WO2019211558A1 - Mobile drone-carrying device - Google Patents

Mobile drone-carrying device Download PDF

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Publication number
WO2019211558A1
WO2019211558A1 PCT/FR2019/051005 FR2019051005W WO2019211558A1 WO 2019211558 A1 WO2019211558 A1 WO 2019211558A1 FR 2019051005 W FR2019051005 W FR 2019051005W WO 2019211558 A1 WO2019211558 A1 WO 2019211558A1
Authority
WO
WIPO (PCT)
Prior art keywords
drone
platform
mobile device
flight
electromagnetic induction
Prior art date
Application number
PCT/FR2019/051005
Other languages
French (fr)
Inventor
Olivier Somville
Original Assignee
Octopus Robots
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 Octopus Robots filed Critical Octopus Robots
Publication of WO2019211558A1 publication Critical patent/WO2019211558A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F1/00—Ground or aircraft-carrier-deck installations
    • B64F1/007—Helicopter portable landing pads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F1/00—Ground or aircraft-carrier-deck installations
    • B64F1/12—Anchoring
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U70/00—Launching, take-off or landing arrangements
    • B64U70/90—Launching from or landing on platforms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U80/00—Transport or storage specially adapted for UAVs
    • B64U80/80—Transport or storage specially adapted for UAVs by vehicles
    • B64U80/86—Land vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/30—Supply or distribution of electrical power
    • B64U50/37—Charging when not in flight
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U80/00—Transport or storage specially adapted for UAVs
    • B64U80/20—Transport or storage specially adapted for UAVs with arrangements for servicing the UAV
    • B64U80/25—Transport or storage specially adapted for UAVs with arrangements for servicing the UAV for recharging batteries; for refuelling
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors

Definitions

  • the invention relates to a mobile device for supporting drones, for example for the civil surveillance of land, railroads, or any other area of large area.
  • a known solution to this problem is to increase the capacity of the electric storage batteries.
  • the energy gain is generally disrupted by the increase in the weight of the drone as well as the increase in its manufacturing price.
  • a mobile device for supporting a motorized drone able to move autonomously on a terrain comprising at least one electric storage battery, at least one platform adapted to receive a drone, said platform comprising a body transfer of electrical energy between said electric storage battery and the drone, and said platform comprising means for maintaining said drone on said platform.
  • said holding means comprise a circular electromagnet installed in a thickness said platform, so that a drone, comprising at least one lug comprising a permanent magnet is held firmly on the platform when said circular electromagnet is traversed by an electric current.
  • a drone comprising at least one lug comprising a permanent magnet is held firmly on the platform when said circular electromagnet is traversed by an electric current.
  • said holding means comprise a holding clip adapted to move in a sliding connection to the surface of the platform so as to traverse a landing zone of the platform until detecting a contact with a drone leg , said holding clip being adapted to move from an open position, when moving in slide connection, to a closed position, trapping the tab in contact, so as to maintain the drone on the platform.
  • said energy transfer member to the drone comprises an induction charging member.
  • the drone can be reloaded in a relatively simple manner, in particular without the need for physical connectors.
  • said electromagnetic induction charging member is installed in an extra thickness of the platform so as to be closer to the belly of a recharged drone in which are installed the electromagnetic induction charging means of the drone.
  • said extra thickness ensures a more stable positioning of the drone.
  • the electromagnetic induction charging member is a toroidal coil having a radius smaller than the circular electromagnet of the holding means; the electromagnetic induction charging member and the circular electromagnet being concentrically mounted on the platform; the electromagnetic induction charging member being dimensioned in particular according to the effect induced by the circular electromagnet.
  • said communication means are adapted to allow the drone to communicate the position of said mobile device, so that the drone is able to come to rest on said charging platform.
  • said platform comprises three delimited landing zones, so that three drones (30) can rest simultaneously on said platform.
  • said platform comprises three delimited landing zones, so that three drones (30) can rest simultaneously on said platform.
  • the device comprises guide means adapted to guide a drone in flight to a free landing zone of the platform, for example taken alone or in combination, a GPS, visual guidance means such as light marks, for example light spots or any other luminous shape, of fixed or flashing intensity, or radio frequency guide means of the ILS type or any other suitable guide means.
  • guide means adapted to guide a drone in flight to a free landing zone of the platform, for example taken alone or in combination, a GPS, visual guidance means such as light marks, for example light spots or any other luminous shape, of fixed or flashing intensity, or radio frequency guide means of the ILS type or any other suitable guide means.
  • the guiding means comprise light marks, for example an arrangement of light points, for example LEDs, on said free landing zone of the platform.
  • the invention also relates to a monitoring system comprising a mobile device as described above and a drone, said system being shaped such that when said drone is in flight and when the electric battery of said drone is less than a voltage limit value said drone is adapted to transmit to said mobile device a limit voltage information, said mobile device being shaped to communicate to the drone information adapted to guide it to a platform.
  • the invention also relates to a surveillance system comprising a mobile device as described above and two drones, characterized in that in operation a first drone is in flight while the second drone is maintained on the charging platform of said mobile device, and in that when the on-board electric battery of said first drone is less than a limit value of charge, said drone sends to the mobile device a voltage limit value information, said mobile device being shaped to guide said first drone in flight to the platform, and said second drone being reloaded being controlled by the mobile device to take off.
  • FIG. 1 is a side view of a mobile device of a monitoring system according to a first embodiment
  • FIG. 2 is a view from above of a mobile device according to a second embodiment
  • FIG. 3 is a side view of a monitoring system according to the first embodiment
  • FIG. 4 is a view from above of the monitoring system according to the embodiment of FIG. 1;
  • FIG. 5 is a detailed view of a leg of a drone placed on a platform of the mobile device of a surveillance system according to the invention
  • FIG. 6 is a top view, in transparency, of the platform of a mobile device according to the first embodiment of the invention.
  • FIG. 7 is a detailed view of an alternative embodiment of a platform of a mobile device according to the invention.
  • FIG. 8 is a view from above of a mobile device according to a third embodiment.
  • a monitoring system 1 comprises a mobile device 2 and a surveillance drone 30.
  • the mobile device 2 also called mobile base 2 is a motorized autonomous device able to move on a terrain to be traveled, for example a golf course, the banks of a lake or watercourse, a railway line, or any other large open space.
  • the motorization of the mobile base is here an engine powered by an electric motor powered by an electric storage battery or fuel cells.
  • the invention is not limited to this type of engine, which may for example also be a thermal engine, for example by internal combustion engine.
  • an autonomous displacement is a displacement that responds to input parameters, such as a cartography of a terrain to be covered or a trajectory to be followed, in combination with real-time decision-making by a user. onboard computer and without human intervention, so as to circumvent obstacles, adapt the pace and trajectory to the external environment, or communicate with other autonomous mobile devices.
  • the mobile base 2 comprises for this purpose obstacle detection means 3, 4.
  • the obstacle detection means 3, 4 comprise in particular a frontal radar 3 as well as a detection camera 4.
  • the frontal radar 3 is installed on a front portion of the mobile base 2, and the detection camera 4 is installed under a protective dome on an upper portion of the mobile base.
  • the mobile base 2 further comprises route calculation means, here a microcontroller, adapted to determine the path to be traveled according to predetermined map data, which could be predetermined by radiofrequency transmission of instructions from a remote control member or by direct programming of a storage memory of the mobile base 2.
  • route calculation means here a microcontroller, adapted to determine the path to be traveled according to predetermined map data, which could be predetermined by radiofrequency transmission of instructions from a remote control member or by direct programming of a storage memory of the mobile base 2.
  • the mobile base 2 also comprises a flight control device, here a microprocessor, able to analyze information from a drone 30, to decide on a flight strategy of the drone 30 according to the information received, and to determine flight instructions to be transmitted to the drone 30.
  • the mobile base 2 comprises an antenna 6 adapted to communicate radiofrequency with remote equipment and with a drone 30, so as to receive the information from a drone 30 and to transmit the flight instructions.
  • the mobile device 2 further comprises a platform 5 installed on the upper part of the mobile base 2.
  • the platform 5 has a substantially flat shape, extending in a horizontal plane when the movable base 2 is itself placed on a flat horizontal surface area.
  • the platform is installed on the mobile base so as to form a plane parallel to the plane of rest in which the mobile base 2 extends.
  • the platform ensures a flat resting surface for a drone 30.
  • the platform 5 comprises a circular zone 21, 22 drone landing 30.
  • the surveillance system 1 comprises a surveillance drone 30, landing and vertical takeoff, which comprises a plurality of propellers 301, a body 30 in which are installed stabilization and control means, here a microprocessor, and a rechargeable power supply battery.
  • the surveillance drone is a civilian drone of low mass, for example less than 1 kg, and in particular less than 500 g.
  • the invention is not limited to one type of drone in particular, although the invention is particularly suitable for UAVs.
  • the drone 30 further comprises a plurality of tabs 302 allowing it to land on a platform 5 installed on the mobile base 2.
  • the arrangement of the legs 302 and the number of legs 302 is determined so as to allow a stable rest of the drone 30 on the platform 5, preferably isostatically.
  • the surveillance drone 30 comprises a surveillance camera 307 installed on the belly of its body 300, pointing downwards when the drone 30 is in flight so as to be able to transmit video surveillance images to a control terminal.
  • the video surveillance images are in a first transmitted to the mobile base 2, which is capable of storing the video surveillance images and / or retransmitting them in real time to remote equipment, for example control.
