WO2018195575A1 - Aéronef sans pilote et système de production d'un feu d'artifice dans l'espace aérien - Google Patents

Aéronef sans pilote et système de production d'un feu d'artifice dans l'espace aérien Download PDF

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Publication number
WO2018195575A1
WO2018195575A1 PCT/AT2018/060084 AT2018060084W WO2018195575A1 WO 2018195575 A1 WO2018195575 A1 WO 2018195575A1 AT 2018060084 W AT2018060084 W AT 2018060084W WO 2018195575 A1 WO2018195575 A1 WO 2018195575A1
Authority
WO
WIPO (PCT)
Prior art keywords
aircraft
data processing
processing unit
position information
airspace
Prior art date
Application number
PCT/AT2018/060084
Other languages
German (de)
English (en)
Inventor
Horst HÖRTNER
Original Assignee
Ars Electronica Linz Gmbh & Co Kg
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Ars Electronica Linz Gmbh & Co Kg filed Critical Ars Electronica Linz Gmbh & Co Kg
Publication of WO2018195575A1 publication Critical patent/WO2018195575A1/fr

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F42—AMMUNITION; BLASTING
    • F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
    • F42B4/00—Fireworks, i.e. pyrotechnic devices for amusement, display, illumination or signal purposes
    • F42B4/06—Aerial display rockets
    • 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
    • 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

