WO2022049568A1 - Système pour stabilisation de drones, avec sécurité de vol améliorée - Google Patents

Système pour stabilisation de drones, avec sécurité de vol améliorée Download PDF

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Publication number
WO2022049568A1
WO2022049568A1 PCT/IL2020/050952 IL2020050952W WO2022049568A1 WO 2022049568 A1 WO2022049568 A1 WO 2022049568A1 IL 2020050952 W IL2020050952 W IL 2020050952W WO 2022049568 A1 WO2022049568 A1 WO 2022049568A1
Authority
WO
WIPO (PCT)
Prior art keywords
drone
unbalancing
motors
loading
propeller
Prior art date
Application number
PCT/IL2020/050952
Other languages
English (en)
Inventor
David PARPARA
Original Assignee
Hevendrones Ltd
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 Hevendrones Ltd filed Critical Hevendrones Ltd
Priority to PCT/IL2020/050952 priority Critical patent/WO2022049568A1/fr
Priority to PCT/IL2021/051076 priority patent/WO2022049579A1/fr
Publication of WO2022049568A1 publication Critical patent/WO2022049568A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D31/00—Power plant control systems; Arrangement of power plant control systems in aircraft
    • B64D31/02—Initiating means
    • B64D31/06—Initiating means actuated automatically
    • B64D31/12—Initiating means actuated automatically for equalising or synchronising power plants
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C17/00—Aircraft stabilisation not otherwise provided for
    • B64C17/02—Aircraft stabilisation not otherwise provided for by gravity or inertia-actuated apparatus
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U40/00—On-board mechanical arrangements for adjusting control surfaces or rotors; On-board mechanical arrangements for in-flight adjustment of the base configuration
    • B64U40/20—On-board mechanical arrangements for adjusting control surfaces or rotors; On-board mechanical arrangements for in-flight adjustment of the base configuration for in-flight adjustment of the base configuration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U70/00—Launching, take-off or landing arrangements
    • B64U70/80—Vertical take-off or landing, e.g. using rockets
    • B64U70/83—Vertical take-off or landing, e.g. using rockets using parachutes, balloons or the like
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
    • B64D1/02—Dropping, ejecting, or releasing articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
    • B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
    • B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/13—Propulsion using external fans or propellers

