) hexagonal, 4) rhombohedral, 5) rhombic, orthorhombic, 6) monoclinic, 7) triclinic, 8) which may be of the type: conical, biconical, helix, spiral, torus, cylindrical, bicupole, octagonal gyrobicoupole elongated or not, octagonal orthobicoupole, elliptical paraboloid, hyperboloid with one or two layers, ellipsoid, spherical (curved or multiple facets), solid revolution, or any combination thereof, to accommodate the vertebral structure annul gyropendulaire machine, whose function is to protect the various groups of propulsion rotary wing (of type motorization or turbines) or with propulsion with gas, as well as the behavior of the command function avionics and the payload welcoming the application functions. The propulsion devices, whether or not rotating, with or without combustion, with or without gas, pulsed or not, housed in the upper, intermediate, lower and lateral parts of the gyropendor-generating machine or drone generating a force of vertical upward thrust, allows it to rise, and then to benefit from a stable orientation of the torque induced by the opposite gravitational stabilizing force. This is applied to the lower part of the machine or the drone and results from the application of the weight of the payload 5 and the other devices housed in the compartment fixed under the central lower plate (which acts as the weight d a pendulum or string stretched by the kite carried by the wind). The center of gravity in flight must remain as low as possible to ensure the stability of the vehicle or drone along its central axis, without generating a penalizing overload for the flight range and autonomy. Fluidic gradient collimation in free space, performed by a mechanism for aligning the columns of the fluid circulated through the device, and axial turbo-compression resulting from a "Venturi" effect, generates a fluidic stabilization torque. induced between the upper and lower propulsion units, which has the effect of improving the stability, thrust and vertical traction of the machine. The axial turbine performing an auxiliary function of compensation of the gyroscopic torque induced by the upper, intermediate, lower and lateral propulsion units, can thus move by translation on the axis of the active 3D articulated central body in order to optimize the position of the center of gravity. The articulated linkage, controlled by autonomous electronic control, located between the upper propulsion device and the central lower plate accommodating the compartments of the rotating plate with inertial disk, the avionic control device and the payload, makes it possible to decorrelate the plates and inclinations of these. This allows the correct functioning of the safety devices (parachute, distress flare, laser module for locating or interception, radiofrequency warning module, etc.) housed in the cylindrical structures housed in the hollow of the vertebral structure. or distributed at the periphery of the right prism base with three sides or any geometry, being protected from any fluidic disturbance of the rotary wing of the propeller, turbine, rotary nozzle or gas-jet type, and of any disturbance mechanical type vibrations or significant shocks. This connection, called the vertebral structure, is a true active articulated 3D central body with dynamic stabilization function, of any shape, eg of circular, rectangular or elliptical section, driven by actuators of the type, eg piezoelectric long filaments called piezo-fibers, worm, pneumatic, hydraulic, electromagnetic actuators makes it possible: 1) to connect the lower central platform accommodating the payload to the propulsion device, 2) to route the various necessary signals the piloting of the machine or the gyropendular drone, 3) makes it possible to modify the center of gravity of the flying platform according to the flight plan of the latter, 4) to ensure an ideal attitude of the different groups of propulsion as a function of the configuration, the type of progression and the trajectory (acceleration, deceleration, ascent, descent, turn, immobilisation, ...), adopted by the latter, 5) ensures r the stability and ideal attitude of the lower central platform accommodating the avionics control device and the payload in order to provide the precision necessary for the proper functioning of the supported devices (navigation, locomotion and inertial gyropendular stabilization control of the sailing platform , laser pointing, multi-beam laser projection mufti-spectral, inter-system telecommunications or with the air, land, maritime, submarine or space network, multi-spectral multi-target laser shots incapacitating, repulsive or destructive, ...) . The flight configuration adopted by the machine or drone gyropendor thus similar, by biomimicry, that of the jellyfish equipped with a parasol (upper propulsion unit), a flexible body (active articulated 3D central body) and its tentacles (lower propulsion group) as a means of propulsion and guidance. The active dynamic annular self-supporting umbilical structure with variable geometry, circular, elliptical, rectangular, concave or convex, or any type, flexible, semi-rigid or rigid, pressurized or not, striated or not, notched or not, lubricated or not, coated or not with a non-stick insulating deposit of metal or polymeric type, comprises a DC or AC power supply device and a pneumatic, hydraulic or electromagnetic type device for propelling, towing, guiding and feed the device with pilot or drone gyropendulaire in different physical environment vacuum type of space, air or other atmospheric gas, lake water, surface or underground river water, sea water, any viscous liquid or not , of the blood plasma type, subjected to critical environmental conditions of pressure and temperature, which may comprise large axial fluid currents, ascending, lateral or any, continuous or pulsed. The electromagnetic device comprises at the periphery a wired winding of electrical conductor