Definitions

  • the invention relates to an unmanned aircraft, comprising a drive unit for enabling the flight of the aircraft in the air space and a data processing unit, which is used for driving a position or a chronological sequence of positions of the aircraft
  • Aircraft in the air space is formed substantially in real time based on position information.
  • Aircraft commonly referred to in the English language as “unmanned aerial vehicle (UAV)", in particular in the field of “drones” or
  • UVAs it would be desirable to be able to populate a UAV with a firework to provide an image in the airspace using this firework.
  • this is currently not possible with UVAs according to the state of the art due to a certain hazard potential, since the direction of flight and the explosion of the fireworks body are only conditionally controllable. For example, a gust of wind could twist the UVA in an undesired direction and the firecracker could be shot down into the audience.
  • the invention has for its object to provide an unmanned aerial vehicle, the security of an image in the air space, which inter alia by the use of fireworks, improves and minimizes the potential danger to viewers, any passers-by, other unmanned aerial vehicles, etc.
  • this object is achieved in that the aircraft at least one holding means for holding at least one fireworks body and a
  • Activating means for activating the at least one fireworks body wherein the data processing unit is designed for evaluating and optionally determining at least one security parameter and for controlling the activating means as a function of the at least one security parameter.
  • the at least one security parameter expediently has position information and / or time information.
  • this may require a
  • Fireworks is activated only when the UAV is in a specified range of, for example, space or location coordinates. Conversely, this may mean that a firecracker is not activated in a fixed range of, for example, space or location coordinates. Such criteria can be combined. Consequently, it is particularly advantageously prevented by the invention that a fireworks body hits or explodes in the vicinity of a human being, another living being or an object. In the example of time information, this may mean that a firecracker is only activated when a defined time occurs. Conversely, this may mean that a firecracker is not activated before a point in time.
  • the at least one safety parameter additionally has a time criterion, the safety parameter and / or the time criterion being designed as a value range with at least one limit value, then the safety can be further increased.
  • the time criterion may be defined as a minimum duration during which a
  • Fireworks is not activated, so as to exclude short-term changes or influences.
  • the aircraft additionally has a communication unit and is the
  • Data processing unit for receiving and evaluating the position information and the at least one security parameter formed substantially in real time then the aircraft can be advantageously controlled by an external control device, such as a ground control unit, substantially in real time in the airspace, whereby also the image, ie the fireworks, can be controlled and activated in the airspace essentially in real time.
  • an external control device such as a ground control unit
  • the at least one holding means is formed by means of an alignment at least uniaxial, preferably biaxial, rotatably mounted on the aircraft, wherein the
  • Data processing unit for controlling the alignment of the holding means is formed by means of the alignment means based on alignment information.
  • the direction of the holding means and consequently the firing direction of the fireworks / s can advantageously be changed while, for example, the aircraft is held at a position in the airspace or from a position in the airspace to a next following position in the airspace
  • Airspace is moved. It would also be possible to control the flight of the aircraft so that the aircraft is rotated around its own axis until the fireworks point in a direction in the air space into which the fireworks can be shot down safely.
  • the data processing unit is designed to control the activating means as a function of at least two security parameters, wherein a security parameter has alignment information. This may therefore require fireworks to be activated only when the UAV
  • Has solid angles Conversely, this may mean that a firecracker is not activated within a fixed range of, for example, solid angles. Consequently, the security is further increased and, inter alia, it is advantageously prevented by a fireworks body being shot down in the direction of a human being, a different living being, an object or a residential area.
  • a first safety parameter may have position information, which means, for example, that a fireworks body is activated only within a defined range.
  • a second security parameter having time information can, if the criterion of the first security parameter is met, subsequently start to run, that is, in series with the first security parameter. In this case, for example, a fireworks would be detonated after the UAV
  • Safety boundary has flown over and a subsequent safety period has expired.
  • a second security parameter can also be parallel to a first Safety parameters exist, that is, both criteria must be met simultaneously. This would mean, for example, fireworks being fired only when the UAV stays within a specified range for a certain period of time.
  • Safety parameters may have other useful criteria, such as a "sleep criterion", which would require fireworks to be activated only until the legally allowed night's sleep, or, for example, a "protected area criterion", which would require a fireworks not to be in one, on or in the direction of a nature reserve / s or residential area / s is activated.
  • a “sleep criterion” which would require fireworks to be activated only until the legally allowed night's sleep
  • a “protected area criterion” which would require a fireworks not to be in one, on or in the direction of a nature reserve / s or residential area / s is activated.
  • the aircraft is advantageously designed as a drone, for example as a multicopter.
