WO2022083881A1 - Dispositif d'accouplement pour fixer un conteneur d'expédition à un uav - Google Patents

Dispositif d'accouplement pour fixer un conteneur d'expédition à un uav Download PDF

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Publication number
WO2022083881A1
WO2022083881A1 PCT/EP2020/079943 EP2020079943W WO2022083881A1 WO 2022083881 A1 WO2022083881 A1 WO 2022083881A1 EP 2020079943 W EP2020079943 W EP 2020079943W WO 2022083881 A1 WO2022083881 A1 WO 2022083881A1
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WO
WIPO (PCT)
Prior art keywords
shipping container
wall
connecting device
wing
fastening area
Prior art date
Application number
PCT/EP2020/079943
Other languages
German (de)
English (en)
Inventor
Herbert Weirather
Original Assignee
Herbert Weirather
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 Herbert Weirather filed Critical Herbert Weirather
Priority to PCT/EP2020/079943 priority Critical patent/WO2022083881A1/fr
Publication of WO2022083881A1 publication Critical patent/WO2022083881A1/fr

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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
    • B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
    • B64D1/02—Dropping, ejecting, or releasing articles
    • B64D1/08—Dropping, ejecting, or releasing articles the articles being load-carrying devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/10—Wings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/60—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/60—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons
    • B64U2101/69—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons the UAVs provided with means for airdropping goods, e.g. deploying a parachute during descent

Definitions

  • Connection device for attaching a shipping container to a UAV
  • the present invention relates to a connecting device for attaching a shipping container to an unmanned aircraft or to a handling robot, a shipping container for indirect attachment to an unmanned aircraft or to a handling robot by means of a connecting device, a delivery system having a hybrid drone as the unmanned aerial vehicle and a connecting device, and a handling system having a handling robot and a connecting device.
  • Drones for delivering packages are known from the prior art. The great advantages of delivering parcels with drones are obvious. First and foremost, they are extremely fast. Drones can fly the direct path, don't have to brake and accelerate constantly, don't get stuck in traffic and are very energy-efficient. All drone concepts are very environmentally friendly compared to a car delivery, as they fly electrically, emit no CO2, no soot particles or toxic gases, have no rubber abrasion and, above all, do not use polluting roads and thus relieve them. Drones not only drastically reduce the delivery time, but also continue to minimize the costs on the part of the delivering company, since fewer staff are required.
  • the proposed solution makes it possible to transport any shape and size of a shipping container with an unmanned aircraft.
  • the invention enables an increase in safety and efficiency with regard to the handling, transport and delivery of shipping containers.
  • the invention relates to a connecting device for fastening a shipping container to an unmanned aircraft or to a handling robot, having a holding surface for resting against a wall of the shipping container; a first attachment area designed to enter into a magnetic or mechanical clamping connection with a corresponding magnetic or mechanical object holding device on the unmanned aerial vehicle or on the handling robot; wherein the holding surface at least partially surrounds the first attachment area; and structure for locating the connecting device on the wall of the shipping container.
  • the first fastening area has a shape with a spatial extension perpendicular to the holding surface, with which the connecting device can be centered on a corresponding counter-shape on the object holding device.
  • the connecting device has a second attachment area, the first and the second attachment area being connected by the holding surface and being at least partially surrounded by it, in particular the second attachment area being configured like the first attachment area.
  • the structure includes a threaded member.
  • the structure includes a shoulder extending transversely of the support surface and configured to mate with a hole in the wall of the shipping container, the shoulder connecting the support surface to the first attachment region.
  • the structure includes an adhesive element disposed on the support surface and configured to connect the connecting device to the wall of the shipping container.
  • the structure has domes that are designed to lock the connecting device parallel to the wall of the shipping container, in particular also perpendicular to the wall of the shipping container.
  • the domes have barbs for locking perpendicular to the wall of the shipping container.
  • connection device has an electrical interface that is configured to conduct current through the attachment area to bridge the wall of the shipping container.
  • the connecting device has a data interface that is designed to route data through the fastening area to bridge the wall of the shipping container.
  • the connecting device has at least one first hook, which is arranged on a first edge of the holding surface, and at least one second hook, which is arranged on a second edge of the holding surface opposite the first edge, the first hook and the second hook is designed for attaching a band, in particular a rubber band, for lashing down the shipping container.