type in which passes a direct or alternating current, generating a magnetic field, of continuous or pulsed type, axial or in any orientation, bidirectional or not, allowing bidirectional axial displacement with respect to the active dynamic annular self-supporting umbilical structure with variable geometry, according to a rectilinear, spiral or any other trajectory, making it possible to propel by repulsion or to pull by attraction of the conductive core having electromagnetic or ferromagnetic properties of neutral type , passive or active, integrated into the cylindrical body metal or not, constituting the vertebral structure of the machine with pilot or drone gyropendulaire. The attached drawings illustrate the invention: FIG. 1 represents, in perspective, the active geometrical exoskeleton comprising a pseudo-rhombohedral annular fairing associated with the compensating propulsion gyropendular apparatus and fluid gradient collimation, multi-media, multimodal, with vertical take-off and landing, in an amphibious amphibious amphibious drone configuration with counter-rotating, intermediate, inferior, and lateral propulsion units that can be oriented along the three axes and the various devices that compose it. FIG. 2 represents, in front view, the bulge structure of the active geometrical exoskeleton comprising a pseudo-rhombohedral annular fairing associated with the compensating propulsion gyropendular apparatus and fluidic gradient collimation, multimilieux, multimodal, vertical takeoff and landing. , in an amphibious gyropendular drone configuration with counter-rotating, intermediate, inferior, and lateral upper thrust propulsion units, and the various devices that compose it. FIG. 3 represents, in high view, the geometrical configuration of the active geometrical exoskeleton comprising a pseudo-rhombohedral annular fairing composed of a right triangular base prism structure, a hexagonal intermediate structure, a pseudo-rhombohedral annular structure, rhombohedral having a multi-faceted outer circumference, specifying the location of the rotary wing engines or thrusters with counter-rotating, intermediate, lower, and lateral propulsion units, which can be steered along the three axes, and suspension-orientable rolling bearings, and the direction and torque of default applicable to compensate the global induced gyroscopic torque of the machine or drone gyropendulaire. FIG. 4 represents, in perspective, the active geometrical exoskeleton comprising a pseudo-rhombohedral annular fairing associated with the compensating propulsion gyropendular apparatus and fluidic gradient collimation, multi-media, multimodal, vertical take-off and landing, in a drone configuration amphibious gyropendulaire with propulsion groups greater than three subassemblies, intermediate, inferior, and lateral, orientable along the three axes and the various devices that compose it. FIG. 5 represents, in front view, the bulging structure of the active geometrical exoskeleton comprising a pseudo-rhombohedral annular fairing associated with the compensating propulsion gyropendular apparatus and fluidic gradient collimation, multimilier, multimodal, with take-off and vertical landing, in an amphibious gyropendular drone configuration with groups of propulsion superior to three subassemblies, intermediate, inferior, and lateral, orientable along the three axes, and the various devices that compose it. FIG. 6 is a top view of the geometrical configuration of the active geometrical exoskeleton comprising a pseudo-rhombohedral annular fairing composed of a right triangular base prism structure, a hexagonal intermediate structure, a pseudo-rhombohedral annular structure, Rhombohedral having a multi-faceted outer circumference, specifying the location of the rotary wing engines or thrusters with propulsion units greater than three sub-assemblies, intermediate, inferior, and lateral, orientable along the three axes, and rolling devices orientable suspension, and the direction and torque of default applicable to compensate the global induced gyroscopic torque of the machine or drone gyropendulaire.

FIG. 7 represents, in perspective, a configuration of the gyropendular machine or drone integrating three hollow cylindrical structures, distributed around the periphery of the right triangular-based prism structure, and capable of accommodating various application functions (parachutes, flare, rods, etc.). stowage, ...) useful in a search and rescue context, as well as orientation control components according to the three axes of the various engines or thrusters. FIG. 8 represents, in perspective, the various orientation control components according to the three axes of the various engines or thrusters, allowing attitude correction and compensation of the global induced gyroscopic torque, of the gyropendular machine or drone.

FIG. 9 represents, in perspective, a variant of the active geometrical exoskeleton, incorporating dynamic damping feet with active gyropendular orientation system distributed over the entire fairing, and three hollow cylindrical structures that can accommodate application functions. FIG. 10 represents, in perspective, various configurations of active geometrical exoskeleton comprising an annular fairing making it possible to protect the propulsive vertebral structure of the gyropendular machine or drone, which integrates the various propulsion units and the payload accommodating the application functions, and to partially absorb shocks in collisions with other craft, buildings or any other obstacle in the physical environment or terrain. Figure 11 shows, in perspective, the triangular-based vertical prism structure associated with the pseudo-rhombohedral annular fairing of the active geometric exoskeleton. FIG. 12 represents, in perspective, the intermediate hexagonal structure associated with the pseudo-rhombohedral annular fairing of the active geometric exoskeleton.