Definitions

  • the present invention is in the fields of Unmanned Air Vehicles (UAV). More specifically, the invention relates to a flight safety system for stabilizing multipropeller drones performing or being exposed to unbalancing operations.
  • UAV Unmanned Air Vehicles
  • Drones and specifically multi-propeller drones are widely used nowadays in a wide range of applications, such as photography, point-to-point package delivery, etc.
  • the high maneuverability of multi-propeller (e.g., quad-copter drones or even drones with 8 propellers) drones has turned them to a desirable and commonly used UAV.
  • Some of the widely used drones are multi-propeller cargo drones carrying detachable items such as meltable/breakable fire suppressant containers to be dropped into burning fires.
  • detachable items such as meltable/breakable fire suppressant containers to be dropped into burning fires.
  • a sudden release of cargo from the drone's body results with increased lift impulse above the cargo release location, where drones are highly susceptible to such unbalancing impulses, which can trigger a dynamic rollover.
  • rollover becomes almost impossible to control and mostly result in a free fall and crushing of the rolled over drone.
  • Gyroscope feedback control means which reduce propeller motors thrust for balancing unbalanced loads during flight.
  • sufficient thrust reduction for balancing conflicts with the minimum thrust which is required to keep the drone flying, and hence, in such cases, the existing solutions are not effective enough for preventing dynamic rollover and the resulting crash.
  • a flight safety drone stabilization system for drones comprising an onboard controller (i.e., either integrated or ad-on with a drone's flight controller) which is configured to: a) continuously detect in-flight unbalancing loading by receiving signals from suitable onboard sensors (e.g., gyroscopes) and/or from unbalancing load triggering components; b) responsive to the detection of unbalancing loading, control an individual motor or a combination of multi-propeller drone motors, to balance the unbalancing loading; c) proactively compensate for unbalancing loading induced by planned in-flight operations, where during balancing, the onboard controller increases the thrust of one or more of the multi-propeller drone motors being in opposite direction to the location of the unbalancing loading, or reduces the thrust of one or more of the multi-propeller drone motors being in the vicinity of the location of the unbalancing loading, by varying the power delivered to individual multi-propeller drone motors or to a combination of multi-propeller drone motors.
  • the delivered power may be varied by manipulating the amplitude and/or the intensity of electric pulses sent to individual multi-propeller drone motors or to a combination of multi-propeller drone motors (e.g., by a transducer being controlled by the onboard controller).
  • the onboard controller manipulates one or more of the drone motors simultaneously to compensate for unbalancing loading.
  • the proposed system further comprises a horizontal auxiliary propeller motor, of which thrust is manipulated by the onboard controller to compensate for unbalancing loading, said horizontal auxiliary propeller can be rotatable (e.g., by a radial gear and pinion arrangement), both heading and thrust of which are controlled by the onboard controller.
  • the proposed system is configured as a retrofit kit for upgrading existing drones.
  • the proposed system further comprises a parachute for safely landing a drone with malfunctioning motors, wherein the onboard controller is configured to trigger the parachute deployment simultaneously with the horizontal auxiliary propeller motor for diverting a drone to a safe landing location.
  • the proposed system further comprises positioning means such as GPS, maps database, or any combination thereof.
  • the proposed system may also comprise visual sensors such as video camera, thermal maps database, or any combination thereof.
  • Fig. 1 schematically illustrate a cargo carrying drone equipped with a flight safety system, according to an embodiment of the present invention
  • Fig. 2 schematically illustrates a fire fighting drone equipped with a flight safety system, according to an embodiment of the present invention
  • Fig. 3 schematically illustrate a drone equipped with a parachute and with an auxiliary propeller motor, according to an embodiment of the present invention
  • Fig. 4 schematically illustrates a fire fighting drone equipped with another configuration of the proposed system, according to an embodiment of the present invention.
  • Fig. 5 is a block diagram of an optional control configuration of the proposed system, according to an embodiment of the present invention. Detailed description of the drawings
  • the present invention relates to a flight safety system for drones, which is configured to promptly respond to unbalancing loads as well as to proactively operate the drone's flight controls, to counter act and balance impulses induced by planned operations such as during fire extinguishing missions.
  • the proposed system is configured to provide safety diversion, of drones at risk of crashing, aside from undesired areas at which the landing drone may cause damage, or even risk people lives.
  • Drones are either controlled by remote control stations (e.g., handheld or stationary remote controllers) of which manual/programmed flight scenario(s) are converted to control commands which are wirelessly sent to a drone's onboard controller, which accordingly operates onboard flight controls (e.g., servo motors, propeller motors and throttles/impulse transducers thereof, electric relays, switches etc.). More advanced drones operate autonomously per pre-programmed flight scenarios and missions.
  • remote control stations e.g., handheld or stationary remote controllers
  • onboard flight controls e.g., servo motors, propeller motors and throttles/impulse transducers thereof, electric relays, switches etc.
  • More advanced drones operate autonomously per pre-programmed flight scenarios and missions.
  • the system proposed by the present invention comprises an onboard controller which is configured to control the thrust provided by individual or by a combination of multi-propeller drones' motors, thereby to balance in-flight unbalancing loading being detected by suitable onboard sensors (e.g., Gyroscope sensors), as the proposed system is also adapted to proactively compensate for unbalancing loading induced by planned in-flight operations, where increasing or reducing the thrust of one or more drone motors, is achieved by manipulating the amplitude and the intensity of electric pulses transmitted to individual motors or to a combination of motors by a suitable transducer, which may be integrated with the onboard controller.
  • suitable onboard sensors e.g., Gyroscope sensors
  • the proposed system further comprises auxiliary thrust means such as one or more auxiliary powered propellers for inducing counter flight loads, thus balancing impulse or recoil resulting from planned in-flight operations, such as cargo releasing or fire extinguishing bursts delivery.
  • auxiliary thrust means such as one or more auxiliary powered propellers for inducing counter flight loads, thus balancing impulse or recoil resulting from planned in-flight operations, such as cargo releasing or fire extinguishing bursts delivery.
  • Fig. 1 schematically illustrate a cargo carrying drone 10 equipped with a flight safety system 100, according to an embodiment of the present invention, in which drone 10 is essentially comprised of a main body 10a, motor support rods 10b, onto each of which propeller motors lla-llf are attached for providing thrust to drone 10. Further shown in Fig. 1 are carry/release means 12 (e.g., a servo latching device which is locked by a live electrical current and unlocks when the electrical current cutoff), into which fire suppressant bags 13a-13c are releasably attached to be dropped into a burning fire.
  • carry/release means 12 e.g., a servo latching device which is locked by a live electrical current and unlocks when the electrical current cutoff
  • An onboard controller 110 of system 100 is configured to proactively increase the thrust of one or more propeller motors lla- llf, for example, of motors 11a and Ilf, to induce balancing lifting force Fbl and Fb2 simultaneously with releasing bag 13c, resulting in counter roll moment with respect to CG 10c of drone 10, thereby eliminating the risk of a dynamic rollover. Similar result may be achieved by controller 110 correspondingly reduces the thrust of motor lid simultaneously with releasing bag 13c, resulting in lifting reduction Fc thus balancing the roll moment resulted from lifting impulse Fa.
  • the thrust manipulation of motors lla-llf is enabled by manipulating the amplitude and intensity (or the power) of electric pulses which are delivered to the motors. Such manipulation varies the power delivered to individual multi-propeller drone motors or to a combination of multi-propeller drone motors.