  • the invention further relates to a shipping container for indirect attachment to an unmanned aerial vehicle or to a handling robot by a first connection device as described herein, comprising a first wall of the shipping container, a hole in the first wall of the shipping container and said first device, wherein the first connection device is arranged by means of the structure on the first wall of the shipping container, the fastening area is arranged in the hole and the retaining surface abuts the first wall of the shipping container.
  • the hole is discontinuous with respect to the first wall of the shipping container and the attachment area is recessed into the discontinuous hole of the shipping container.
  • the hole is continuous with respect to the first wall of the shipping container.
  • the shipping container includes a second wall perpendicular to or opposite the first wall and a second connector as described herein disposed on a second wall of the shipping container.
  • the invention further relates to a delivery system having a hybrid drone as an unmanned aerial vehicle and a connecting device according to the description herein, the hybrid drone having: a wing with a wing and with wing control surfaces, at least two drive units, at least one tail unit with tail control surfaces , wherein the tail unit is arranged above the wing and behind the wing by a carrier element connected to the wing, the object holding device, which is arranged above the wing and is designed to enter into a magnetic or mechanical clamping connection with the corresponding magnetic or mechanical fastening area of the connecting device, a Control unit that is designed to control the hybrid drone, in particular the wing control surfaces, the tail control surfaces and the drive units, based on control signals and a receiving unit that is designed to receive control warning signals is formed.
  • the delivery system includes a shipping container as described herein.
  • the invention further relates to a handling system having a handling robot and a connecting device according to the description herein, the handling robot having: the object holding device, which is used to enter into a magnetic or mechanical clamping connection with the corresponding magnetic or mechanical fastening area of the Connection device is formed, a mechanism for moving the object holding device with at least two degrees of freedom.
  • the handling system includes a shipping container as described herein.
  • the connecting device has two fastening areas, it can be stacked with a plurality of other connecting devices offset by approximately 90°, so that these are easy to transport in stacks and take up little space.
  • the outer edge of the holding surface then fits exactly between the two attachment areas of the next or previous connection device.
  • the structures of the two fastening areas can each be designed with a small bulge, so that when stacked, an outer edge of the holding surface of the next or previous connecting device can snap into this bulge. By slightly bending the connecting device, it can be detached again from the other panels.
  • connection device Via the optionally available power and data connection of the connecting device to the unmanned aircraft, further electrical devices can be operated via a plug connection on the connecting device, such as a high-resolution camera for surveying the terrain or the like.
  • a deployable parachute can also be attached to the shipping container via a connecting device.
  • the parachute also has a suitable object holding device. The parachute can then, for example, first be triggered electrically and immediately thereafter the connection between the object holding device of the unmanned aircraft and the attachment area of the connection device is severed.
  • the shipping container has two connecting devices attached to opposite walls.
  • FIG. 1a shows an embodiment of a device according to the invention
  • FIG. 1b shows an embodiment of a device according to the invention
  • FIG. 1c shows how a connecting device according to FIG. 1a is attached to a shipping container
  • Figure 1d shows a shipping container, which between a
  • FIG. 1e shows a shipping container being dropped from an unmanned aircraft
  • FIG. 2 shows part of an embodiment of a shipping container according to the invention
  • Figure 3 shows part of an embodiment of a delivery system according to the invention
  • FIG. 4 shows an example of a hybrid drone with differential thrust control
  • FIG. 5 shows an example of a hybrid drone with a collective thrust control
  • FIG. 6 shows an example of a hybrid drone with a dual system
  • FIG. 7 shows an example of a hybrid drone with a tilting wing.
  • Figure 1a shows a connecting device 100 for attaching a shipping container 201 to an unmanned aircraft or to a handling robot, which has the following things: a holding surface 103 for resting against a wall of the shipping container 204 (see, e.g. Figure 1c), a first Fastening area 105 designed to enter into a magnetic or mechanical clamping connection with a corresponding magnetic or mechanical object holding device 306 (see e.g. Figure 3) on the unmanned aerial vehicle or on the handling robot; wherein the holding surface 103 at least partially surrounds the first attachment area 105; and a structure 109 for locating the connecting device 100 on the wall of the shipping container 204.
  • a holding surface 103 for resting against a wall of the shipping container 204 (see, e.g. Figure 1c)
  • a first Fastening area 105 designed to enter into a magnetic or mechanical clamping connection with a corresponding magnetic or mechanical object holding device 306 (see e.g. Figure 3) on the unmanned aerial vehicle or on the handling
  • the shipping container 201 By clamping the wall of the shipping container 204 between the holding surface 103 of the connecting device 100 and the object holding device 306 of the unmanned aircraft, the shipping container 201 can be held in its position despite high external forces.