  • the drone 30 comprises unrepresented communication means, for example radiofrequency communication means adapted to communicate with the mobile base 2 via the antenna 6 of the mobile base 2.
  • the drone 30 transmits to the mobile base 2 information relating to the state of charge of its onboard battery.
  • a known problem of surveillance drones 30 is that they have lightweight batteries and therefore low capacity imposing frequent refills.
  • the drone 30 is therefore adapted to transmit state of charge information of its on-board battery when it is in flight.
  • the flight control member of the mobile base 2 command via the antenna 6, the drone 30 to go to the platform 5, for to be recharged.
  • the mobile base 2 comprises guide means comprising an on-board GPS unit, adapted to allow the physical location of the mobile base 2 and in particular of the platform 5 installed on the upper part of the mobile base to allow the drone 30 in flight to come to land on the platform 5.
  • guide means comprising an on-board GPS unit, adapted to allow the physical location of the mobile base 2 and in particular of the platform 5 installed on the upper part of the mobile base to allow the drone 30 in flight to come to land on the platform 5.
  • the guide means also comprise approach means for making a precise landing on the circular zone 21, 22 of landing of the platform 5.
  • the approach means comprise on the mobile base a visual cue, here a constant or flashing light source, of specific shape, for example a cross or a circle, a visible mark such as one or more characters illuminated, as shown in FIG. 2, or a plurality of light sources, for example light spots, type LED, such as 3 light points forming for example a triangle, as shown in Figure 8 for the third embodiment.
  • a visual cue here a constant or flashing light source, of specific shape, for example a cross or a circle, a visible mark such as one or more characters illuminated, as shown in FIG. 2, or a plurality of light sources, for example light spots, type LED, such as 3 light points forming for example a triangle, as shown in Figure 8 for the third embodiment.
  • the visual cue is installed on the landing zone so that by guiding the drone towards the visual cue it is ensured that it lands on the circular landing zone 21, 22.
  • the drone is equipped with a camera directed towards the ground, adapted to capture the light signal, and onboard processing means are adapted to guide the drone towards the visual cue so as to allow a landing on the landing zone.
  • An alternative embodiment comprises radiofrequency guiding means installed on the mobile base capable of guiding the drone approaching accurately to the circular zone 21, 22 of landing of the platform 5.
  • an instrument landing system type device (better known by the English acronym ILS) is used, as it exists to guide the aircraft approaching runways, in particular by transmitting a localizer type signal (LOC) and glide path, it being understood that these means will be adapted to the particularities of UAVs vertical landings. In particular the glide slope instructed by the glide path may be much greater than for a horizontal landing aircraft.
  • LOC localizer type signal
  • the communication means of the mobile base 2 transmit a return command to the base 2 to the drone Including in particular information relating to the geographical position of the mobile base 2.
  • This information relating to the geographical position of the mobile base 2, comprising GPS coordinates, aims to bring the drone into an approach area, from which it will be able to capture the signals ILS, Localizer and Glide Path, allowing him to land on the platform 5.
  • the mobile base 2 transmits a return message to the base 2 to the drone 30, the mobile base 2 stops its autonomous movement, until the drone has returned to the platform 5, and the approach means ILS are activated .
  • the mobile base 30 can continue to travel the terrain to be traveled, for example to follow the railway tracks, but in this embodiment the mobile base 30 then regularly transmits new positions allowing the drone to rest on the platform until the drone indicates that it has picked up the ILS signals; the mobile base 30 then stopping only for the final approach of the drone 30.
  • the holding means comprise a circular electromagnet 50.
  • a permanent magnet 306 is also installed in the thickness of the leg of the drone 30.
  • the permanent magnet 306 is installed on the lower portion of a flat portion 305 of the tab 302 of the drone 30 so that the permanent magnet 306 is spaced from the electromagnet 50 by a distance less than a limit value for example of 1 cm in order to allow an effective maintenance of the leg 302 of the drone 30 against the platform 5.
  • the electromagnet 50 is traversed by an electric current, so that it goes into its holding state, it generates a force of attraction on the permanent magnet 306 of the lug 302, ensuring a firm hold of the drone 30 on the platform 5.
  • a plurality of legs of the drone for example at least three, comprise a permanent magnet, so as to allow a robust attachment of the drone on the platform 5 when the electromagnet 50 is activated.
  • the use of an electromagnet 50 as a means of maintaining the drone has the advantage, besides a robust and reliable maintenance, to ensure an optimal takeoff by maintaining the drone stably while the latter is at full power for a quick takeoff.
  • the holding means 51 of the drone 30 comprise a gripper 51 controlled, able to pass from a closed position to an open position.
  • the clamp 51 comprises a contact detecting member with the tab 302 of the drone 30.
  • This detection member may be for example a mechanical contactor installed in the hollow of the clamp 51.
  • a circular groove 52 is defined on the surface of the platform 5.
  • the clamp 51 is then adapted to move in a sliding connection in this circular groove 52 until the contact detection member detects a contact with a tab 302 of the drone 30.
  • the drone 30 is then recharged.
  • the mobile base 2 comprises means for recharging the drone 30 comprising an electrical energy transfer member between an electric accumulator battery of the mobile device 2 towards the drone 30.
  • the mobile base 2 comprises a battery of rechargeable electric accumulators, called recharging battery, able to provide sufficient energy to recharge at least one drone 30.
  • An electrical energy transfer member 70 comprises induction charging means 70 of the drone 30 through the surface of the platform 5, here an electromagnetic induction coil 70.
  • This electromagnetic induction coil 70 is installed in the thickness of the platform 5, concentrically with the circular reference zone 21, 22.
  • the drone further comprising electromagnetic induction charging means, for example a coil, no shown, installed in at least one leg 302 of the drone 30.
  • the electrical energy transfer member 70 is dimensioned and positioned on the platform 5, taking into account the effect of the electromagnet of the holding means 50.
  • the electrical energy transfer member 70 is installed concentrically with respect to the electromagnet 50 of the holding means 50.
  • the electrical energy transfer member 70 is installed in an excess thickness 71 projecting from the platform 5, bringing the charging means 70 closer to the belly 370 of the drone 30, in which the electromagnetic induction charging means are installed, and away from the holding means 50, so as to reduce the electromagnetic interference between the electromagnet holding means 50 and the electromagnetic energy transfer means by induction 70
  • This allowance 71 allows an improved gain of the refill, and the counter participating in maintaining the position of the drone when the latter is placed on the platform 5.
  • the monitoring system 1 comprises a mobile device 2 as described above and two drones 30.
  • the mobile device 2 then comprises a platform 5 on which are provided two circular zones 21 and 22, each circular mark 21, 22 being shaped to receive a drone 30.
  • the holding means are then doubled, each circular zone 21 22 of the platform 5 being provided with a means of maintaining the drone 30 and the drone recharging means 30 as described above.
  • a drone it is desired that a drone be always in flight when the other drone is being recharged, that is why when a drone in flight transmits to the mobile base 2 an indication of critical electrical voltage less than an acceptable voltage limit value, the mobile base 2 transmits a return instruction to the base as described above.
  • the other drone 30, placed on the other landing zone 22 takes off after a start-up sequence in which the transfer means of energy from the mobile base to the drone are stopped, the holding means of the drone are put in their open state, so as to release the maintenance of the leg 302 of the drone 30.
  • the mobile device 2 then transmits take-off order information to the reloaded drone 30 so that it takes over from the drone 30 which has just landed on the landing zone 21 of the platform 5.
  • the means for holding the drone are the means of electromagnets
  • the holding means pass into their closed state after coming into contact with a tab 302 of the drone, and the recharging means are activated.
  • the electromagnet can be activated a few seconds before, for example from 1 to 10 seconds, or simultaneously, to the touch of the drone on the platform, so as to ensure rapid magnetization of the drone.
  • the mobile base 2 moves autonomously so that it also transmits regularly at regular intervals, for example, every 10 seconds, position information to the drone 30.
  • the drone 30 is then adapted to move so as to follow the mobile base 2 so as not to move beyond a predetermined distance, for example of the order of 100m.
  • the drone 30 in flight follows the movement of the mobile base 2, the mobile base 2 having in addition in the second embodiment a drone 30 being reloaded.
  • the platform comprises three landing zones 21 -23, making it possible to ensure the flight of at least three drones, so that at least one drone is in flight while the other two are while charging.
  • the embodiment with three drones is the preferred one because it presents the minimum number of drone making it possible to ensure that at each alternation, the taking-off drone presents a full load, taking into account the current capacities of charging time and autonomy of the drones. light drones of less than 500g type.
  • the onboard batteries will be dimensioned to ensure autonomous movement of the base and permanent refills drones for a period of substantially 20h.
  • the invention is not limited to one, two or three landing zones on the platform 5, nor to the number of embedded drones, these parameters depending on the desired use.
  • platforms 5 having a large surface area and a large number of landing zones, and comprising a large number of drones, greater than or equal to the number of landing zones, for example more than a dozen, or more than thirty, so as to allow permanent swarming flights of drones and a permanent recharge of a large number of drones.
  • the mobile base 2 then being shaped to follow by means of its radar 3 of its surveillance camera 4 the markers formed by the rails of the railway.
  • the mobile base then advances at a predetermined speed, preferably at a constant speed, for example of the order of 4 or 5 km / h, and the drones 30 are then intended to provide a video surveillance of the sky, for example at a speed of height of a few tens of meters to ensure the state of the railways and where possible intrusions.