  • controller 110 controls both carry/release means 12 and the electric pulses supplied to motors lla-llf. Furthermore, the extent to which the thrust of one or more motors is manipulated by controller 110 is determined by suitable calculation algorithms, considering the preliminary loading configuration, the flight conditions (e.g., diverting wind loads), balanced motors' thrust during flight and expected impulse resulting from the intended release of cargo.
  • drone 10 is asymmetrically pre-flight (e.g., loading a single cargo item on any of carry/release means 12 or asymmetrical weight / number of cargo items) or in-flight (e.g., releasing asymmetrical weighted or numbered cargo items) loading results in similar unbalancing impulses, and being similarly responded by system 100, thereby enabling the delivery of multiple different loaded cargo items to be desirably released by drone 10 in different locations.
  • asymmetrically pre-flight e.g., loading a single cargo item on any of carry/release means 12 or asymmetrical weight / number of cargo items
  • in-flight e.g., releasing asymmetrical weighted or numbered cargo items
  • motors lla-llf are initially working at high power, and hence, increasing the thrust provided by any of motors lla-llf may require additional motor capacity, which is enabled by utilizing coated winded motor coils, having reduced friction with the motors' fixed magnets, resulting with lower heating of motors lla-llf.
  • controller 110 can be controlled by controller 110, in conjunction with balancing means as described in Fig. 1 or other means, as will be described to details in the following figures.
  • Fig. 2 schematically illustrates a fire fighting drone 20 equipped with a flight safety system 200, according to an embodiment of the present invention.
  • Drone 20 carries a fire extinguishing means capable of delivering fire suppressant liquid (e.g., water being carried in storage vessel 221), and pumped by suitable pumping means at sufficient burst capacity through a nozzle 220, where the operation of nozzle 220 exerts corresponding recoil loading on drone 20, which is balanced by a counter acting thrust of a horizontal auxiliary propeller motor 230 controlled by an onboard controller 210.
  • fire suppressant liquid e.g., water being carried in storage vessel 221
  • suitable pumping means pumped by suitable pumping means at sufficient burst capacity through a nozzle 220, where the operation of nozzle 220 exerts corresponding recoil loading on drone 20, which is balanced by a counter acting thrust of a horizontal auxiliary propeller motor 230 controlled by an onboard controller 210.
  • propeller motor 230 is useful for diverting drone 30 (Fig. 3), for example, aside from a highway, wherein according to preferred embodiments of the invention, the support rod 230 a of propeller motor 230 can be horizontally rotated (e.g., by a radial gear and pinion arrangement or by alternate rotation means known in the art) for aiming the thrust heading of motor 230 to provide a desirable diversion heading.
  • the proposed system can determine whether a diversion is required (i.e., the currently expected landing location is not safe) and a desirable diversion heading, with respect to its current location based on stored maps (i.e., in suitable memory modules of controllers 110 and 210), GPS coordinates, and visual means (e.g., infrared/video cameras).
  • propeller motor 230 Since propeller motor 230 is utilized in many cases as an emergency means, it must be provided with suitable durable components such as stainless steel and ceramic components that can endure high temperatures, as well as suitably protected power supply means (i.e., being independent from the drone motors' power supply). Fig.
  • system 400 comprises a rotatable undercarriage auxiliary propeller motor 410, of which both heading and thrust are controlled by controller 210, in accordance with the adjustable heading and capacity of a fire extinguishing nozzle 420, thereby compensating for the unbalancing moment induced by the burst releasing operation of extinguishing nozzle 420 (i.e., with respect to CG 10c).
  • controller 210 may utilize both the manipulation of motors lla-llf (detailed in Fig. 1) and auxiliary propeller motors as balancing means, separately or in conjunction.
  • controller 210 can be in communication with various external loading sensors (e.g., Gyroscope sensors, wind velocity sensor, or piezo electric pressure sensors), and activate the balancing means (i.e., manipulating motors lla-llf and/or auxiliary propeller motors) accordingly for stabilizing drones 10-40 in rough flight conditions.
  • various external loading sensors e.g., Gyroscope sensors, wind velocity sensor, or piezo electric pressure sensors
  • controllers 110 and 210 are the only onboard control means being described in Figs. 1-4, yet according to some embodiments of the present invention, controllers 110 and 210 are installed in addition to an existing onboard controller, while being in communication with onboard sensors and actuators directly and/or through the existing onboard controller, as further illustrated in Fig. 5.
  • Fig. 5 is a block diagram of an optional control configuration of the proposed system, according to an embodiment of the present invention.
  • system 500 is installed on a drone which comprises an onboard flight controller 501, wherein a safety onboard controller 510 is configured to interface with flight controller 501, thereby to control a throttle relay 502 (e.g., a suitable transducer which supplies electric pulses to motors 1 through 6), and to receive impulse indications from a gyroscopes module 503 (i.e., commonly at least two gyroscopes are used in drones).
  • Safety controller 510 can also receive impulse indications directly from gyroscopes module 503, thereby enabling more flexible control.
  • the impulse indications are transmitted to flight controller 501, which accordingly triggers throttle relay 502 to lower the amplitude and/or frequency of electric pulses sent to corresponding motors thus reducing the thrust thereof and balancing the indicated wind impulses
  • significant impulses indications e.g., a sudden wind gust induces a significant impulse
  • safety controller 510 determines (i.e., according to pre-programed scenarios) and executes a balancing operation for preventing undesirable dynamic rollover, for example, sending a control command to flight controller 501 for triggering throttle relay 502 to increase the thrust of any/some of motors 1-6, or to trigger an auxiliary propeller motor module 511 to utilize an auxiliary propeller as a balancing means.
  • safety controller 510 can also be in direct communication with throttle relay 502 for providing faster control response.
  • FIG. 5 cargo handling module 512, fire suppressant nozzle actuation module 513 and parachute actuation module 514, being controlled by safety controller 510, and GPS module 514, maps module 515 and camera module 516, being utilized by safety controller 510 when location and course indications are required.
  • a drone i.e., being equipped with system 500
  • safety controller 510 utilizes GPS and maps modules 515 and 516 as well as camera module 517 (e.g., in which a thermal camera can be used for identifying locations of higher burning temperatures) for assessing its location with respect to the desirable dropping locations, as well as for independently determine desirable dropping locations (e.g., locations of higher burning temperatures), following by triggering cargo handling module 512 to drop a fire suppressant bag simultaneously with triggering throttle relay 502 to increase the thrust of any/some of motors 1-6 for balancing the dropping induced impulse.
  • camera module 517 e.g., in which a thermal camera can be used for identifying locations of higher burning temperatures
  • a malfunction of throttle relay 502 is detected by safety controller 510, and in response, parachute module 514 is triggered to deploy a parachute, while modules 515-517 are operated to detect the drone's location (i.e., and preferably communicate the situation with current location to a corresponding remote station utilizing communication means known in the art), whereas a diversion of the drone is required (e.g., when flying above a residential area), auxiliary propeller module 511 is operated to set desirable heading and thrust of a propeller motor (e.g., motor 230) to provide the required thrust in a desirable course for a safe landing.
  • a propeller motor e.g., motor 230
  • fire suppressant nozzle actuation module 513 is triggered by safety controller 510 to gradually release fire suppressant (e.g., through nozzle 420 of Fig. 4), while simultaneously triggering auxiliary propeller module 511 to set a corresponding heading and gradually increase the thrust, e.g., of auxiliary propeller motor 410 (of Fig. 4) to compensate for the unbalancing moment induced by the burst releasing operation (i.e., with respect to CG 10c).