  • the aircraft can be cheaply procured and adapted, and the flight stability and controllability by position information, which may be, for example, three-dimensional GPS coordinates, is accurate, and the aircraft can be held at a position in the airspace substantially indefinitely.
  • At least one unmanned aerial vehicle according to the invention forms,
  • each aircraft additionally advantageously has at least one sensor unit for transmitting distance information to the data processing unit essentially in real time, with each one of them
  • Distance information for controlling the aircraft is formed in a swarm composite. As a result, the aircraft are able to capture the picture in the
  • a safety parameter may include the distance information, thereby preventing a different aircraft from being damaged when activating a firecracker and thus additionally increasing the safety of the system.
  • at least one aircraft instead of the
  • an imaging means in particular a LASER means, an LED means or a display means, wherein the activating means for activating the imaging means and the data processing unit are designed for controlling the activating means.
  • Various effects such as fireworks and lasers, can be combined to increase the diversity of aerial images.
  • a system for generating an image in the airspace can additionally have a ground control unit which is suitable for storing, processing, transmitting and / or receiving position information of the image and / or the
  • Ground communication unit for communication with the communication units of the aircraft is formed substantially in real time. This allows particularly complex and very large images by means of a large number of
  • Aircraft for example 100 or more, can be created in the airspace without the aircraft colliding with each other, with parts of the aircraft or all
  • Aircraft are controlled externally from the ground control unit.
  • Figure 1 shows a perspective schematic view of an unmanned aerial vehicle according to a first embodiment of the invention.
  • FIG. 2 shows a top view of a plurality of unmanned aerial vehicles according to FIG. 1.
  • FIG. 3 shows in a perspective schematic view a system for generating an image in the airspace.
  • FIG. 1 shows an unmanned aerial vehicle 1 according to a first embodiment of the invention.
  • the aircraft 1 is referred to as a drone, more precisely as so-called
  • a drive unit 2 of the aircraft 1 consists of eight rotor units which are driven, for example, by means of eight electric motors.
  • the drive unit 2 allows the flight of the aircraft 1 in the airspace.
  • An “Okotocopter” is a variant of a “Multicopter” with eight rotor units.
  • the aircraft 1 may alternatively be embodied as another variant of a multi-copter, for example as a “quadcopter” with four rotor units, etc., wherein in principle any number of rotor units is possible
  • airspace refers to any space above an artificial or natural floor inside or outside an artificial or natural space or building.
  • the aircraft 1 further has a data processing unit 3, which is designed to control a position or a chronological sequence of positions of the aircraft 1 in the airspace substantially in real time on the basis of position information.
  • the position information is, for example, "Global Positioning System (GPS)" -based, three-dimensional coordinates in the airspace, for example data in GPS Exchange Format (GPX) .
  • GPS Global Positioning System
  • GPX GPS Exchange Format
  • the data in GPX format can be geodesics, ie the latitude, longitude and altitude coordinates, Alternatively, the data may also be based on the Galileo, GLON ASS, Beidou / Compass or any other satellite navigation and / or timing system, or on a local or building based navigation system for positioning the aircraft inside and outside buildings (such as by Transmission of transmission signals, optical positioning systems, etc.).
  • a temporal sequence of positions essentially corresponds to a given route or a given "track”, which may or may also be data in GPX format
  • Airspeed of the Aircraft 1 It is particularly advantageous to modify the "time sequence of positions" also during runtime of the system, for example by the interaction of a user, or to derive new positions of one or more aircraft 1 from the interaction of the user kind of
  • the aircraft 1 With the data processing unit 3, it is thus possible, the aircraft 1 with a certain airspeed to a certain position in the airspace or along a to control specific route in the airspace.
  • the rotors of the drive unit 2 are controlled by the data processing unit 3 accordingly. In addition, this indicates
  • Aircraft 1 for example, a GPS receiver, so as always the current position of the aircraft 1 with the predetermined position or route based on
  • activation of a chronological sequence of positions of the aircraft 1 in the airspace thus denotes, inter alia, the control of a movement or trajectory of the aircraft 1 in the airspace, ie essentially the control of the flight of the aircraft 1 in the airspace.
  • the position information may be stored in a memory unit 4.
  • Data processing unit 3 receives the position information from the storage unit 4 and controls the aircraft 1 in accordance with this position information. In addition, the data processing unit 3 can transmit the current position information to the memory unit 4, where it is stored, for example for checking or as a backup.
  • the aircraft 1 according to the first embodiment has a
  • the data processing unit 3 can so
  • Position information also from an external control device, such as a laptop, a smartphone or a ground control unit, receive or send the current position information to this external control device.
  • an external control device such as a laptop, a smartphone or a ground control unit
  • the communication unit 5 of the aircraft 1 can also be designed to communicate with the communication unit 5 of another aircraft 1. This will be discussed later.
  • the aircraft 1 according to the first embodiment of the invention further includes
  • the data processing unit 3 is designed to control the activating means 11. If the activating agent 11 is activated by the data processing unit 3, it activates the fireworks body,