FIG. 13 represents, in perspective, the asymmetric bipyramid-type rhombohedral structure associated with the pseudo-rhombohedral annular fairing of the active geometric exoskeleton. FIG. 14 represents, in perspective, the propulsive vertebral structure of the gyropendular machine or drone, protected by the pseudo-rhombohedral annular fairing of the active geometrical exoskeleton, comprising a hollow annular active articulated 3D central body accommodating various application functions. FIG. 15 represents, in perspective, the upper propulsion unit of the machine or gyropendular drone. Figure 16 shows, in perspective, the intermediate propulsion unit of the machine or gyropendulaire drone. FIG. 17 represents, in perspective, the lower propulsion unit of the machine or gyropendular drone. FIG. 18 represents, in perspective, the lateral propulsion unit of the gyropendular machine or drone. Figure 19 shows, in perspective, the configuration allowing a landing of the gyropendular machine or drone on airbags after a controlled fall using a piezo-fiber active parachute group device. FIG. 20 represents, in perspective, one of the active geometrical exoskeleton configurations comprising a pseudo-rhombohedral annular fairing protecting a variant of the gyropendular apparatus with compensatory propulsion and collimation of fluidic gradient, multi-media, multimodal, at take-off and Vertical and horizontal landing, with open cockpit for the pilot, incorporating helical turbines. FIG. 21 represents, in perspective, one of the active geometrical exoskeleton configurations comprising a pseudo-rhombohedral annular fairing protecting a variant of the gyropendular machine with compensatory propulsion and collimation of fluidic gradient, multi-media, multimodal, at take-off and vertical and horizontal landing, with closed cockpit for the pilot, integrating turbines within a superior propulsion group comprising three subassemblies. FIG. 22 represents, in perspective, one of the active geometrical exoskeleton configurations comprising a pseudo-rhombohedral annular fairing protecting a variant of the gyropendular device with compensatory propulsion and fluid gradient collimation, mufti-media, multimodal, to vertical and horizontal take-off and landing, incorporating gas reactors. FIG. 23 represents, in perspective, one of the active geometrical exoskeleton configurations comprising a pseudo-rhombohedral annular fairing protecting a variant of the compensating propulsion gyropendular apparatus and fluid gradient collimation, mufti-media, multimodal, take-off and landing vertical and horizontal, incorporating a peripheral retractable wing. Figure 24 shows, in high view, the previous device after a rotation of 180 °. FIG. 25 represents, in perspective, one of the active geometrical exoskeleton configurations comprising a pseudo-rhombohedral annular fairing protecting a variant of the compensating propulsion gyropendular apparatus and fluidic gradient collimation, multi-media, multimodal, take-off and landing vertical and horizontal, incorporating a retractable central wing with delta configuration. Figure 26 shows, in high view, the previous device after a rotation of 180 °. FIG. 27 represents, in perspective, one of the active geometric exoskeleton configurations comprising a pseudo-rhombohedral annular fairing protecting a variant of the compensating propulsion gyropendular apparatus and fluid gradient collimation, multi-media, multimodal, take-off and landing vertical and horizontal, incorporating a retractable central wing with star configuration. Figure 28 shows, in high view, the previous device after a rotation of 180 °. Figure 29 shows, in profile, the take-off procedure horizontally, flat 25 and then in an inclined position, the machine or drone gyropendulaire. FIG. 30 represents, in perspective, the take-off procedure in an initial position outside the flight domain (inverted or strongly inclined position) of the gyropendular machine or drone. FIGS. 31 and 32 represent, in perspective, the approach maneuver, followed by a disastrous landing resulting in a succession of shocks with tilting and then rolling on the ground before stabilization and then vertical take-off, of the amphibious gyroparticulate machine or drone. Figure 33 shows the functional view of the principle of gyropendular propulsion and stabilization and how the resulting or compensating forces, moments and induced torques interact. FIG. 34 represents, in perspective, the simplified concept of the gyropendular machine or drone integrating upper and lower propulsion units, an axial turbine, an articulated 3D active central body or vertebral structure, and gyropendular ball joints. .

FIG. 35 represents, in perspective, the hybrid gyropendular control stick of the machine or the drone, authorizing, in serai-autonomous or manual mode, using the upper spherical part movable along the three axes, a control of the attitude and the gyroscopic torque of the platform, decorrelated from the control of the navigation and the locomotion realized by the orientation of the mobile handle on 3D ball joint, the management of the displacements in the three-dimensional space according to a specific plane of flight or a trajectory that can be preprogrammed (eg angular rotation or tilting or pivoting by discrete jumps in degrees or quadrants, autonomous procedure or not obstacle avoidance or stall or spiral or loop, ...). Figure 36 shows, in perspective, the free-space fluidic gradient and fluid gradient column alignment mechanism applicable to the different upper, intermediate, lower, and lateral propulsion groups. FIG. 37 represents, in perspective, the impact of the fluid gradient collimation, through the thrust cones, which is a function of the dynamic orientation along the three axes of the engines or thrusters, within the different groups of propulsion in interaction.