  • Such an invention applies in particular to any other type of monitoring, for example monitoring large areas such as golf courses, lakes or any other terrain, for example under construction to monitor.
  • the images transmitted from the drone in flight to the mobile base can be analyzed directly by the mobile base so as to detect particular susceptible elements, for example a detected moving element, a high heat emission, such detection can then give exceptionally sending a portion of the video surveillance images to a control center.
  • particular susceptible elements for example a detected moving element, a high heat emission
  • the mobile base 2 constantly transmits the video surveillance images to a control center, but only images likely to interest a possible human observer. In this way it is possible to ensure optimal management of the electric battery of the mobile base 2.

Abstract

The invention relates to a motor-driven mobile device (2) for carrying a drone (30), said device being able to move autonomously over a terrain and comprising at least one accumulator battery and at least one platform (5) for receiving a drone (30), said platform (5) comprising a body for transferring electrical energy between said accumulator battery and the drone (30), and said platform (5) comprising means for holding said drone (30) on said platform (5).

Description

Dispositif mobile de support de drones  Mobile device for supporting drones
L’invention concerne un dispositif mobile de support de drones, par exemple pour la surveillance civile de terrains, de chemins de fers, ou de toute autre zone de grande superficie. The invention relates to a mobile device for supporting drones, for example for the civil surveillance of land, railroads, or any other area of large area.
Dans le domaine de la surveillance, il est connu de mettre en œuvre des drones, équipés de caméras de surveillance, et adaptés pour surveiller depuis les airs des espaces situés au sol.  In the field of surveillance, it is known to implement drones, equipped with surveillance cameras, and adapted to monitor from the air spaces on the ground.
Cependant un problème connu est que les drones civils présentent une charge électrique limitée ne leur permettant de rester en vol qu’un temps relativement faible.  However, a known problem is that civil drones have a limited electrical charge that allows them to remain in flight only a relatively short time.
Une solution connue à ce problème consiste à augmenter la capacité des batteries d’accumulateurs électriques. Cependant, le gain énergétique est généralement perturbé par l’augmentation du poids du drone ainsi que l’augmentation de son prix de fabrication.  A known solution to this problem is to increase the capacity of the electric storage batteries. However, the energy gain is generally disrupted by the increase in the weight of the drone as well as the increase in its manufacturing price.
Dans le domaine de la surveillance, on souhaite pourtant obtenir des drones pouvant assurer une surveillance de longue durée dans des espaces relativement vastes, sans qu’il ne soit nécessaire de procéder manuellement à des recharges de drones.  In the field of surveillance, however, it is desired to obtain drones capable of providing long-term surveillance in relatively large spaces, without the need for manual refilling of drones.
Aussi, il existe le besoin d’une solution pour obtenir des drones de surveillance civile pouvant effectuer une surveillance sur une plus longue durée de manière automatique.  Also, there is the need for a solution to obtain civilian surveillance drones that can perform monitoring over a longer period of time automatically.
A cet effet, on propose un dispositif mobile de support de drone motorisé apte à se déplacer de manière autonome sur un terrain, comprenant au moins une batterie d’accumulateurs électriques, au moins une plateforme apte à recevoir un drone, ladite plateforme comprenant un organe de transfert d’énergie électrique entre ladite batterie d’accumulateurs électrique et le drone, et ladite plateforme comprenant des moyens de maintien dudit drone sur ladite plateforme. Ainsi, on peut obtenir un dispositif mobile permettant de recharger un drone de surveillance de manière automatique, ce qui permet un temps de surveillance par drone accru.  For this purpose, there is provided a mobile device for supporting a motorized drone able to move autonomously on a terrain, comprising at least one electric storage battery, at least one platform adapted to receive a drone, said platform comprising a body transfer of electrical energy between said electric storage battery and the drone, and said platform comprising means for maintaining said drone on said platform. Thus, it is possible to obtain a mobile device for charging a surveillance drone automatically, which allows an increased monitoring time per drone.
Avantageusement et de manière non limitative, lesdits moyens de maintien comprennent un électro-aimant circulaire, installé dans une épaisseur de ladite plateforme, de sorte qu’un drone, comprenant au moins une patte comprenant un aimant permanent est maintenu fermement sur la plateforme lorsque ledit électro-aimant circulaire est parcouru par un courant électrique. Ainsi, on peut obtenir un maintien particulièrement ferme du drone sur la plateforme. Advantageously and in a nonlimiting manner, said holding means comprise a circular electromagnet installed in a thickness said platform, so that a drone, comprising at least one lug comprising a permanent magnet is held firmly on the platform when said circular electromagnet is traversed by an electric current. Thus, it can obtain a particularly firm hold of the drone on the platform.
Selon une alternative, lesdits moyens de maintien comprennent une pince de maintien apte à se déplacer selon une liaison glissière à la surface de la plateforme de sorte à parcourir une zone d’atterrissage de la plateforme jusqu’à détecter un contact avec une patte de drone, ladite pince de maintien étant apte à passer d’une position ouverte, lors du déplacement en liaison glissière, vers une position fermée, emprisonnant la patte en contact, de sorte à maintenir le drone sur la plateforme. Ainsi, on peut obtenir un moyen de maintien du drone relativement robuste.  According to an alternative, said holding means comprise a holding clip adapted to move in a sliding connection to the surface of the platform so as to traverse a landing zone of the platform until detecting a contact with a drone leg , said holding clip being adapted to move from an open position, when moving in slide connection, to a closed position, trapping the tab in contact, so as to maintain the drone on the platform. Thus, one can obtain a means of maintaining the relatively robust drone.
Avantageusement et de manière non limitative, ledit organe de transfert d’énergie au drone comprend un organe de recharge par induction. Ainsi, on peut recharger de manière relativement simple le drone, en particulier sans qu’il ne soit nécessaire d’employer des connecteurs physiques.  Advantageously and in a nonlimiting manner, said energy transfer member to the drone comprises an induction charging member. Thus, the drone can be reloaded in a relatively simple manner, in particular without the need for physical connectors.
Avantageusement et de manière non limitative, ledit organe de recharge par induction électromagnétique est installé dans une surépaisseur de la plateforme de sorte à pouvoir être rapproché du ventre d’un drone rechargé dans lequel sont installés les moyens de recharge par induction électromagnétique du drone. Ainsi, on peut optimiser la recharge du drone en assurant de faibles pertes lors de l’échange par induction. En outre la surépaisseur permet d’assurer un positionnement plus stable du drone.  Advantageously and in a nonlimiting manner, said electromagnetic induction charging member is installed in an extra thickness of the platform so as to be closer to the belly of a recharged drone in which are installed the electromagnetic induction charging means of the drone. Thus, one can optimize the recharge of the drone by ensuring low losses during the induction exchange. In addition the extra thickness ensures a more stable positioning of the drone.
Avantageusement et de manière non limitative, l’organe de recharge par induction électromagnétique est un bobinage torique présentant un rayon inférieure à l’électro-aimant circulaire des moyens de maintien ; l’organe de recharge par induction électromagnétique et l’électro-aimant circulaire étant installés de manière concentrique sur la plateforme ; l’organe de recharge par induction électromagnétique étant dimensionné notamment en fonction de l’effet induit par l’électro-aimant circulaire. Ainsi, on peut assurer un relativement bon maintien du drone tout en permettant simultanément une recharge du drone. Avantageusement et de manière non limitative, lesdits moyens de communication sont adaptés pour permettre de communiquer au drone la position dudit dispositif mobile, de telle sorte que le drone soit apte à venir se poser sur ladite plateforme de recharge. Ainsi, on peut assurer un retour du drone à la base. Advantageously and in a nonlimiting manner, the electromagnetic induction charging member is a toroidal coil having a radius smaller than the circular electromagnet of the holding means; the electromagnetic induction charging member and the circular electromagnet being concentrically mounted on the platform; the electromagnetic induction charging member being dimensioned in particular according to the effect induced by the circular electromagnet. Thus, it can ensure a relatively good maintenance of the drone while simultaneously reloading the drone. Advantageously and in a nonlimiting manner, said communication means are adapted to allow the drone to communicate the position of said mobile device, so that the drone is able to come to rest on said charging platform. Thus, we can ensure a return of the drone to the base.
Avantageusement et de manière non limitative, ladite plateforme comprend trois zones d’atterrissage délimitées, de sorte que trois drones (30) peuvent reposer simultanément sur ladite plateforme. Ainsi, on peut assurer la recharge de deux drones pendant d’un troisième est en vol, ce qui correspond au regard des caractéristiques des batteries de drones civils, à la possibilité d’obtenir un drone en vol en permanence.  Advantageously and in a nonlimiting manner, said platform comprises three delimited landing zones, so that three drones (30) can rest simultaneously on said platform. Thus, we can ensure the recharge of two drones during a third is in flight, which corresponds to the characteristics of the drones of civil drones, to the possibility of obtaining a drone in flight permanently.