  • connection device 100 attached to a shipping container also enables a handling robot to lift or move the shipping container from all sides, so that, for example, several shipping containers can be stacked from the side and thus a loading space of a handling robot saves space until the end of the ceiling can be filled autonomously.
  • the object holding device 306 of the unmanned aerial vehicle or the handling robot can hold or release the connecting device 100 magnetically or mechanically controlled at any time and in any position.
  • the object holding device 306 of the unmanned aerial vehicle can be attached to an arm which can rotate about any axis. When the arm is extended, this enables, for example, dropping from the shipping container by releasing the connecting device 100 over the front area of the unmanned aircraft.
  • the two fastening areas 105 of the connecting device 100 each have a shoulder or a cylindrical lateral surface as a structure 109, with which the connecting device can be embedded or plugged into corresponding holes or recesses on the shipping container and optionally at least partially fastened.
  • the shoulder serves to mate with a hole or indentation 208 in the wall of the shipping container 204, with the shoulder 109 connecting the support surface 103 to the first attachment area 105. This fit can be a clearance fit, a transition fit, or an interference fit.
  • the fastening areas 105 also have a spatial extension perpendicular to the holding surface 103, shown here as a central depression, with which the connecting device 100 can be centered on a corresponding counter-shape on the object holding device 306.
  • a fastening area 105 can also be designed differently.
  • an elongated hole can be formed, into which a pin of the object holding device 306 can dip.
  • This pin can be expanded transversely at its tip, for example by a mechanism or a rubber element. The expansion then presses against the wall of the slot and creates a secure connection in all degrees of freedom.
  • a further embodiment of the spatial extension can be a conical hole with a ferrous wall, the object holding device 306 being designed with a precisely fitting cone, on whose stump and/or lateral surface a controllable electromagnet acts.
  • a sufficiently secure connection can be set in all degrees of freedom.
  • connection area 105 there is a second attachment area 105, the first and the second attachment area 105 being connected by the holding surface 103 and being at least partially surrounded by it, in particular the second attachment area 105 being configured like the first attachment area 105.
  • embodiments of the connecting device are also conceivable which have only one fastening area. In particular, this is not designed to be circularly symmetrical (in order to also provide an adjustability of the shipping container like the embodiment shown). The structure and the matching hole or the matching depression in the shipping container are then also designed accordingly.
  • the fastening area 105 can have a screw connection element, in particular a threaded hole, with the object holding device 306 then being designed as a screw.
  • a screw connection element in particular a threaded hole
  • the object holding device 306 then being designed as a screw.
  • the structure 109 may also include a peripheral threaded element to allow the connector to be threaded into the hole or recess of the shipping container.
  • the structure can also have an adhesive element, in a manner different from what is shown or in addition to the embodiment shown.
  • the adhesive element e.g. In particular, the adhesive element can be attached centrally between two attachment areas 105 .
  • the structure can also be characterized by domes 111, which are designed to lock the connecting device 100 parallel to the wall of the shipping container 204, in particular also perpendicular to the wall of the shipping container 204.
  • Such spikes 111 may have barbs for locking perpendicular to the wall of the shipping container 204.
  • the mandrels are shown here aligned perpendicularly to the holding surface 103, but they can also be aligned obliquely thereto in order to be able to engage in the shipping container in a tooth-like manner.
  • an electrical interface for conducting current through the attachment area 105 can be formed to bridge the wall of the shipping container 204.
  • the electrical current is transmitted from the object holding device 306 of the unmanned aircraft to the attachment area 105 of the connecting device 100 or vice versa, the connecting device 100 can be connected to a power source inside the shipping container and thus, for example, extend the flight time of the unmanned aircraft.
  • a data interface for conducting data through the fastening area 105 can be configured to bridge the wall of the shipping container 204.
  • a parachute for example, can be deployed via such a data interface.
  • FIG. 1e shows an example of how the shipping container 201 can be dropped with a small parachute 190 behind the unmanned aircraft that is in cruise flight. In this case, a parachute stowed in the shipping container 201 is triggered via the data connection of the object holding device 306 through the fastening area 105 of the connecting device 100 .