FIG. 38 represents, in perspective, various variations of manipulation or gripping application functions, namely the robotic multi-arm hexapod, the plateau hexapod, and the robotic and plateau multi-arm hexapod combination. FIG. 39 shows the laser multibeam matrix head, the multi-beam multibeam scanning engine and the integration under the lower central platform of the machine with gyropendor pilot or drone. FIG. 40 represents the amphibious gyroparticular drone equipped with multi-beam multi-beam multi-beam robotic hexapod, fixed on a six-legged 3D spider. FIG. 41 represents the active geometrical exoskeleton with pseudo-rhombohedral annular fairing associated with the machine or gyropendular drone equipped with multi-beam multi-beam multi-beam robotic hexapod, fixed on a six-legged 3D spider. Figures 42, 43, 44 show, in perspective, different configurations of motorizations or upper thrusters, intermediate, inferior or lateral, the machine or amphibious gyropendular drone. Figures 45, 46, 47, 48, 49, 50 show, in perspective, different configurations 5 motorizations or upper thrusters, intermediate, inferior or lateral, the gyropendulaire multimodal machine with or without a pilot. FIG. 51 represents, in perspective, the application of the subject of the invention to an underwater operation for pumping hydrocarbons from the amphibious gyropendular drone and the multimodal gyropendular device.

FIGS. 52, 53, 54, 55, 56 represent, in perspective, the application of the subject of the invention to a power generation infrastructure, in a partially or totally immersed, free or anchored mobile pontoon configuration, performing a support and stabilization function, for wind turbines or turbines with dynamic attitude correction, maintained at a given geographical position and at a certain depth, FIGS. 57 and 58 show, in perspective, a wired variant of the machine or gyropendular drone, equipped with an active geometrical exoskeleton, evolving with or on an active annular self-supporting umbilical structure with variable geometry allowing to feed the latter, from the top or the bottom, in order to achieve remote and over long periods research, assembly, and interior and exterior maintenance on any building, terrain or relief. FIG. 59 represents, in perspective, the application in the context of endovascular surgery of a miniaturized version of the amphibious gyropendular drone equipped with an active geometrical exoskeleton evolving on an active dynamic annular freestanding umbilical structure with variable geometry.

FIG. 60 represents, in perspective, the continuous multi-coil electromagnetic configuration of the active dynamic annular self-supporting umbilical structure with variable geometry and of the mobile reception base integrated into the vertebral structure of the multimodal gyropendular device or the amphibious gyropendular drone. . FIG. 61 represents, in perspective, two discrete multi-turn electromagnetic configurations of the active dynamic annular self-supporting umbilical structure with variable geometry and of the mobile cylindrical receiving pedestal integrated into the vertebral structure of the multimodal gyropendular machine or the gyropendular drone amphibious. Figure 62 represents, in perspective, the concept of amphibious gyropendular drone. Figure 63 shows, in perspective, the concept of compensating propulsion gyropendular apparatus and multi-media, multimodal, vertical takeoff and landing gradient collimation, with or without a pilot. Figure 64 shows, in perspective, the icon illustrating the movements in space 5 authorized by the concept of propulsion and stabilization gyropendulaire. Figure 65 shows, in perspective, the rolling device incorporating a ball embedded in a spherical cavity base limiting friction. FIG. 66 represents, in perspective, the compartment protecting the inertial disk rotary plate, the avionic control device and the payload accommodating the various so-called internal application functions, which are supplemented by the so-called external ones housed within the hollow cylindrical structures central and peripherals. With reference to these drawings, the active geometrical exoskeleton with pseudo-rhombohedral annular fairing for gyropendular apparatus, object of the invention, shown (FIG 1), associated with the concept of compensating propulsion gyropendular apparatus and fluid gradient collimation. , multi-media, multimodal, vertical take-off and landing, shown (188, 203, 204, 205, 212, 463), comprises an amphibious gyropendular drone declination (1, 52, 56, 90, 132, 427), which makes it possible to take off or to land vertically (176, 177, 178, 187) or horizontally (168, 169, 170), then to move along the three axes according to a specific flight plan, route, and a trajectory, without modifying whether it is necessary the base of the central lower plate (430) accommodating the compartment (18) in the form of a hollow closed cylinder traversed at the axial level by the active 3D articulated central body, providing protection against shocks and the intemper the following devices: 1) the lower inertial rotating plate (430, 488), 2) of the avionic control device (489) performing the functions of navigation, locomotion and stabilization of the vehicle, and 3) the 25 payload (490) integrating any device associated with the various application functions, eg synchronization (447), detection, localization, telemetry and interception (448), and telecommunications (450), eg of acoustic type, directional or non-directional transmit radio, or free-space optics, ranging from the extreme