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne un système de stabilisation de drone de sécurité de vol pour des drones, lequel système comprend un dispositif de commande embarqué qui est configuré pour détecter de façon continue un chargement de déséquilibre en vol par réception de signaux à partir de capteurs embarqués appropriés (par exemple, des gyroscopes) et/ou à partir de composants de déclenchement de charge de déséquilibre. En réponse à la détection du chargement de déséquilibre, le système est en outre configuré pour commander un moteur individuel ou une combinaison de moteurs de drone à hélices multiples, de façon à équilibrer le chargement de déséquilibre et à compenser de manière proactive le chargement de déséquilibre induit par des opérations en vol planifiées. Pendant l'équilibrage, le dispositif de commande embarqué accroît la poussée d'un ou de plusieurs moteurs de drone à hélices multiples qui sont dans une direction opposée à l'emplacement du chargement de déséquilibre, ou réduit la poussée d'un ou de plusieurs des moteurs de drone à hélices multiples se trouvant à proximité de l'emplacement du chargement de déséquilibre, par manipulation de l'amplitude et/ou de l'intensité d'impulsions électriques envoyées à des moteurs de drone à hélices multiples individuels ou à une combinaison de moteurs de drone à hélices multiples (par exemple, par la commande d'un transducteur par le dispositif de commande embarqué).
PCT/IL2020/050952 2020-09-02 2020-09-02 Système pour stabilisation de drones, avec sécurité de vol améliorée WO2022049568A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/IL2020/050952 WO2022049568A1 (fr) 2020-09-02 2020-09-02 Système pour stabilisation de drones, avec sécurité de vol améliorée
PCT/IL2021/051076 WO2022049579A1 (fr) 2020-09-02 2021-09-02 Système pour stabilisation de drones, avec sécurité de vol améliorée, notamment pour des drones portant des armes