  • the shipping container 201 or the connecting device 100 is released from the object holding device 306 and the shipping container 201 is pulled backwards by the braking force of the parachute 190 and can slide to the ground.
  • Additional electrical devices located on or in the shipping container can be operated via the data interface.
  • the additional electrical devices can also be attached via attachment areas of additional connection devices 100 attached to the shipping container, such as a high-resolution camera that is used to measure the terrain or to detect obstacles, position sensors, black boxes, and much more.
  • the connecting device 100 can also have at least one first hook 120, which is arranged on a first edge of the holding surface 103, and at least one second hook 121, which is arranged on a first edge opposite second edge of the holding surface 103 is arranged.
  • the first hook 120 and the second hook 121 are designed for attaching a band, in particular a rubber band, for lashing or bracing a shipping container 201 .
  • the shipping container is a letter or other type of envelope, this can be attached to it with one or more ties to in turn securely connect the shipping container to the drone.
  • the hooks can be used to attach a delivery note or a letter to the interior.
  • the invention also relates to a shipping container 201 itself, as shown in FIG. 1c. So that this can be attached indirectly to an unmanned aircraft or to a handling robot, it has at least one first connecting device 100 according to the description herein.
  • the shipping container has a first wall 204, a through (shown) or non-through (not shown) hole 208 in the first wall of the shipping container 201 and said first device 100, the first connecting device 100 being connected by means of structure 109 and/or domes 111 (and/or adhesive strip, not shown) on the first wall of the shipping container 204.
  • the fastening areas 105 are then placed in the hole 208 and, in particular, protrude through there, and the holding surface 103 lies against the first wall of the shipping container 204 .
  • the hole 208 is not continuous with respect to the first wall 204 of the shipping container, but is only formed as a recess or indentation.
  • the fastening area 105 is then let into the non-through hole 208 of the shipping container 201 .
  • a sufficiently strong magnetic coupling with an object holding device of a handling robot or an aircraft could then still be entered into through the remaining, only very thin wall at the point 208 .
  • a second Connecting device 100 On a second wall of the shipping container 201, which is perpendicular to the first wall or the first wall opposite, a second Connecting device 100 may be provided.
  • the shipping container can thus be reloaded onto an aircraft by a handling robot.
  • the invention also relates to a delivery system with a hybrid drone 300 as an unmanned aerial vehicle and a connecting device 100 as described herein, the hybrid drone including the following: a wing 301 with a wing 302 and with wing control surfaces 303, at least two drive units 304 , at least one tail unit with tail control surfaces 305, the tail unit being arranged above the wing and behind the wing by a support element 307 connected to the wing.
  • "Behind” and “above” refer to a common in-flight orientation.
  • An object holding device 306 (see FIG. 3) is arranged above the wing and is designed to form a magnetic or mechanical clamping connection with the corresponding magnetic or mechanical fastening area 105 of the connecting device 100 .
  • a control unit is designed to control the hybrid drone, in particular the wing control surfaces, the tail control surfaces and the drive units, based on control signals, and a receiving unit is designed to receive control signals.
  • the control unit and the receiving unit are not shown and can be located in the fuselage of the drone.
  • the delivery system can also have a shipping container 201 (see FIG. 1d), which can be connected to the drone using the connecting device.
  • the invention also relates to a handling system (not shown) comprising a handling robot and a connection device 100 as described herein.
  • the handling robot includes an object holding device 306, which is designed to enter into a magnetic or mechanical clamping connection with the corresponding magnetic or mechanical fastening area 105 of the connecting device 100, and a mechanism for moving the object holding device 306 with at least two degrees of freedom. It can be a SCARA, articulated arm, gantry or pick-and-place robot.
  • the handling system also has a special Shipping container 201, which can be attached and detached via the connecting device.
  • a handling robot can be understood as a programmable machine for handling the connecting device 100 according to the invention. This usually consists of a manipulator or robot arm, the controller and the effector (object holding device 306) for gripping an object or in this case the shipping container with the connecting device 100.
  • Shipping containers 201 can take on the most varied of forms. Objects can primarily be transported inside a shipping container 201 .
  • One embodiment of a shipping container 201 relates to folding boxes, which in their original state can usually be stacked flat and to save space and which can be folded into a box with a few movements of the hand or by machine.
  • Cardboard, corrugated cardboard or composite materials such as PE, aluminum or similar are usually used.