low frequency to the extreme other frequency, in pulse mode or not, associated with analog modulation and coding, digital, amplitude and / or angular frequency or phase, elementary or complex. The vertical ascent of the machine or the gyropendular drone is ensured by the thrust produced by the upper (123, 428), intermediate (125), lower (127, 434) and lateral (129, 130, 131) propulsion units. ) of the electric motor type (20, 21, 26), thermal engines, with propellers (26, 29, 32, -19- 38, 49, 435, 437) or with micro-turbines, with turbines (38, 437), helical turbines (136, 259a), with rotary gas, gas turboprop, pulsed detonation, pulse jet, gas or plasma reactor engines. A fairing or guard (438) protects the upper and lower portions of the upper and lower propulsion units. A central housing (436) can accommodate various accessories (flare, laser illumination, tracking, pointing or interception, parachute, inflatable ball, radio beacon, laser guided light rocket launcher, ... ). A 3D gyropedular ball joint function (440, 441, 442, 443, 444, 453, 458, 477) makes it possible to orient the attitude of the propulsion units (428, 434, 439) in order to allow progression in one direction and 10 a given trajectory. An active 3D articulated central body (3, 91, 121, 429, 468) establishes a rigid or flexible connection between the upper propulsion unit (20, 21, 98, 99, 100, 123, 428) and the compartment (18, 431). ) integrating the payload (490). The active 3D articulated central body (3, 91, 121, 429, 468) composed of a number of sections (429) and 3D ball joint functions (440, 441, 442, 443, 444) can take any necessary configuration in order to preserve the equilibrium of the gear with pilot or gyropeadular drone by optimizing the position of its center of gravity (198), by compensating the various forces of thrust or braking, moments or torques of rotation and gyroscopic (192, 194 , 196, 197, 199, 201), while limiting the plate changes and jerks applied to the avionics controller (489) and the payload (490). Lateral annular bodies (433) connect the lower thrusters (434) to the inertial disk rotating plate (430, 488). 3D ball joint functions (445, 454) at the two ends of these lateral bodies (433) make it possible to freely orient the latter and the lower thrusters (434) at their ends in order to reproduce the different configurations, eg adopted by the jellyfish, for a given flight or dive plan. The lower thrusters (434) being in rotation generate rotational torques, gyroscopic torques and moments (197, 199, 201), which make it possible to apply to the machine or gyropendular drone the resultant of the compensation forces of equilibrium implemented, ie the overall induced gyroscopic torque (202). This force balancing mechanism can thus be applied in air, in water and under vacuum in space, depending on the method of propulsion retained.

The functional view of the principle of gyropendular propulsion and stabilization (188) of the multimodal gyropedular vehicle with the pilot shown (FIG. 63) or the amphibious gyropendular UAV shown (FIG.62) involves several devices: a programmable logic component (FIG. 450), eg of the FPGA type, incorporating a real-time function of adaptation of the center of gravity (198) and compensation of the induced torques (192, 194, 196, 197, 199, 201), an upper propulsion group (428), an active 3D articulated central body (429), an axial turbine (439) performing an auxiliary function of compensation of the gyroscopic torque induced by the upper (428) and lower (434) propulsion units, an inertial disk rotating plate (430, 488) housing the payload compartment (431) (432, 490) and a lower propulsion unit (434) to balance the different forces, and different moments and torques which interact, to get the resultant (202), applied to the center of gravity (198). The free-space fluid gradient collimation mechanism (205, 212) carries out by means of a mechanism for aligning the columns of the fluid (210a, 211) circulated through the different groups of propulsions located in the extension of the axis thereof, an axial turbocharging phenomenon (206, 210) with a "Venturi" effect, which has the effect of generating a "moment" of axial fluid stabilization between the upper and lower propulsion units, improving the stability and the vertical thrust of the machine. The vehicle with pilot or drone gyropendulaire can accommodate, under the central lower plate (430) inside the payload compartment and / or in the cylindrical structure, in the framework of scenarios such research, rescue, exploration or maintenance, an application function whose different configurations are represented (229, 231, 233, 234). The first application function corresponds to a complex manipulation or gripping function of low precision, achieved by the addition of a robotic platform of the hexapod type, either robot with six legs or articulated arms, or biomimetic platform type in the form of an articulated hand. The second application function corresponds to a simple manipulation function but very high accuracy, achieved by the addition of a robotic platform type hexapod "plateau. The third application function corresponds to a complex manipulation function of average precision, achieved by the addition of the two previous robotic platforms, namely the six-legged hexapod periphery and the hexapod plateau in its center. The fourth application function corresponds to a low, medium and high accuracy laser pointing function, making it possible to affix the footprint of a beam (238, 242, 249) on one or more fixed or moving targets and to follow them in dynamic, or to establish a point-to-multipoint free space telecommunication network, realized by the addition of a laser multibeam matrix head, or a 2D multi-spectral laser multibeam synchronous digital scanning engine. 