  • the firecracker is, if it is, for example, a firework rocket or a fireworks to be shot, shot down in a firing direction 7 of the holding means 6.
  • the functional principle can essentially correspond to that of a firearm, an air pressure weapon, or a spring pressure weapon, wherein the holding means 6 would represent a barrel of the respective weapon and the activating means 11, for example a bolt, an air pressure means, a spring, an ignition mechanism, etc.
  • the holding means 6 and / or the activating means 11 can also be controlled by an external control device, for example by a laptop, a smartphone or a floor control unit.
  • the holding means 6 is fastened to an alignment means 8 which is rotatable at least uniaxially, for instance about an axis of symmetry 9 of the aircraft 1, or of the alignment means 8.
  • the data processing unit 3 is for controlling the alignment of the
  • the holding means 6 can be controlled by the data processing unit 3 or by an external control unit via the communication unit 5.
  • the alignment means 8 is biaxially rotatable, namely about the axis of symmetry 9 of the aircraft 1 and about a pivot axis of the alignment means 8.
  • the pivot axis is advantageously arranged substantially at right angles to the axis of symmetry 9. While the aircraft 1 is in a stable, substantially static position in the air space, the axis of symmetry 9 is substantially perpendicular and thus the pivot axis is aligned horizontally.
  • the orientation of the holding means 6 can thereby compensate or intensify a deviating orientation of the aircraft 1.
  • the alignment of the holding means 6 can also take place exclusively via the alignment of the aircraft 1 in the airspace.
  • the alignment information may include, for example, an angle and time information, that is, for example, at what angle about the symmetry axis 9 the
  • Alignment means 8 at what time to be aligned.
  • the alignment information with the position information can be temporal or spatial
  • the aircraft 1 according to the invention can thus produce an image in the airspace by means of at least one fireworks body, the image being based on the temporal change of the position of the aircraft 1 in the airspace on the basis of
  • Position information and / or based on the time change of the orientation of the alignment means 8 can be spatially and temporally varied based on the alignment information.
  • the holding means may comprise a plurality of holding means 6, for example 2 to 10 or more than 10. These plurality of holding means 6 may be aligned together or independently by means of the alignment means 8 or by means of a plurality of alignment means 8 and controlled by the data processing unit 3.
  • a whole fireworks battery that is to say a plurality of fireworks which are activated as a function of time, can be launched from an aircraft 1.
  • the data processing unit 3 is designed to control the activating means 11 and / or the alignment means 8 as a function of at least one safety parameter. This means that the data processing unit 3 only releases the activating means 11, that is, activates it positively if a criterion of the at least one safety parameter is fulfilled. Furthermore, the data processing unit 3 can take back the release of the activating means 11, that is, trigger it negatively, if the security parameter additionally enters
  • Time criterion has, and the criterion of the security parameter before the expiration of the time criterion is suddenly no longer satisfied. Furthermore, the data processing unit 3 can align the alignment means 8 with respect to the criterion of a further security parameter, for example a security corridor defined by spatial coordinates in the direction of which the firing direction 7 of the holding means 6 is to be aligned.
  • a further security parameter for example a security corridor defined by spatial coordinates in the direction of which the firing direction 7 of the holding means 6 is to be aligned.
  • Security parameter may additionally have a time criterion, for example, as described in more detail above.
  • FIG. 2 shows by way of example a plurality of unmanned aerial vehicles in a view from above
  • Aircraft 1 according to the first embodiment shown in FIG. There are two security parameters 12 and 13 defined, each data processing unit 3 for controlling the corresponding activating means 11 and / or the corresponding
  • Aligning means 8 is formed in dependence of these safety parameters 12 and 13.
  • the first exemplary safety parameter 12 is defined by spatial coordinates, such as GPS coordinates in latitudes and longitudes, and virtually extends substantially vertically upward, with a maximum flight altitude of the aircraft 1 bordering a three-dimensional space upward. So it is in the
  • Each data processing unit 3 activates the corresponding activating means 11 only or releases it only if the criterion of the security parameter 12 is met, whereby this criterion consists in the fact that the corresponding aircraft 1 located within the virtual space. Conversely, the activated
  • Data processing unit 3 does not release the activating means 11 or does not release it if the criterion of the security parameter 12 is not fulfilled, that is, if the corresponding aircraft 1 is not located within the virtual space.
  • the second exemplary security parameter 13 is defined by spatial coordinates
  • GPS coordinates in latitude and longitude For example, GPS coordinates in latitude and longitude, and by
  • Directional coordinates for example, also based on GPS coordinates defined and extends along a virtual three-dimensional truncated cone.
  • Data processing unit 3 activates the corresponding activating means 11 only or releases it only if the criterion of security parameter 13 is satisfied, this criterion consisting in that the alignment means 8 of FIG.
  • corresponding aircraft 1 is oriented such that the firing direction 7 and the resulting trajectory of the fireworks body within the virtual
  • the corresponding activating means 11 is not, or is not free, if the criterion of the security parameter 13 is not met, so if the firing direction 7 and / or the resulting trajectory of the
  • Fireworks are not located inside the virtual three-dimensional truncated cone.
  • the two safety parameters 12 and 13 are parallel and interdependent, which means that they must both be satisfied simultaneously, hence one