Avantageusement et de manière non limitative, le dispositif comprend des moyens de guidage adaptés pour guider un drone en vol jusqu’à une zone d’atterrissage libre de la plateforme, par exemple pris seuls ou en combinaison, un GPS, des moyens de guidage visuels tel que des repères lumineux, par exemple des points lumineux ou tout autre forme lumineuses, d’intensité fixe ou clignotante, ou des moyens de guidage radiofréquence de type ILS ou tout autre moyen de guidage adapté. Ainsi, on peut assurer un guidage relativement efficace du drone vers la plateforme.  Advantageously and in a nonlimiting manner, the device comprises guide means adapted to guide a drone in flight to a free landing zone of the platform, for example taken alone or in combination, a GPS, visual guidance means such as light marks, for example light spots or any other luminous shape, of fixed or flashing intensity, or radio frequency guide means of the ILS type or any other suitable guide means. Thus, it can ensure a relatively efficient guidance of the drone to the platform.
Avantageusement et de manière non limitative, les moyens de guidage comprennent des repères lumineux, par exemple un agencement de points lumineux, par exemple des diodes électroluminescentes LED, sur ladite zone d’atterrissage libre de la plateforme.  Advantageously and in a nonlimiting manner, the guiding means comprise light marks, for example an arrangement of light points, for example LEDs, on said free landing zone of the platform.
L’invention concerne aussi un système de surveillance comprenant un dispositif mobile tel que décrit précédemment et un drone, ledit système étant conformé de telle sorte que lorsque ledit drone est en vol et lorsque la batterie électrique dudit drone est inférieure à une valeur limite de tension, ledit drone est adapté pour transmettre audit dispositif mobile une information de tension limite, ledit dispositif mobile étant conformé pour communiquer au drone des informations adaptées pour le guider jusqu’à une plateforme.  The invention also relates to a monitoring system comprising a mobile device as described above and a drone, said system being shaped such that when said drone is in flight and when the electric battery of said drone is less than a voltage limit value said drone is adapted to transmit to said mobile device a limit voltage information, said mobile device being shaped to communicate to the drone information adapted to guide it to a platform.
L’invention concerne aussi un système de surveillance comprenant un dispositif mobile tel que décrit précédemment et deux drones, caractérisé en ce qu’en fonctionnement un premier drone est en vol tandis que le deuxième drone est maintenu sur la plateforme de recharge dudit dispositif mobile, et en ce que lorsque la batterie électrique embarquée dudit premier drone est inférieure à une valeur limite de charge, ledit drone envoi au dispositif mobile un information de valeur limite de tension, ledit dispositif mobile étant conformé pour guider ledit premier drone en vol vers la plateforme, et ledit deuxième drone en cours de rechargement étant commandé par le dispositif mobile pour décoller. The invention also relates to a surveillance system comprising a mobile device as described above and two drones, characterized in that in operation a first drone is in flight while the second drone is maintained on the charging platform of said mobile device, and in that when the on-board electric battery of said first drone is less than a limit value of charge, said drone sends to the mobile device a voltage limit value information, said mobile device being shaped to guide said first drone in flight to the platform, and said second drone being reloaded being controlled by the mobile device to take off.
D’autres particularités et avantages de l’invention ressortiront à la lecture de la description faite ci-après d’un mode de réalisation particulier de l’invention, donné à titre indicatif mais non limitatif, en référence aux dessins annexés sur lesquels :  Other features and advantages of the invention will emerge on reading the following description of a particular embodiment of the invention, given by way of indication but not limitation, with reference to the accompanying drawings in which:
- la figure 1 est une vue de côté d’un dispositif mobile d’un système de surveillance selon un premier mode de réalisation ;  - Figure 1 is a side view of a mobile device of a monitoring system according to a first embodiment;
- la figure 2 est une vue du dessus d’un dispositif mobile selon un deuxième mode de réalisation ;  FIG. 2 is a view from above of a mobile device according to a second embodiment;
- la figure 3 est une vue de coté d’un système de surveillance selon le premier mode de réalisation ;  - Figure 3 is a side view of a monitoring system according to the first embodiment;
- la figure 4 est une vue du dessus du système de surveillance selon le mode de réalisation de la figure 1 ;  FIG. 4 is a view from above of the monitoring system according to the embodiment of FIG. 1;
- la figure 5 est une vue de détail d’une patte d’un drone posé sur une plateforme du dispositif mobile d’un système de surveillance selon l’invention ;  FIG. 5 is a detailed view of a leg of a drone placed on a platform of the mobile device of a surveillance system according to the invention;
- la figure 6 est une vue du dessus, en transparence, de la plateforme d’un dispositif mobile selon le premier mode de réalisation de l’invention ;  FIG. 6 is a top view, in transparency, of the platform of a mobile device according to the first embodiment of the invention;
- la figure 7 est une vue de détail d’une alternative de réalisation d’une plateforme d’un dispositif mobile selon l’invention ; et  FIG. 7 is a detailed view of an alternative embodiment of a platform of a mobile device according to the invention; and
- la figure 8 est une vue du dessus d’un dispositif mobile selon un troisième mode de réalisation.  FIG. 8 is a view from above of a mobile device according to a third embodiment.
Un système de surveillance 1 comprend un dispositif mobile 2 et un drone de surveillance 30.  A monitoring system 1 comprises a mobile device 2 and a surveillance drone 30.
Le dispositif mobile 2, aussi appelé base mobile 2, est un dispositif autonome motorisé apte à se déplacer sur un terrain à parcourir, par exemple un terrain de golf, les berges d’une lac ou d’un cours d’eau, une voie de chemin de fer, ou tout autre espace ouvert de grande superficie. The mobile device 2, also called mobile base 2, is a motorized autonomous device able to move on a terrain to be traveled, for example a golf course, the banks of a lake or watercourse, a railway line, or any other large open space.
La motorisation de la base mobile est ici une motorisation par moteur électrique alimenté par une batterie d’accumulateurs électrique ou des piles à combustibles. Toutefois l’invention ne se limite pas à ce type de motorisation, qui peut par exemple être aussi une motorisation thermique, par exemple par moteur à combustion interne.  The motorization of the mobile base is here an engine powered by an electric motor powered by an electric storage battery or fuel cells. However, the invention is not limited to this type of engine, which may for example also be a thermal engine, for example by internal combustion engine.
On entend par le terme autonome le fait que la base mobile soit adaptée pour se déplacer sur un terrain à parcourir en l’absence d’instructions données en temps réel, par exemple en l’absence de conducteur. Autrement dit, un déplacement autonome est un déplacement répondant à des paramètres d’entrée, telle qu’une cartographie d’un terrain à parcourir ou encore d’une trajectoire à suivre, en combinaison avec des prises de décisions en temps réel réalisées par un calculateur de bord et sans intervention humaine, de sorte à contourner les obstacles, adapter l’allure et la trajectoire à l’environnement extérieur, ou encore communiquer avec d’autres dispositifs mobiles autonomes.  The term autonomous means that the mobile base is adapted to move on a field to go in the absence of instructions given in real time, for example in the absence of driver. In other words, an autonomous displacement is a displacement that responds to input parameters, such as a cartography of a terrain to be covered or a trajectory to be followed, in combination with real-time decision-making by a user. onboard computer and without human intervention, so as to circumvent obstacles, adapt the pace and trajectory to the external environment, or communicate with other autonomous mobile devices.
La base mobile 2 comprend à cet effet des moyens de détection d’obstacles 3, 4. Les moyens de détection d’obstacles 3, 4 comprennent notamment un radar frontal 3 ainsi qu’une caméra de détection 4.  The mobile base 2 comprises for this purpose obstacle detection means 3, 4. The obstacle detection means 3, 4 comprise in particular a frontal radar 3 as well as a detection camera 4.
Le radar frontal 3 est installé sur une portion avant de la base mobile 2, et la caméra de détection 4 est installée sous un dôme protecteur sur une portion supérieure de la base mobile.  The frontal radar 3 is installed on a front portion of the mobile base 2, and the detection camera 4 is installed under a protective dome on an upper portion of the mobile base.
La base mobile 2 comprend en outre des moyens de calcul d’itinéraire, ici un microcontrôleur, adaptés pour déterminer le chemin à parcourir en fonction de données cartographiques prédéterminées, ayant pu être prédéterminées par transmission radiofréquence d’instructions depuis un organe de commande distant ou par programmation directe d’une mémoire de stockage de la base mobile 2.  The mobile base 2 further comprises route calculation means, here a microcontroller, adapted to determine the path to be traveled according to predetermined map data, which could be predetermined by radiofrequency transmission of instructions from a remote control member or by direct programming of a storage memory of the mobile base 2.
La base mobile 2 comprend aussi un organe de commande de vol, ici un micro-processeur, apte à analyser des informations provenant d’un drone 30, à décider d’une stratégie de vol du drone 30 en fonction des informations reçues, et à déterminer des instructions de vol à transmettre au drone 30. La base mobile 2 comprend une antenne 6 apte à communique de manière radiofréquence avec des équipements distants ainsi qu’avec un drone 30, de sorte à recevoir les informations provenant d’un drone 30 et à transmettre les instructions de vol. The mobile base 2 also comprises a flight control device, here a microprocessor, able to analyze information from a drone 30, to decide on a flight strategy of the drone 30 according to the information received, and to determine flight instructions to be transmitted to the drone 30. The mobile base 2 comprises an antenna 6 adapted to communicate radiofrequency with remote equipment and with a drone 30, so as to receive the information from a drone 30 and to transmit the flight instructions.
Le dispositif mobile 2 comprend en outre une plateforme 5 installée sur la partie supérieure de la base mobile 2.  The mobile device 2 further comprises a platform 5 installed on the upper part of the mobile base 2.