3D (239), or type 150 ° / 360 ° (245). The hybrid gyropendular control stick (204) shown (FIG. 35), integrating in a single device the joystick and throttle functions, is applicable to the sets of configurations of the machine or the gyropendular drone. , by means of a control carried out in on-board or remote mode of semi-autonomous or manual type, allowing using the upper spherical part (472, 474) movable along the three axes, a control of the attitude and the global induced gyroscopic torque (202) of the platform, which is decorrelated from the control of the navigation carried out by the orientation of the movable handle on 3D gyropendular ball (471, 473), ie the management of the displacements in the three-dimensional space according to a specific flight plan, a route, heading, flight path, orientation, attitude or flight pattern that can be pre-programmed (eg angular rotation or tilting or pivoting by discrete steps in degrees or quads rant, autonomous procedure or not obstacle avoidance or stall or spiral or loop, ...). The object of the present invention is the geometrical active exoskeleton with pseudo-rhombohedral annular fairing shown (FIG.1) associated with the compensating propulsion gyropendular apparatus and fluid gradient collimation, multi-media, multimodal, take-off and Vertical landing, comprising a pseudo-rhombohedral annular fairing, of three-dimensional peripheral geometric envelope type, has the main function of providing protection: 1) rotary wings with engines or propellers, 2) avionic control device and pilot, 3 ) the payload accommodating specific application functions allowing a wider range of flight (hard landing, abrupt take-off, re-launch in reverse station, on the back.) It should be noted a number of arrangements allowing the integration of a pilot under the central upper plate (466) ensuring the rigidity of the structure, and a vertebral structure (468) s cindée in three branches (467), which allows to develop a space for the driver, while preserving the center of gravity of the original machine, so the equilibrium gyropendulaire. This is, according to this basic configuration, equipped with a certain number of seats (475) giving access to the hybrid gyropendular control handles (471, 473) along the axis of rotation (469) of the pivotable support rod (470). A 3D ball joint function (465) has been incorporated in order to allow a correction of the alignment of the passenger compartment (467) with respect to the axis of the spinal structure (467, 468) which is flexible and adaptive in the dynamics of the vehicle. . The structure surrounding the engines (434) can be extended (476) to raise the passenger compartment (431) and the engines (434) or propellers (434) relative to the ground, while respecting a configuration compatible with the type of propulsion retained and the fluid circulating therein, in order to protect the lower propulsion unit during landings, landings, landing gear, landing, ... 2 9 8 1 9 1 1 - 22 - Many variants of active geometric exoskeleton configurations exist according to the configuration of the machine with pilot or drone gyropendulaire that the object of the invention has the function of protecting, incorporating different types of propulsion groups, different interiors, all depending on the physical environment, the mode of navigation and 5 application functions are represented (FIG.40, 42 to 50). A configuration variant (137) with multiple upper propulsion units (eg with three engines or thrusters) and lower single propulsion units (eg with three engines or thrusters), incorporating a number of central bodies or hollow vertebral structures to accommodate a specific application function, eg launch platform (267) of launcher (271) of nanosatellites (273) at low, medium, high altitude, missile launcher (air mortar function), telescope or other detection equipment comprising a particular optics, harpooning device, securing device, gas diffusion device (eg halon, lachrymator, soporific, ...), liquid spraying device, carbon foam application device (to stop or slow down the spread of a fire). A configuration variant (265) with upper or front propulsion units (265b) multiple (eg three thrusters) and lower or rear (265a) multiple (eg three thrusters), incorporating a hollow vertebral structure and a number of central bodies or hollow vertebral structures, provided with sealed compartments, for accommodating and accelerating the circulation of the fluid within it by means of motorizations or thrusters (166), (168), comprising a fuselage more profiled and hydrodynamic, allowing to accommodate circulate the fluid within it to improve underwater navigation performance (faster speed and acceleration can be achieved and better axial stability resulting from fluid gradient collimation) or to house therein a specific application function described in the preceding configurations, eg torpedo launching platform, or monitoring apparatus or drones. ance, exploration or search and rescue. Many variations of flight configurations exist, eg during the emergency ditching procedure with flotation airbag triggering followed by radio frequency beacon beacon and short-range laser location activation when the recovery is imminent, or during the initiation procedure of the upper piezo-safety active parachute group (133) and the lower ground-impact airbags (134).