  • a further embodiment of a shipping container 201 is a container with a door in order to take the object to be transported in or out. These containers can be aerodynamically shaped to minimize drag.
  • a shipping container 201 can also be an envelope or a postcard, which are held in place with the hooks via a rubber band.
  • Exemplary embodiments of an unmanned aircraft are “unmanned aerial vehicles” (UAVs) or also called drones, which have at least one lifting element that can be used to generate lift and enable unmanned hovering or flying through the air, and also contain different drive configurations can.
  • UAVs unmanned aerial vehicles
  • drones also called drones, which have at least one lifting element that can be used to generate lift and enable unmanned hovering or flying through the air, and also contain different drive configurations can.
  • Drones can have a wide variety of shapes.
  • a drone is commonly known as an unmanned aerial vehicle, unmanned aerial system, or unmanned aerial vehicle. This can be controlled autonomously or semi-autonomously. Semi-autonomous means only limited maneuvers without the physical presence of a human. For example, parts of a flight from be remotely controlled by a pilot and other parts of a flight are performed autonomously. Usually, but not necessarily, a remote pilot can switch an autonomously flying drone to direct control inputs at any time.
  • a drone embodiment may be a heavier-than-air unmanned aircraft or glider with at least one non-rotating wing, which thereby generates most of the lift.
  • One embodiment of a drone can be an unmanned multicopter which has at least two lift-generating rotors, which are usually only controlled by changing the rotor speed. Commonly known are tricopters, quadrocopters, hexacopters and many more.
  • One embodiment of a drone can be an unmanned helicopter that has at least one lift-generating rotor, which can adjust the individual rotor blades mostly with variable adjustment via a swash plate in order to control the helicopter.
  • One embodiment of a drone can be an autogyro or gyrocopter.
  • the rotor is not driven by an engine, but is passively set in rotation by the airflow when the rotor axis is tilted backwards, and this generates lift due to the aerodynamic profile of the rotor blades.
  • the propulsion is generated by at least one drive unit, mostly by a propeller engine.
  • a further embodiment of a drone can be an unmanned helicopter which combines structural elements from the autogyro and helicopter.
  • the rotor is used to generate lift, with forward flight being powered by the rotor's lift usually supported by a wing and the propulsion is generated by another drive element, such as a propeller or jet engines.
  • An embodiment of a drone can also be a hybrid drone.
  • Hybrid drones have at least one wing and are characterized by the fact that they can take off and land vertically. These can include a wide variety of designs and are usually divided into convertible aircraft and tail launchers.
  • a convertible aircraft maintains the main body of the aircraft in a substantially stable pitch attitude during all modes of flight, and certain transitions or rotational mechanisms are applied to change modes of flight.
  • Tail launchers mostly take off and land on the tail and the entire hybrid drone rotates to aim for horizontal cruise flight.
  • One embodiment of a convertible aircraft is equipped with a tilt rotor in which multiple rotors are mounted on a rotatable nacelle. During the transition from hovering to cruising flight, all or some of the rotors rotate in the cruising direction.
  • the nacelles In bi-rotor configurations, the nacelles are usually mounted on a wing tip. These configurations usually have rotors with a swash plate, which enable collective blade control and cyclic blade control.
  • Th-rotor or quad-rotor configurations are mostly equipped with fixed propellers. Other tilt rotor variants are possible.
  • FIG. 7 Another embodiment of a convertible aircraft is equipped with a tilting wing, illustrated in FIG. 7.
  • part or all of the wing or several wings, each including the drive units, are rotated or tilted during a transition to another flight mode.
  • the center piece remains essentially horizontal.
  • Other tilting vanes and combinations with tilting rotor variants are possible.
  • FIG. 6 Another embodiment of a convertible aircraft is equipped with a dual system, illustrated in Figure 6.
  • This version consists of a combination of at least two drive systems, a drive system with several drive units arranged symmetrically through the center of gravity is only responsible for hovering and at least one in longitudinally arranged Propulsion unit 601 is intended for cruise flight only. Accordingly, a tilting mechanism is not necessary.
  • the propulsion units necessary for hovering are switched off, partially switched off or switched on and can provide additional lift next to the wing.
  • these high drive units 602 produce a lot of drag, generate a lot of vortices and are accordingly relatively noisy at cruise. Special variants such as retracting and extending wings or similar are possible.