La plateforme 5 présente une forme sensiblement plane, s’étendant dans un plan horizontal lorsque la base mobile 2 est elle-même posée sur un terrain de surface plane horizontale. Autrement dit, la plateforme est installée sur la base mobile de manière à former un plan parallèle au plan de repos dans lequel s’étend la base mobile 2. Ainsi, lorsque la base mobile 2 se déplace sur un terrain sensiblement plat, la plateforme assure une surface plane de repos pour un drone 30.  The platform 5 has a substantially flat shape, extending in a horizontal plane when the movable base 2 is itself placed on a flat horizontal surface area. In other words, the platform is installed on the mobile base so as to form a plane parallel to the plane of rest in which the mobile base 2 extends. Thus, when the mobile base 2 moves on a substantially flat ground, the platform ensures a flat resting surface for a drone 30.
La plateforme 5 comprend une zone circulaire 21 , 22 d’atterrissage de drone 30.  The platform 5 comprises a circular zone 21, 22 drone landing 30.
Le système de surveillance 1 comprend un drone de surveillance 30, à atterrissage et décollage vertical, qui comprend une pluralité d’hélices 301 , un corps 30 dans lequel sont installés des moyens de stabilisation et de commande, ici un micro-processeur, ainsi qu’une batterie d’alimentation électrique rechargeable.  The surveillance system 1 comprises a surveillance drone 30, landing and vertical takeoff, which comprises a plurality of propellers 301, a body 30 in which are installed stabilization and control means, here a microprocessor, and a rechargeable power supply battery.
Dans ce mode de réalisation le drone de surveillance est un drone civil de faible masse, par exemple inférieur à 1 Kg, et en particulier inférieure à 500g. Toutefois l’invention n’est pas limitée à un type de drone en particulier, bien que l’invention soit particulièrement adaptée aux drones à décollage vertical.  In this embodiment, the surveillance drone is a civilian drone of low mass, for example less than 1 kg, and in particular less than 500 g. However, the invention is not limited to one type of drone in particular, although the invention is particularly suitable for UAVs.
Le drone 30 comprend en outre une pluralité de pattes 302 lui permettant de se poser sur une plateforme 5 installée sur la base mobile 2.  The drone 30 further comprises a plurality of tabs 302 allowing it to land on a platform 5 installed on the mobile base 2.
L’agencement des pattes 302 ainsi que le nombre de pattes 302 est déterminé de manière à permettre un repos stable du drone 30 sur la plateforme 5, de préférence de manière isostatique.  The arrangement of the legs 302 and the number of legs 302 is determined so as to allow a stable rest of the drone 30 on the platform 5, preferably isostatically.
Le drone de surveillance 30 comprend une caméra de surveillance 307 installée sur le ventre de son corps 300, orientée vers le bas lorsque le drone 30 est en vol de sorte à pouvoir transmettre des images de vidéo surveillance à un terminal de contrôle. Dans ce mode de réalisation les images de vidéo-surveillance sont dans un premier transmises à la base mobile 2, laquelle est apte à stocker les images de vidéo surveillance et/ou les retransmettre en temps réel vers des équipements distants, par exemple des équipements de contrôle. The surveillance drone 30 comprises a surveillance camera 307 installed on the belly of its body 300, pointing downwards when the drone 30 is in flight so as to be able to transmit video surveillance images to a control terminal. In this embodiment, the video surveillance images are in a first transmitted to the mobile base 2, which is capable of storing the video surveillance images and / or retransmitting them in real time to remote equipment, for example control.
Le drone 30 comprend des moyens de communication non représentés par exemple des moyens de communication radiofréquence adaptés pour communiquer avec la base mobile 2 par l’intermédiaire de l’antenne 6 de la base mobile 2.  The drone 30 comprises unrepresented communication means, for example radiofrequency communication means adapted to communicate with the mobile base 2 via the antenna 6 of the mobile base 2.
En particulier, le drone 30 transmet à la base mobile 2 des informations relatives à l’état de charge de sa batterie embarquée. En effet, un problème connu des drones de surveillance 30 est qu’ils possèdent des batteries légères et par conséquent de faible capacité imposant des recharges fréquentes.  In particular, the drone 30 transmits to the mobile base 2 information relating to the state of charge of its onboard battery. Indeed, a known problem of surveillance drones 30 is that they have lightweight batteries and therefore low capacity imposing frequent refills.
Le drone 30 est donc adapté pour transmettre des informations d’état de charge de sa batterie embarquée lorsqu’il est en vol.  The drone 30 is therefore adapted to transmit state of charge information of its on-board battery when it is in flight.
Ainsi, lorsque la batterie d’accumulateur électrique rechargeable du drone So when the rechargeable electric accumulator battery of the drone
30 atteint une valeur critique, correspondant à une tension inférieure à une tension de seuil limite, l’organe de commande de vol de la base mobile 2commande via l’antenne 6, au drone 30 de se diriger jusqu’à la plateforme 5, pour y être rechargé. 30 reaches a critical value, corresponding to a voltage lower than a limit threshold voltage, the flight control member of the mobile base 2command via the antenna 6, the drone 30 to go to the platform 5, for to be recharged.
A cet effet, la base mobile 2 comprend des moyens de guidage comportant un organe GPS embarqué, adapté pour permettre la localisation physique de la base mobile 2 et en particulier de la plateforme 5 installée sur la partie supérieure de la base mobile afin de permettre au drone 30 en vol de venir se poser sur la plateforme 5.  For this purpose, the mobile base 2 comprises guide means comprising an on-board GPS unit, adapted to allow the physical location of the mobile base 2 and in particular of the platform 5 installed on the upper part of the mobile base to allow the drone 30 in flight to come to land on the platform 5.
Les moyens de guidage comprennent aussi des moyens d’approche pour procéder à un atterrissage précis sur la zone circulaire 21 , 22 d’atterrissage de la plateforme 5.  The guide means also comprise approach means for making a precise landing on the circular zone 21, 22 of landing of the platform 5.
Dans ce mode de réalisation les moyens d’approche comprennent sur la base mobile un repère visuel, ici une source lumineuse, constante ou clignotante, de forme spécifique, par exemple une croix ou un cercle, un repère visible tel qu’un ou plusieurs caractères éclairés, comme représenté en figure 2, ou une pluralité de sources lumineuses, par exemple des points lumineux, de type LED, tel que 3 points lumineux formant par exemple un triangle, tel que représenté en figure 8 pour le troisième mode de réalisation. In this embodiment, the approach means comprise on the mobile base a visual cue, here a constant or flashing light source, of specific shape, for example a cross or a circle, a visible mark such as one or more characters illuminated, as shown in FIG. 2, or a plurality of light sources, for example light spots, type LED, such as 3 light points forming for example a triangle, as shown in Figure 8 for the third embodiment.
Le repère visuel est installé sur la zone d’atterrissage de sorte qu’en guidant le drone vers le repère visuel on s’assure qu’il atterrisse sur la zone circulaire 21 , 22 d’atterrissage.  The visual cue is installed on the landing zone so that by guiding the drone towards the visual cue it is ensured that it lands on the circular landing zone 21, 22.
Le drone est équipé d’une caméra dirigée vers le sol, adaptée pour capter le signal lumineux, et des moyens de traitement embarqués sont adaptés pour guider le drone vers le repère visuel de sorte à permettre un atterrissage sur la zone d’atterrissage.  The drone is equipped with a camera directed towards the ground, adapted to capture the light signal, and onboard processing means are adapted to guide the drone towards the visual cue so as to allow a landing on the landing zone.
Un mode de réalisation alternatif, comprend des moyens de guidage radiofréquence installés sur la base mobile aptes à guider le drone en approche de manière précise jusqu’à la zone circulaire 21 , 22 d’atterrissage de la plateforme 5.  An alternative embodiment comprises radiofrequency guiding means installed on the mobile base capable of guiding the drone approaching accurately to the circular zone 21, 22 of landing of the platform 5.
A cet effet, on met en œuvre un dispositif de type système d'atterrissage aux instruments (plus connus sous l’acronyme anglophone ILS), tels qu’ils existent pour guider les aéronefs approchant de pistes d’atterrissages, notamment par émission d’un signal de type localizer (LOC) et glide path, étant entendu que ces moyens seront adaptés aux particularités des drones à atterrissages verticaux. En particulier l’angle de descente (glide slope) instruite par le glide path pourra être beaucoup plus important que pour un aéronef à atterrissage horizontal.  For this purpose, an instrument landing system type device (better known by the English acronym ILS) is used, as it exists to guide the aircraft approaching runways, in particular by transmitting a localizer type signal (LOC) and glide path, it being understood that these means will be adapted to the particularities of UAVs vertical landings. In particular the glide slope instructed by the glide path may be much greater than for a horizontal landing aircraft.
Autrement dit lorsque le drone 30 transmet une valeur d’information de la tension de la batterie d’accumulateur électrique embarqué inférieur à la valeur limite inférieure, les moyens de communication de la base mobile 2 transmettent une commande de retour à la base 2 au drone 30 comprenant notamment des informations relatives à la position géographique de la base mobile 2.  In other words, when the drone 30 transmits an information value of the voltage of the onboard accumulator battery lower than the lower limit value, the communication means of the mobile base 2 transmit a return command to the base 2 to the drone Including in particular information relating to the geographical position of the mobile base 2.