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/IL2020/050952 WO2022049568A1 (fr) 2020-09-02 2020-09-02 Système pour stabilisation de drones, avec sécurité de vol améliorée

Publications (1)

Publication Number Publication Date
WO2022049568A1 true WO2022049568A1 (fr) 2022-03-10

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20160159472A1 (en) * 2014-12-04 2016-06-09 Elwha Llc Reconfigurable unmanned aircraft system
US20170021915A1 (en) * 2015-03-10 2017-01-26 Qualcomm Incorporated Adjustable Weight Distribution for Drone
US20170106986A1 (en) * 2015-10-14 2017-04-20 Flirtey Holdings, Inc. Parachute deployment system for an unmanned aerial vehicle
EP3526119A2 (fr) * 2016-10-13 2019-08-21 Alexander Poltorak Appareil et procédé pour équilibrer un aéronef avec des bras robotiques
US20200207462A1 (en) * 2018-01-17 2020-07-02 Dong Chul Kim Drone with function of reverse propulsion for balancing

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20160159472A1 (en) * 2014-12-04 2016-06-09 Elwha Llc Reconfigurable unmanned aircraft system
US20170021915A1 (en) * 2015-03-10 2017-01-26 Qualcomm Incorporated Adjustable Weight Distribution for Drone
US20170106986A1 (en) * 2015-10-14 2017-04-20 Flirtey Holdings, Inc. Parachute deployment system for an unmanned aerial vehicle
EP3526119A2 (fr) * 2016-10-13 2019-08-21 Alexander Poltorak Appareil et procédé pour équilibrer un aéronef avec des bras robotiques
US20200207462A1 (en) * 2018-01-17 2020-07-02 Dong Chul Kim Drone with function of reverse propulsion for balancing

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