Claims (9)

CLAIMS1) Active geometric exoskeleton device with pseudorhomboedric annular fairing for compensating propulsion gyropendular apparatus and fluidic gradient collimation, multi-media, multimodal, vertical and horizontal take-off and landing, with or without a pilot, whose prior art specifies that said gyro-end device incorporates the following devices: - a number of propulsion devices (20, 21, 26, 29, 32, 35, 38, 49, 65, 123, 125, 127, 129, 130, 131, 269, 278 , 306, 309, 327, 328) which can be rotated along the three axes, integrated within groups of engines or thrusters, with rotary wings or not, faired or not, ensuring the lift, the locomotion and the compensation of the torque and rotation. global gyroscopic pair (202), for bringing the gyropendular machine or drone to a certain altitude, depth or position in space and to keep it there, to navigate according to a flight plan in the three-dimensional space within any physical environment associated with a specific fluid, in suspension in the air or another atmosphere, or in flotation in water or another liquid in immersed mode or not, or in the space under vacuum subjected to a gravitational or weightless field, - an upper propulsion group (123), - an intermediate propulsion group (125), - a lower propulsion group (127), - an active 3D articulated central body (3, 91, 121, 429, 468), - an axial turbine (439), located on the vertebral structure, - a lower rotating plate with inertial disk (430, 488), - an inertial gyropendular stabilization device (188) - a fluidic gradient collimation device (205), - an avionic control device (18c), - a payload device (18c), - a cylindrical housing for accommodating many devices, - a number of other central bodies (58, 59, 60) rigid, or semi-rigid and hollow to accommodate different application functions requiring access or sighting end-to-end from above or from below, - an inflatable balloon safety device (136, 137, 138) on the periphery A retractable wing device (144, 145, 146, 148, 149, 150, 152, 153, 154, 156, 157, 158, 160, 161, 162, 164, 165, 166) to complete the lift in horizontal progression, - an application function of the complex manipulation or gripping type, - a low, medium and high precision laser pointing function, on one or more fixed or moving targets allowing them to be followed dynamically, or to establish a point-to-multipoint free-space telecommunication network, realized by the addition of a laser multibeam matrix head (237), or a 2D / 3D multi-beam laser multibeam synchronous digital scanning engine (240) , or type 180 ° / 360 ° (244), - u hybrid gyropendular control stick (204), according to different variants of configurations incorporating the following devices: - a fuselage and a wing (257, 261), adapted to air navigation, - a fuselage (267) and thrusters (269, 278), adapted to the spatial field, - a fuselage (265a) with watertight compartments and thrusters (265b, 265c), suitable for underwater navigation, - a lighter fuselage (266a) with gastight compartments filled with a gas and of a certain number of thrusters (266b, 266c), suitable for airship navigation type dirigible, said object of the invention is thus characterized in that it comprises: - an active geometric exoskeleton (1, 52, 56, 90, 112, 132, 139, 141, 167, 171, 177, 181, 252, 298, 300, 301, 303, 318, 325, 335, 343, 372, 380, 390), consisting of a pseudo annular fairing -Homboedric (114, 116, 118, 120, 122, 124, 126, 128, 143, 147, 151, 155, 159, 163,) combining a vertical right prism structure al (6, 115) having a triangular or any other base, an intermediate hexagonal structure (4, 117) and an asymmetric bipyramidic type rhombohedral structure (9, 107, 119) making it possible to protect the different propulsion units (26, 29, 32 , 38, 123, 125, 127, 129, 130, 131) and the payload (18) accommodating the application functions, and to partially absorb shocks in collisions with other machines, buildings or any other obstacle of the physical environment or terrain, - active shock absorbers (46), with integrated pressure sensors, with a dynamic gyropendular knee function (47), controlled by the on-board time stabilization function, arranged on each of the exposed edges (2) at the periphery of the active geometrical exoskeleton, consisting of an axial translational stand (46a) with an electromagnetic, pneumatic, hydraulic, piezoelectric, or jack function, and an apical hemispherical plate latie (46b, 94) flexible or semi-rigid, electromagnetic, or pneumatic, or with piezoelectric filaments, for repelling an obstacle, to correct the attitude or to reorient the trajectory of the gyropendular machine by elongation or axial contraction or pivoting of the latter along the two axes, while accompanying the progression on the ground by tilting (174, 180, 183) and successive rebounds (179, 182, 185) with progressive damping until complete stop (175, 186) before relaunching (170, 176, 187), - rolling devices, wheel type (44) and movable sphere (485) recessed in a cavity (486), adjustable with suspension, arranged on the edges of the triangle at the base of the vertical prism structure (6, 115) and at the periphery of the intermediate hexagonal structure (4, 117) of the active geometrical exoskeleton, making it possible to move (168, 169), to take off (170) or to land, horizontal - sitting correction devices head (62) incorporating a remote tilting mechanism, by torsional bending of a rod (63) coupled to a servomotor (61) in single-axis configuration or with perpendicular double axes, motors (71) or rotary-wing propellers (65) or gas nozzles (269), for collimating the fluidic gradient columns (84, 85, 88, 89, 224, 225) and for compensating for the overall induced gyro (202), enabling navigation according to a Complex flight plan in various physical environments of the air, or maritime, or submarine, or space, type, subject to strong weather or astrophysical disturbances, with precise real-time control of the trajectory carried out throughout the various phases: take-off, landing, landing, landing, landing or setting into orbit, and the stability in terms of position and orientation of the platform with pilot or gyropendor drone and its payload hosting the fo search and rescue applications, exploration, navigation, transportation, scene surveillance, hydrocarbon well or precious metal discovery, drilling or ground, submarine or space pumping, navigation and intervention of endovascular or intra-cavitary surgery, and deployment of telecommunications infrastructure in free space. 