Ces informations relatives à la position géographique de la base mobile 2, comprenant des coordonnées GPS, ont pour objectif de ramener le drone dans une zone d’approche, à partir de laquelle il sera apte à capter les signaux ILS, Localizer et Glide Path, lui permettant d’effectuer un atterrissage sur la plateforme 5. Lorsque la base mobile 2 transmet un message de retour à la base 2 au drone 30, la base mobile 2 stoppe son déplacement autonome, jusqu’à ce que le drone soit revenu sur la plateforme 5, et les moyens d’approche ILS sont activés. This information relating to the geographical position of the mobile base 2, comprising GPS coordinates, aims to bring the drone into an approach area, from which it will be able to capture the signals ILS, Localizer and Glide Path, allowing him to land on the platform 5. When the mobile base 2 transmits a return message to the base 2 to the drone 30, the mobile base 2 stops its autonomous movement, until the drone has returned to the platform 5, and the approach means ILS are activated .
Ainsi, il n’est nécessaire de transmettre qu’une seule fois les informations relatives à la position géographique de la base mobile 2 au drone 30 afin qu’il revienne se poser.  Thus, it is necessary to transmit only once the information relating to the geographical position of the mobile base 2 to the drone 30 so that it comes back to land.
Selon un mode de réalisation alternative, la base mobile 30 peut continuer à parcourir le terrain à parcourir, par exemple à suivre les voies de chemin de fer, mais dans ce mode de réalisation la base mobile 30 transmet alors régulièrement de nouvelles positions permettant au drone de venir se reposer sur la plateforme jusqu’à ce que le drone indique avoir capté les signaux ILS ; la base mobile 30 se stoppant alors uniquement pour l’approche finale du drone 30.  According to an alternative embodiment, the mobile base 30 can continue to travel the terrain to be traveled, for example to follow the railway tracks, but in this embodiment the mobile base 30 then regularly transmits new positions allowing the drone to rest on the platform until the drone indicates that it has picked up the ILS signals; the mobile base 30 then stopping only for the final approach of the drone 30.
Lorsque le drone 30 vient se poser sur la plateforme 5, dans la zone circulaire 21 , 22, des moyens de maintien du drone 30 passent d’un état inactif à un état actif de sorte à maintenir le drone en position sur la plateforme 5.  When the drone 30 comes to rest on the platform 5, in the circular zone 21, 22, holding means of the drone 30 pass from an inactive state to an active state so as to keep the drone in position on the platform 5.
Dans ce mode de réalisation de l’invention les moyens de maintien comprennent un électro-aimant circulaire 50. Un aimant permanent 306 est par ailleurs installé dans l’épaisseur de la patte du drone 30. En particulier, l’aimant permanent 306 est installé sur la portion inférieure d’une partie plane 305 de la patte 302 du drone 30 de sorte que l’aimant permanent 306 est espacé de l’électro-aimant 50 d’une distance inférieure à une valeur limite par exemple de 1 cm afin de permettre un maintien efficace de la patte 302 du drone 30 contre la plateforme 5. Ainsi, lorsque l’électro-aimant 50 est parcouru par un courant électrique, de sorte qu’il passe dans son état de maintien, il génère une force d’attraction sur l’aimant permanent 306 de la patte 302, assurant un maintien ferme du drone 30 sur la plateforme 5.  In this embodiment of the invention the holding means comprise a circular electromagnet 50. A permanent magnet 306 is also installed in the thickness of the leg of the drone 30. In particular, the permanent magnet 306 is installed on the lower portion of a flat portion 305 of the tab 302 of the drone 30 so that the permanent magnet 306 is spaced from the electromagnet 50 by a distance less than a limit value for example of 1 cm in order to allow an effective maintenance of the leg 302 of the drone 30 against the platform 5. Thus, when the electromagnet 50 is traversed by an electric current, so that it goes into its holding state, it generates a force of attraction on the permanent magnet 306 of the lug 302, ensuring a firm hold of the drone 30 on the platform 5.
Selon une réalisation préférée, une pluralité de pattes du drone, par exemple au moins trois, comprennent un aimant permanent, de sorte à permettre une fixation robuste du drone sur la plateforme 5 lorsque l’électro- aimant 50 est activé. L’usage d’un électro-aimant 50 en tant que moyen de maintien du drone présente comme avantage, outre un maintien robuste et fiable, de permettre d’assurer un décollage optimal en maintenant le drone de manière stable alors que ce dernier est à pleine puissance pour un décollage rapide. According to a preferred embodiment, a plurality of legs of the drone, for example at least three, comprise a permanent magnet, so as to allow a robust attachment of the drone on the platform 5 when the electromagnet 50 is activated. The use of an electromagnet 50 as a means of maintaining the drone has the advantage, besides a robust and reliable maintenance, to ensure an optimal takeoff by maintaining the drone stably while the latter is at full power for a quick takeoff.
Selon une alternative de réalisation, en référence à la figure 5, les moyens de maintien 51 du drone 30 comprennent une pince 51 commandée, apte à passer d’une position fermée à une position ouverte.  According to an alternative embodiment, with reference to FIG. 5, the holding means 51 of the drone 30 comprise a gripper 51 controlled, able to pass from a closed position to an open position.
Lorsque ladite pince 51 est dans sa position fermée, de sorte à entourer une patte 302 du drone 30, elle assure un maintien ferme de la patte 302 du drone 30 contre la plateforme 5.  When said clamp 51 is in its closed position, so as to surround a tab 302 of the drone 30, it ensures a firm hold of the tab 302 of the drone 30 against the platform 5.
La pince 51 comprend un organe de détection de contact avec la patte 302 du drone 30. Cet organe de détection peut être par exemple un contacteur mécanique installé dans le creux de la pince 51.  The clamp 51 comprises a contact detecting member with the tab 302 of the drone 30. This detection member may be for example a mechanical contactor installed in the hollow of the clamp 51.
Selon cette alternative de réalisation, une gorge circulaire 52 est définie sur la surface de la plateforme 5. La pince 51 est alors adaptée pour se déplacer selon une liaison glissière dans cette gorge circulaire 52 jusqu’à ce que l’organe de détection de contact détecte un contact avec une patte 302 du drone 30.  According to this alternative embodiment, a circular groove 52 is defined on the surface of the platform 5. The clamp 51 is then adapted to move in a sliding connection in this circular groove 52 until the contact detection member detects a contact with a tab 302 of the drone 30.
Lorsque le contact avec une patte 302 est détecté, la pince 51 de maintien se referme autour de la patte 302.  When the contact with a tab 302 is detected, the holding clip 51 closes around the tab 302.
Une fois le drone 30 maintenu sur la plateforme 5 de la base 2, on procède alors à la recharge du drone 30.  Once the drone 30 is maintained on the platform 5 of the base 2, the drone 30 is then recharged.
A cet effet, la base mobile 2 comprend des moyens de recharge du drone 30 comportant un organe de transfert d’énergie électrique entre une batterie d’accumulateur électriques du dispositif mobile 2 vers le drone 30.  For this purpose, the mobile base 2 comprises means for recharging the drone 30 comprising an electrical energy transfer member between an electric accumulator battery of the mobile device 2 towards the drone 30.
En effet, la base mobile 2 comprend une batterie d’accumulateurs électriques de recharge, dite batterie de recharge, apte à fournir une énergie suffisante pour recharger au moins un drone 30.  Indeed, the mobile base 2 comprises a battery of rechargeable electric accumulators, called recharging battery, able to provide sufficient energy to recharge at least one drone 30.
Cette batterie d’accumulateurs électrique de recharge peut par exemple être commune avec la batterie d’accumulateur électrique alimentant la base mobile lorsqu’elle est motorisée par une machine électrique. Elle peut toutefois aussi être distincte des moyens d’alimentation de la base mobile autonome, Un organe de transfert d’énergie électrique 70 comprend un moyen de recharge par induction 70 du drone 30 au travers de la surface de la plateforme 5, ici une bobine d’induction électromagnétique 70. This recharging electric storage battery can for example be common with the electric storage battery supplying the mobile base when it is powered by an electric machine. However, it can also be distinct from the supply means of the autonomous mobile base, An electrical energy transfer member 70 comprises induction charging means 70 of the drone 30 through the surface of the platform 5, here an electromagnetic induction coil 70.
Cette bobine d’induction électromagnétique 70 est installée dans l’épaisseur de la plateforme 5, de manière concentrique avec la zone circulaire de référence 21 , 22. Le drone comprenant en outre des moyens de recharge par induction électromagnétique, par exemples un bobine, non représentée, installée dans au moins une patte 302 du drone 30.  This electromagnetic induction coil 70 is installed in the thickness of the platform 5, concentrically with the circular reference zone 21, 22. The drone further comprising electromagnetic induction charging means, for example a coil, no shown, installed in at least one leg 302 of the drone 30.
L’organe de transfert d’énergie électrique 70 est dimensionné et positionné sur la plateforme 5 en tenant compte de l’effet de l’électro-aimant des moyens de maintien 50.  The electrical energy transfer member 70 is dimensioned and positioned on the platform 5, taking into account the effect of the electromagnet of the holding means 50.
En particulier, en référence à la figure 6, l’organe de transfert d’énergie électrique 70 est installé de manière concentrique par rapport à l’électro-aimant 50 des moyens de maintien 50.  In particular, with reference to FIG. 6, the electrical energy transfer member 70 is installed concentrically with respect to the electromagnet 50 of the holding means 50.