  • Rotor-wings or stop-rotors are subsequently a special variant of a hybrid drone, which allows one or more wings to rotate in hover flight and stops the rotation of the wing in a transition, whereby at least one wing is rotated by almost 180° and accordingly all wings are aligned in cruise direction and provide lift for cruise flight.
  • FIG. 5 Another embodiment of a rear launcher is equipped with at least two drive units in the longitudinal direction 501 with collective thrust, illustrated in Figure 5.
  • the control surfaces are in the air flow of the drive unit or drive units in which the thrust is collectively increased or decreased.
  • Rear starters with differential thrust control are equipped with drive units 401 arranged in the longitudinal direction.
  • the arrangement and control is very similar to multicopter configurations, in particular quadrocopters, hexacopters, octocopters or similar. Yaw, pitch and roll are achieved through the differential speed change of the individual motors. Climb and descent is controlled in hover by collective reduction or increase in RPM.
  • the advantage of differential thrust control is that no wing control surfaces are necessary and generally there are very few rotating parts.
  • the motors are usually not mounted exactly in the longitudinal direction, but depending on the direction of rotation of the propellers are tilted into an axis passing through the center of gravity. This is especially helpful for masses that are far out, for example if the wings are very far away from the center of gravity lie, for example to enclose and protect the drive units.
  • a drone can have various types of sensors and enough computing power to perform the functions described here. This usually includes an inertial navigation system (e.g. IMU, gyro sensor), GNSS, sonar sensors, image sensors and others.
  • IMU inertial navigation system
  • GNSS GNSS
  • sonar sensors image sensors and others.
  • a drone can have multiple processors that can read and execute a computer program that is stored on a data memory.
  • the control unit can combine all of the components or processes just described and, based on the incoming sensor data via processors using a computer program that is available on a data memory, calculate and generate the control signals for the drone.
  • IMIIs Inertial navigation systems or IMIIs usually combine acceleration sensors and gyro sensors. Acceleration sensors can determine the orientation of the drone to the earth and the gyro sensors measure the rotation rate around all three axes. These inertial sensors are nowadays cheap and available in very small form, specifically in the form of Micro Electro Mechanical Systems (MEMS) or in Nano Electro Mechanical Systems (NEMS). Air pressure sensors and magnetometers are usually also built into an IMU to improve the accuracy of an attitude determination.
  • MEMS Micro Electro Mechanical Systems
  • NEMS Nano Electro Mechanical Systems
  • Air pressure sensors and magnetometers are usually also built into an IMU to improve the accuracy of an attitude determination.
  • the positioning of the drone is usually determined with receivers for the global navigation satellite system (GNSS), which only receives one or various providers such as NAVSTAR GPS, GLONASS, Galileo or others.
  • GNSS global navigation satellite system
  • the accuracy of the position determination can be additionally increased by a sensor fusion calculation of the IMU and other sensors, such as for example sonar sensors or image sensors.
  • Example methods and systems are described.
  • the word “exemplary” means “as an example, instance or illustration”. Any embodiment or feature described herein as “exemplary” or “illustrative” is not necessarily to be construed as preferred or advantageous over other embodiments or features.
  • the embodiments described herein are not intended to be limiting. It is understood that certain aspects of the disclosed systems and methods can be arranged and combined in a variety of different configurations, all of which are contemplated herein.

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  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
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Abstract

La présente invention concerne un dispositif d'accouplement servant à fixer un conteneur d'expédition à un véhicule aérien sans pilote ou à un manipulateur; un conteneur d'expédition destiné à être fixé indirectement à un véhicule aérien sans pilote ou à un manipulateur au moyen d'un dispositif d'accouplement; un système de distribution comprenant un drone hybride en tant que véhicule aérien sans pilote et un dispositif d'accouplement; et un système de manipulation comprenant un manipulateur et un dispositif d'accouplement.
PCT/EP2020/079943 2020-10-23 2020-10-23 Dispositif d'accouplement pour fixer un conteneur d'expédition à un uav WO2022083881A1 (fr)

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PCT/EP2020/079943 WO2022083881A1 (fr) 2020-10-23 2020-10-23 Dispositif d'accouplement pour fixer un conteneur d'expédition à un uav

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PCT/EP2020/079943 WO2022083881A1 (fr) 2020-10-23 2020-10-23 Dispositif d'accouplement pour fixer un conteneur d'expédition à un uav

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US9120560B1 (en) * 2011-10-13 2015-09-01 Latitude Engineering, LLC Vertical take-off and landing aircraft
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