  • Aircraft 1 would have to be met simultaneously so that a data processing unit 3 activates the corresponding activating means 11.
  • the security parameters 12 and 13 can additionally have a time criterion or other security parameters, for example consisting of time information, can be defined.
  • the different security parameters may be interdependent or independent and / or serial or parallel.
  • a plurality of unmanned aerial vehicles 1 according to the invention are combined in one system, for example in the form of a swarm compound, these can be integrated in Formation controlled so as to create images during an imaging phase in the airspace in dependence of / the safety parameters / s 12 and / or 13.
  • Figure 3 shows such an inventive system 10 of three unmanned
  • Aircraft 1 according to the first embodiment shown in FIG. The
  • Position information and the alignment information are formed as imaging information relating to the image.
  • the system 10 comprises a ground control unit 15, which is for storing, processing, transmitting and / or receiving the position information and / or
  • Imaging information is formed. This information is provided by the user
  • Ground control unit 15 for example, from a ground communication unit 16, transmitted via the communication units 5 of the aircraft 1 substantially in real time to the corresponding data processing units 3. This allows particularly complex and very large images by means of a large number of
  • Aircraft 1, for example, 100 and more, are created in the airspace without the aircraft 1 colliding with each other, wherein a part of the aircraft 1 or all aircraft 1 are controlled by the ground control unit 15. Alternatively, however, these aircraft 1 can also act, without prior control of a ground unit, by previously storing the positions and their timings.
  • the aircraft 1 of the system 10 additionally have a three-dimensional sensor unit 14 which continuously detects the distance to adjacent aircraft 1 in real time in real time and supplies this distance information to the corresponding one
  • Data processing unit 3 and / or ground control unit 15 can then / in essentially real time position information about the feedback from the
  • Update sensor unit 14 The aircraft 1 can thereby be moved, for example, in a swarm compound. Here, it may be sufficient to control only one to five aircraft 1 to a large amount, for example, 100 and more, to
  • Aircraft 1 to move, since all other aircraft 1 controlled
  • FIG. 3 may alternatively represent a section of a system with substantially more aircraft 1, for example 100 or more aircraft 1.
  • aircraft 1 for example 100 or more aircraft 1.
  • Illustrations are created by means of a large number of aircraft 1 in the airspace.
  • At least one aircraft 1 instead of the holding means 6 a
  • Imaging means in particular a LASER means, an LED means or a display means, wherein the activating means 11 for activating the imaging means and the data processing unit 3 for controlling the activating means 11 and the imaging means based on imaging information and / or for aligning the imaging means are formed by means of the alignment means 8 based on alignment information.
  • Imaging means particularly complex images are created by means of a large number of aircraft 1 in the airspace.
  • the system 10 is designed so that all the information is stored in a memory of the ground control unit 15 and, for example, the
  • Imaging information position information, alignment information,
  • step A) are essentially in real time
  • the data processing units 3 control the aircraft 1 within the airspace essentially in real time on the basis of FIG.
  • Map information to the appropriate locations During or after method step (s) B), at least one fireworks body is activated as a function of at least one safety parameter.
  • the ground communication unit 15 transmits mapping information to the data processing unit 3 of another of the
  • Aircraft having imaging means having imaging means.
  • the imaging means may be formed by a display or other comparable means.
  • the data processing unit 3 controls the at least one further aircraft 1 with the imaging means within the airspace on the basis of
  • the method steps A) and B) and optionally the method steps C) and D) can be carried out essentially in real time in any order sequentially and / or simultaneously for all aircraft 1 or only for parts of the aircraft 1.
  • three-dimensional and dynamic images in the airspace can be provided.
  • an aircraft or system according to the invention can be used for the controlled and automated safe breaking off of snow or rock / rock avalanches.
  • unmanned aerial vehicle is to be interpreted very broadly in the context of this invention and could include, for example, hot air balloons, zeppelins, model airplanes or model helicopters.
  • firecracker is to be interpreted in the context of this invention is very broad and could for example be a burning ball or other object with a burning or explosive substance.
  • a "fireworks” in the context of this invention can also represent an object that has no burning or explosive substances, for example a luminous or colored object, in particular based on fluorescent, phosphorescent or otherwise chemically or electrically activated luminous and / or colored materials and / or effects.
  • an aircraft according to the invention has no alignment means for aligning the fireworks body. The alignment of the fireworks takes place here by the respectively flown by the aircraft flight maneuver.
  • the horizontal orientation of the fireworks can be done by simply rotating the aircraft about its own axis, which is particularly easy with UAVs, where the vertical orientation of the fireworks body could be preset by the retaining means.
  • the vertical orientation of the fireworks for the correct launch position could be due to the currently flown
  • Flight maneuvers that is done by briefly lowering or lifting a side of the UAVs in flight.
  • the recoil of the fireworks body can be taken into account both for the desired trajectory following the launch and for a safe firing of the fireworks body.
  • the recoil of the fireworks body when shooting to a twist or tilt the fireworks body