En référence à la figure 7, selon une alternative de réalisation, l’organe de transfert d’énergie électrique 70 est installé dans une surépaisseur 71 en saillie de la plateforme 5, rapprochant les moyens de recharge 70 du ventre 370 du drone 30, dans lequel sont installés les moyens de recharge par induction électromagnétique, et l’éloignant des moyens de maintien 50, de sorte à réduire les perturbations électromagnétiques entre les moyens de maintien par électro- aimants 50 et les moyens de transfert d’énergie électromagnétique par induction 70. Cette surépaisseur 71 permet un gain amélioré de la recharge, et le pion participant au maintien en position du drone lorsque ce dernier est posé sur la plateforme 5.  Referring to FIG. 7, according to an alternative embodiment, the electrical energy transfer member 70 is installed in an excess thickness 71 projecting from the platform 5, bringing the charging means 70 closer to the belly 370 of the drone 30, in which the electromagnetic induction charging means are installed, and away from the holding means 50, so as to reduce the electromagnetic interference between the electromagnet holding means 50 and the electromagnetic energy transfer means by induction 70 This allowance 71 allows an improved gain of the refill, and the counter participating in maintaining the position of the drone when the latter is placed on the platform 5.
Selon un deuxième mode de réalisation de l’invention représenté en figure According to a second embodiment of the invention shown in FIG.
2, le système de surveillance 1 comprend un dispositif mobile 2 tel que décrit précédemment ainsi que deux drones 30. 2, the monitoring system 1 comprises a mobile device 2 as described above and two drones 30.
Le dispositif mobile 2 comprend alors une plateforme 5 sur laquelle sont prévus deux zones circulaires 21 et 22, chaque repère circulaire 21 , 22 étant conformé pour recevoir un drone 30.  The mobile device 2 then comprises a platform 5 on which are provided two circular zones 21 and 22, each circular mark 21, 22 being shaped to receive a drone 30.
Dans ce mode de réalisation les moyens de maintien sont alors doublés, chaque zone circulaire 21 22 de la plateforme 5 étant pourvue d’un moyen de maintien du drone 30 et des moyens de recharge du drone 30 tels que décrits précédemment. In this embodiment, the holding means are then doubled, each circular zone 21 22 of the platform 5 being provided with a means of maintaining the drone 30 and the drone recharging means 30 as described above.
Dans ce mode de réalisation on souhaite qu’un drone soit toujours en vol lorsque l’autre drone est en cours de recharge, c’est pourquoi lorsqu’un drone en vol transmet à la base mobile 2 une indication de tension électrique critique inférieur à une valeur limite de tension acceptable, la base mobile 2 lui transmet une instruction de retour à la base tel que décrit précédemment.  In this embodiment, it is desired that a drone be always in flight when the other drone is being recharged, that is why when a drone in flight transmits to the mobile base 2 an indication of critical electrical voltage less than an acceptable voltage limit value, the mobile base 2 transmits a return instruction to the base as described above.
Lorsque le drone revient se poser sur la plateforme 5 dans la zone d’atterrissage libre 21 , l’autre drone 30, posé sur l’autre zone d’atterrissage 22, décolle après une séquence de mise en route dans laquelle les moyens de transfert d’énergie de la base mobile vers le drone sont arrêtés, les moyens de maintien du drone sont mis dans leur état ouverts, de sorte à relâcher le maintien de la patte 302 du drone 30.  When the drone returns to land on the platform 5 in the free landing zone 21, the other drone 30, placed on the other landing zone 22, takes off after a start-up sequence in which the transfer means of energy from the mobile base to the drone are stopped, the holding means of the drone are put in their open state, so as to release the maintenance of the leg 302 of the drone 30.
Le dispositif mobile 2 transmet alors une information d’ordre de décollage au drone rechargé 30 afin qu’il prenne le relais du drone 30 qui vient de venir se poser sur la zone d’atterrissage 21 de la plateforme 5.  The mobile device 2 then transmits take-off order information to the reloaded drone 30 so that it takes over from the drone 30 which has just landed on the landing zone 21 of the platform 5.
Lorsque les moyens de maintien du drone sont les moyens d’électro- aimants, on peut prévoir cependant de donner l’ordre de décollage au drone avant de relâcher l’aimantation, ceci permettant d’assurer un décollage rapide et sécurisé par une montée en puissance du drone préalable au relâchement des moyens de maintien.  When the means for holding the drone are the means of electromagnets, provision can be made, however, to give the take-off order to the drone before releasing the magnetization, this making it possible to ensure a rapid and secure take-off by a rise in power of the drone prior to the release of the holding means.
Lorsque le drone 30 à recharger vient de se poser, les moyens de maintien passent dans leur état fermé après être entrés en contact avec une patte 302 du drone, et les moyens de recharge sont activés.  When the drone 30 to be recharged has just landed, the holding means pass into their closed state after coming into contact with a tab 302 of the drone, and the recharging means are activated.
Lorsque les moyens de maintien du drone sont les moyens d’électro- aimants, l’électro-aimant peut être activé quelques secondes avant, par exemple de 1 à 10 secondes, ou simultanément, au toucher du drone sur la plateforme, de sorte à assurer une aimantation rapide du drone.  When the means for holding the drone are the means of electromagnets, the electromagnet can be activated a few seconds before, for example from 1 to 10 seconds, or simultaneously, to the touch of the drone on the platform, so as to ensure rapid magnetization of the drone.
Ainsi on peut assurer une alternance de surveillance entre deux drones 30 ; un drone 30 pratiquant une surveillance permanente tandis que l’autre drone 30 est en cours de recharge.  Thus it is possible to provide alternating surveillance between two drones 30; a drone 30 continuously monitoring while the other drone 30 is being recharged.
Pendant la surveillance, la base mobile 2, que ce soit dans le premier ou le deuxième mode de réalisation, se déplace de manière autonome de sorte qu’elle transmet aussi de manière régulière à intervalle régulier, par exemple, toutes les 10 secondes, des informations de position au drone 30. During monitoring, the mobile base 2, whether in the first or the second embodiment, moves autonomously so that it also transmits regularly at regular intervals, for example, every 10 seconds, position information to the drone 30.
Le drone 30 est alors adapté pour se déplacer de manière à suivre la base mobile 2 afin de ne pas s’en éloigner au-delà d’une distance prédéterminée, par exemple de l’ordre de 100m.  The drone 30 is then adapted to move so as to follow the mobile base 2 so as not to move beyond a predetermined distance, for example of the order of 100m.
Ainsi, le drone 30 en vol suit le mouvement de la base mobile 2, la base mobile 2 ayant en outre dans le deuxième mode de réalisation un drone 30 en cours de rechargement.  Thus, the drone 30 in flight follows the movement of the mobile base 2, the mobile base 2 having in addition in the second embodiment a drone 30 being reloaded.
Ceci permet d’assurer une recharge permanente et donc une surveillance régulière d’un espace à surveiller au moyen de drones 30 tout en s’assurant que ces drones 30 puissent être rechargés de manière automatique.  This makes it possible to ensure a permanent recharge and therefore a regular surveillance of a space to be monitored by means of drones while ensuring that these drones can be recharged automatically.
Selon un troisième mode de réalisation préféré, la plateforme comprend trois zones d’atterrissage 21 -23, permettant d’assurer le vol d’au moins trois drones, de sorte qu’au moins un drone est en vol pendant que les deux autres sont en cours de recharge. Le mode de réalisation à trois drones est celui préféré car il présente le nombre minimum de drone permettant d’assurer qu’à chaque alternance, le drone décollant présente une charge pleine, compte tenu des capacités actuelles de temps de charge et d’autonomie des drones légers de type inférieur à 500g.  According to a third preferred embodiment, the platform comprises three landing zones 21 -23, making it possible to ensure the flight of at least three drones, so that at least one drone is in flight while the other two are while charging. The embodiment with three drones is the preferred one because it presents the minimum number of drone making it possible to ensure that at each alternation, the taking-off drone presents a full load, taking into account the current capacities of charging time and autonomy of the drones. light drones of less than 500g type.
Sur une base mobile comprenant trois drones, les batteries embarquées seront dimensionnées pour assurer un déplacement autonome de la base et des recharges permanentes de drones pour une durée sensiblement de 20h.  On a mobile base comprising three drones, the onboard batteries will be dimensioned to ensure autonomous movement of the base and permanent refills drones for a period of substantially 20h.
L’invention n’est pas limitée à une, deux ou trois zones d’atterrissage sur la plateforme 5, ni au nombre de drone embarqués, ces paramètres dépendant de l’utilisation souhaitée. En particulier, on peut prévoir des plateformes 5 présentant une importante surface et un grand nombre de zones d’atterrissage, et comportant un grand nombre de drones, supérieur ou égal au nombre de zones d’atterrissage, par exemple plus d’une dizaine, voire plus d’une trentaine, de sorte à permettre des vol en essaim permanents de drones et une recharge permanente d’un grand nombre de drone.  The invention is not limited to one, two or three landing zones on the platform 5, nor to the number of embedded drones, these parameters depending on the desired use. In particular, it is possible to provide platforms 5 having a large surface area and a large number of landing zones, and comprising a large number of drones, greater than or equal to the number of landing zones, for example more than a dozen, or more than thirty, so as to allow permanent swarming flights of drones and a permanent recharge of a large number of drones.