2) Device according to claim 1, characterized in that it comprises a payload device (18c) accommodating different application functions located in the cylindrical body (91) rigid, or semi-rigid and hollow type control, visualization , detection, interception, inflatable shock absorption cushions at the landing, and- 26 - safety type in the event of a shipwreck (parachute, inflatable stratospheric balloon, distress flare, laser tracking or interception module) , radiofrequency warning module, ...), 3) Device according to any one of the preceding claims, characterized in that it comprises an applicative function type of complex manipulation or gripping of low average and very high accuracy, achieved by the addition of a robotic platform hexapod type either a six-legged robot or articulated arm, or a biomimetic platform of articulated hand, 4) Device according to any one of the preceding claims, characterized in that it comprises a gyropendulaire hybrid control sleeve (204) authorizing, with the aid of the upper spherical portion (189), knob-type over function ball joint Three-axis movable 3D (192, 194), provided with a number of pressure-type or attitude-correcting type control devices distributed over the upper zone and peripherally in an ergonomic configuration determined by the position 15 normal at rest of the fingers of the operator, having a geometric shape of spherical, dodecahedral or any type allowing a precise holding of the attitude of the latter, a control of the attitude (191) and the overall gyroscopic torque (202) of the platform, 5) Device according to any one of the preceding claims, characterized in that it comprises an active active dynamic annular self-supporting umbilical structure with variable geometry (284, 287, 348, 373, 389, 392, 400, 408, 417). circular, elliptical, rectangular, concave or convex, or any type, flexible, semi-rigid or rigid, pressurized or not, striated or not, notched or not, lubricated or not, coated or not with an insulating non-stick deposit of metal or polymeric type, having at the periphery of a wired winding of electrical conductor type in which passes a direct or alternating current generating a magnetic field, of continuous or pulsed type, axial or in any orientation, bidirectional or not, to propel by repulsion or pulling by attraction of the conductive core having electromagnetic or ferromagnetic properties of neutral type, passive or active, integrated in the cylindrical body (3, 92, 264, 270, 299, 305, 323) constituting the vertebral structure of the machine with 30 pilot or gyropendular drone, applying to the latter a bi-directional axial displacement relative to the active dynamic annular self-supporting umbilical structure to variable geometry, according to a rectilinear trajectory, spiraled or whatever, for propelling, towing, guiding and feeding the machine with pilot or drone gyropendulaire in different physical environment of the vacuum type of space, air or other atmospheric gas , lake water, surface or underground river water, sea water, any viscous or non-viscous liquid of the blood plasma type, subject to critical environmental conditions of pressure and temperature, which may include substantial axial fluid currents , ascending, lateral or any, continuous or pulsed. 6) Device according to claim 5, characterized in that it comprises a pneumatic propulsion mechanism, generating bidirectional axial displacement to the active dynamic annular self-supporting umbilical active structure with variable geometry, in a straight path, spiral or any. 7) Device according to claim 5, characterized in that it comprises a hydraulic propulsion mechanism 10, generating bidirectional axial displacement to the active dynamic annular self-supporting umbilical structure with variable geometry, in a straight path, spiral or any. 8) Device according to claim 5, characterized in that it comprises a mechanical drive propulsion mechanism incorporating a movable grip base (393, 401, 409, 418), generating a bidirectional axial displacement to the umbilical structure self-supporting dynamic annular active variable geometry, according to a rectilinear trajectory, spiral or any. 9) Device according to any one of the preceding claims, characterized in that it comprises: - a umbilical cord (348, 373) flexible or semi-rigid, allowing, at a distance, to supply electric current, by the copper or aluminum conductors, and gas, water, any fluid through a pressurized sheath, and transmit bidirectionally, through any transmission medium, various signals of the type images, sounds, application and control data, with the machine with pilot 25 or gyro-terminal drone, - a telescopic rod (345) flexible, semi-rigid or rigid connected to a base (346), having a 3D ball joint function (347) ) located at one end of the umbilical cord (348, 373) to accompany the movements of the latter by pivoting freely along the three axes, - a 3D patella function (350, 356) located at the other end of the umbilical cord (348, 373) allowing the machine or gyro-endless drone (343, 372) to rotate freely along the three axes without being disturbed by the umbilical cord (348, 373), - a feeding device (371) with gas, water or any fluid, -28 - - a power supply device (370) in a continuous or alternating mode, single-phase or three-phase, low, medium or high voltage, - a counter-rotating lift device (366), comprising a cylindrical guide (365) provided with a 3D ball joint function (343), integrating a certain number of motorizations or faired thrusters (367, 368) making it possible to cancel the overall rotation torque, whose function is to maintain the umbilical cord at a certain altitude and position (348, 373 ), accompanying all movements of the machine with pilot or drone gyropendulaire within the working area, actively limiting the constraints on the latter, the umbilical cord, and the base, resulting from a position change o u orientation, allowing the device with driver or drone gyropendulaire (343, 372) to move freely within an area defined by this umbilical cord, while remaining connected and continuously fed to the telescopic base swivel power supply (344).