Abstract

L'invention concerne un aéronef sans pilote (1) comportant une unité d'entraînement (2) pour le vol de l'aéronef (1) dans l'espace aérien et une unité de traitement de données (3) conçue pour commander une position ou une suite temporelle de positions de l'aéronef (1) dans l'espace aérien, sensiblement en temps réel, à l'aide d'informations de position. L'aéronef (1) présente au moins un moyen de fixation (6) pour fixer au moins une pièce d'artifice et un moyen d'activation (11) pour activer la ou les pièces d'artifice, l'unité de traitement de données (3) servant à évaluer et éventuellement à déterminer au moins un paramètre de sécurité et à commander le moyen d'activation (11) en fonction de l'au moins un paramètre de sécurité.
PCT/AT2018/060084 2017-04-28 2018-04-26 Aéronef sans pilote et système de production d'un feu d'artifice dans l'espace aérien WO2018195575A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ATGM50075/2017 2017-04-28
AT500752017 2017-04-28

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WO2018195575A1 true WO2018195575A1 (fr) 2018-11-01

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110906243A (zh) * 2019-12-03 2020-03-24 江苏蒲公英无人机有限公司 一种基于无人机的悬吊式光立方系统及工作方法

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2535887A2 (fr) * 2009-07-31 2012-12-19 Innovaciones Vía Solar S.L. Navette de lancement orientable pour bombes pyrotechniques
WO2017023411A1 (fr) * 2015-08-03 2017-02-09 Amber Garage, Inc. Planification de trajectoire de vol par identification de trames clés
DE102015116117A1 (de) * 2015-09-23 2017-03-23 Ascending Technologies Gmbh Verfahren und System zum Bereitstellen einer Luftdarstellung

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2535887A2 (fr) * 2009-07-31 2012-12-19 Innovaciones Vía Solar S.L. Navette de lancement orientable pour bombes pyrotechniques
WO2017023411A1 (fr) * 2015-08-03 2017-02-09 Amber Garage, Inc. Planification de trajectoire de vol par identification de trames clés
DE102015116117A1 (de) * 2015-09-23 2017-03-23 Ascending Technologies Gmbh Verfahren und System zum Bereitstellen einer Luftdarstellung

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110906243A (zh) * 2019-12-03 2020-03-24 江苏蒲公英无人机有限公司 一种基于无人机的悬吊式光立方系统及工作方法
CN110906243B (zh) * 2019-12-03 2024-01-12 江苏蒲公英无人机有限公司 一种基于无人机的悬吊式光立方系统及工作方法

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