En particulier la surveillance de voie ferrées est permise par cette invention, la base mobile 2 étant alors conformée pour suivre au moyen de son radar 3 de sa caméra de surveillance 4 les repères formés par les rails de la voie de chemin de fer. La base mobile avance alors à une vitesse prédéterminée, préférentiellement à une vitesse constante, par exemple de l’ordre de 4 ou 5 km/h, et les drones 30 étant alors destinés à assurer une vidéo-surveillance du ciel, par exemple à une hauteur de quelques dizaines de mètres pour s’assurer de l’état des voies ferrées et où d’éventuelles intrusions. In particular railroad monitoring is allowed by this invention, the mobile base 2 then being shaped to follow by means of its radar 3 of its surveillance camera 4 the markers formed by the rails of the railway. The mobile base then advances at a predetermined speed, preferably at a constant speed, for example of the order of 4 or 5 km / h, and the drones 30 are then intended to provide a video surveillance of the sky, for example at a speed of height of a few tens of meters to ensure the state of the railways and where possible intrusions.
Une telle invention s’applique notamment à tout autre type de surveillance, par exemple la surveillance de grands espaces comme des golfs, des lacs ou tout autre terrain, par exemple en construction à surveiller.  Such an invention applies in particular to any other type of monitoring, for example monitoring large areas such as golf courses, lakes or any other terrain, for example under construction to monitor.
En outre, les images transmises du drone en vol vers la base mobile peuvent être analysés directement par la base mobile de sorte à détecter des éléments susceptibles particuliers, par exemple un élément mobile détecté, une forte émission de chaleur, une telle détection pouvant alors donner lieu à un envoi exceptionnel d’une portion des images de vidéo surveillance à un centre de commande.  In addition, the images transmitted from the drone in flight to the mobile base can be analyzed directly by the mobile base so as to detect particular susceptible elements, for example a detected moving element, a high heat emission, such detection can then give exceptionally sending a portion of the video surveillance images to a control center.
Ainsi, il n’est pas nécessaire que la base mobile 2 transmette en permanence les images de vidéo surveillance à un centre de commande, mais uniquement des images susceptibles d’intéresser un éventuel observateur humain. De cette manière on peut assurer une gestion optimale de la batterie électrique de la base mobile 2.  Thus, it is not necessary that the mobile base 2 constantly transmits the video surveillance images to a control center, but only images likely to interest a possible human observer. In this way it is possible to ensure optimal management of the electric battery of the mobile base 2.

Claims

REVENDICATIONS
1. Dispositif mobile (2) de support de drone (30) motorisé apte à se déplacer de manière autonome sur un terrain, comprenant au moins une batterie d’accumulateurs électriques, au moins une plateforme (5) apte à recevoir un drone (30), ladite plateforme (5) comprenant un organe de transfert d’énergie électrique (70) entre ladite batterie d’accumulateurs électrique et le drone (30), et ladite plateforme (5) comprenant des moyens de maintien (50, 51 ) dudit drone (30) sur ladite plateforme (5). 1. Mobile device (2) for supporting a drone (30) motorized capable of moving autonomously on a terrain, comprising at least one electric storage battery, at least one platform (5) adapted to receive a drone (30). ), said platform (5) comprising an electrical energy transfer member (70) between said electric accumulator battery and the drone (30), and said platform (5) comprising holding means (50, 51) of said drone (30) on said platform (5).
2. Dispositif mobile (2) selon la revendication 1 , caractérisé en ce que lesdits moyens de maintien (50) comprennent un électro-aimant circulaire (50), installé dans une épaisseur de ladite plateforme (5), de sorte qu’un drone (30), comprenant au moins une patte (302) comprenant un aimant permanent (306) est maintenu fermement sur la plateforme (5) lorsque ledit électro-aimant circulaire (50) est parcouru par un courant électrique. 2. Mobile device (2) according to claim 1, characterized in that said holding means (50) comprise a circular electromagnet (50) installed in a thickness of said platform (5), so that a drone (30), comprising at least one tab (302) comprising a permanent magnet (306) is held firmly on the platform (5) when said circular electromagnet (50) is traversed by an electric current.
3. Dispositif mobile (2) selon la revendication 1 ou 2, caractérisé en ce que ledit organe de transfert d’énergie (70) au drone (30) comprend un organe de recharge par induction électromagnétique (70). 3. Mobile device (2) according to claim 1 or 2, characterized in that said energy transfer member (70) to the drone (30) comprises an electromagnetic induction charging member (70).
4. Dispositif mobile (2) selon la revendication 3, caractérisé en ce que ledit organe de recharge par induction électromagnétique (70) est installé dans une surépaisseur (71 ) de la plateforme (5) de sorte à pouvoir être rapproché du ventre (370) d’un drone (30) rechargé dans lequel sont installés les moyens de recharge par induction électromagnétique du drone (30). 4. Mobile device (2) according to claim 3, characterized in that said electromagnetic induction charging member (70) is installed in an extra thickness (71) of the platform (5) so as to be closer to the belly (370). ) of a recharged drone (30) in which are installed the electromagnetic induction charging means of the drone (30).
5. Dispositif mobile (2) selon la revendication 3 ou 4 lorsqu’elles dépendent de la 2, caractérisé en ce que l’organe de recharge par induction électromagnétique (70) est un bobinage torique présentant un rayon inférieure à l’électro-aimant circulaire (50) des moyens de maintien (50) ; l’organe de recharge par induction électromagnétique (70) et l’électro-aimant circulaire (50) étant installés de manière concentrique sur la plateforme (5) ; l’organe de recharge par induction électromagnétique (70) étant dimensionné notamment en fonction de l’effet induit par l’électro-aimant circulaire (50). 5. Mobile device (2) according to claim 3 or 4 when dependent on the 2, characterized in that the electromagnetic induction charging member (70) is a toroidal coil having a radius less than the electromagnet circular (50) holding means (50); the electromagnetic induction charging member (70) and the circular electromagnet (50) being concentrically mounted on the platform (5); the organ of electromagnetic induction charging (70) being dimensioned in particular according to the effect induced by the circular electromagnet (50).
6. Dispositif mobile (2) selon l’une quelconque des revendications 1 à 5, caractérisé en ce que ladite plateforme (5) comprend trois zones d’atterrissage6. Mobile device (2) according to any one of claims 1 to 5, characterized in that said platform (5) comprises three landing zones.
(21 , 22,23) délimitées, de sorte que trois drones (30) peuvent reposer simultanément sur ladite plateforme (5). (21, 22, 23) delimited, so that three drones (30) can rest simultaneously on said platform (5).
7. Dispositif mobile (2) selon l’une quelconque des revendications 1 à 6, caractérisé en ce qu’il comprend des moyens de guidage adaptés pour guider le drone (30) en vol jusqu’à une zone d’atterrissage (21 , 22, 23) libre de la plateforme (5). 7. Mobile device (2) according to any one of claims 1 to 6, characterized in that it comprises guide means adapted to guide the drone (30) in flight to a landing zone (21, 22, 23) free of the platform (5).
8. Dispositif mobile (2) selon la revendication 7, caractérisé en ce que les moyens de guidage comprennent des repères lumineux, par exemple un agencement de points lumineux, installés sur ladite zone d’atterrissage (21 , 22, 23) libre de la plateforme (5). 8. Mobile device (2) according to claim 7, characterized in that the guide means comprise light marks, for example an arrangement of light points, installed on said landing zone (21, 22, 23) free of the platform (5).
9. Système de surveillance comprenant un dispositif mobile (2) selon la revendication 1 et un drone (30), ledit système étant conformé de telle sorte que lorsque ledit drone (30) est en vol et lorsque la batterie électrique dudit drone (30) est inférieure à une valeur limite de tension, ledit drone (30) est adapté pour transmettre audit dispositif mobile (2) une information de tension limite, ledit dispositif mobile étant conformé pour communiquer au drone des informations adaptées pour le guider jusqu’à une plateforme (5). 9. Monitoring system comprising a mobile device (2) according to claim 1 and a drone (30), said system being shaped such that when said drone (30) is in flight and when the electric battery of said drone (30) is less than a voltage limit value, said drone (30) is adapted to transmit to said mobile device (2) a limit voltage information, said mobile device being shaped to communicate to the drone information adapted to guide it to a platform (5).
10. Système de surveillance comprenant un dispositif mobile (2) selon la revendication 1 et deux drones (30), caractérisé en ce qu’en fonctionnement un premier drone (30) est en vol tandis que le deuxième drone (30) est maintenu sur la plateforme (5) de recharge dudit dispositif mobile (2), et en ce que lorsque la batterie électrique embarquée dudit premier drone (30) est inférieure à une valeur limite de charge, ledit drone (30) envoi au dispositif mobile (2) un information de valeur limite de tension, ledit dispositif mobile (2) étant conformé pour guider ledit premier drone (30) en vol vers la plateforme (5), et ledit deuxième drone (30) en cours de rechargement étant commandé par le dispositif mobile (30) pour décoller. 10. Monitoring system comprising a mobile device (2) according to claim 1 and two drones (30), characterized in that in operation a first UAV (30) is in flight while the second UAV (30) is maintained on the platform (5) for recharging said mobile device (2), and in that when the onboard electric battery of said first drone (30) is less than a limit value of charge, said drone (30) sent to the mobile device (2) a voltage limit value information, said mobile device (2) being shaped for guiding said first UAV (30) in flight to the platform (5), and said second UAV (30) being reloaded being controlled by the mobile device (30) to take off.
PCT/FR2019/051005 2018-05-02 2019-04-30 Mobile drone-carrying device WO2019211558A1 (en)

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