Classifications

• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B64—AIRCRAFT; AVIATION; COSMONAUTICS
  • B64C—AEROPLANES; HELICOPTERS
  • B64C29/00—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B64—AIRCRAFT; AVIATION; COSMONAUTICS
  • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
  • B64U10/00—Type of UAV
  • B64U10/20—Vertical take-off and landing [VTOL] aircraft
• • 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
  • B64U2101/55—UAVs specially adapted for particular uses or applications for life-saving or rescue operations; for medical use
  • B64U2101/58—UAVs specially adapted for particular uses or applications for life-saving or rescue operations; for medical use for medical evacuation, i.e. the transportation of persons or animals to a place where they can receive medical care
• • 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
  • B64U2101/61—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons for transporting passengers
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B64—AIRCRAFT; AVIATION; COSMONAUTICS
  • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
  • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
  • B64U30/20—Rotors; Rotor supports
  • B64U30/26—Ducted or shrouded rotors
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B64—AIRCRAFT; AVIATION; COSMONAUTICS
  • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
  • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
  • B64U30/20—Rotors; Rotor supports
  • B64U30/29—Constructional aspects of rotors or rotor supports; Arrangements thereof
  • B64U30/293—Foldable or collapsible rotors or rotor supports
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B64—AIRCRAFT; AVIATION; COSMONAUTICS
  • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
  • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
  • B64U30/20—Rotors; Rotor supports
  • B64U30/29—Constructional aspects of rotors or rotor supports; Arrangements thereof
  • B64U30/296—Rotors with variable spatial positions relative to the UAV body
  • B64U30/297—Tilting rotors
• • 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
  • B64U50/14—Propulsion using external fans or propellers ducted or shrouded
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B64—AIRCRAFT; AVIATION; COSMONAUTICS
  • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
  • B64U60/00—Undercarriages
  • B64U60/40—Undercarriages foldable or retractable
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B64—AIRCRAFT; AVIATION; COSMONAUTICS
  • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
  • B64U60/00—Undercarriages
  • B64U60/50—Undercarriages with landing legs
  • B64U60/55—Undercarriages with landing legs the legs being also used as ground propulsion
• • 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
  • 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
  • B64U70/87—Vertical take-off or landing, e.g. using rockets using inflatable cushions

Definitions

• the present invention relates to a gyropendular machine with compensatory propulsion and fluid gradient collimation, multi-media, multimodal, vertical take-off and landing, which can be controlled by an on-board pilot, or remotely in manual or semi-autonomous mode, or in unmanned autonomous.
• the device which is the subject of the invention is an evolution of the amphibious vertical takeoff and landing gyropedular drone which was the subject of the patent application No. FR / 0805805, authorizing navigation in an air, land, sea, and submarine environment.
• an upper annular fairing accommodating the upper propulsion group that can be of the type: power, thermal, micro-turbines, turbines, helical turbines, gas turboprop engines, turbojet engines, ramjet engines, or rocket engines, equipped with a wing rotating or not, or a number of contra-rotating propellers or not, with curved or not curved, or with rotary or non-rotating gas nozzles, or turbine blades or turbojet engine, synchronously electronically synchronized, driven by motorizations or thrusters located in the extension of the axis thereof, performing a fluidic gradient collimation in free space, pa r a mechanism for aligning the columns of the fluid circulated through the device, and axial turbo-compression associated with a "Venturi" effect, generating a moment of fluid stabilization between the upper and lower propulsion units, which has for effect of improving the stability and the vertical thrust of the machine, a ring-shaped articulated 3D central body, called a vertebral structure, providing a function of
• search and rescue activities the treatment of fire zones, earthquake zones of all kinds and weather disturbances of increasing frequency and amplitude, the buildings and galleries threatening to collapse, the imposing or difficult to access works of art that require checks and maintenance interventions in all weathers, as well as the movements of crowds.
• Major problems with the use of current aircrafts are limited capabilities and performance in terms of take-off and flight stability, and take-off and flight clearance requirements when weather conditions are critical.
• the propulsion systems for airborne, marine, submarine and space-based airborne craft are divided into the following types: 1) thrust propellers with single blades, or turbines 2) gas-fired combustion nozzles or powder.
• the propeller propulsion is either unitary on a single axis, in couple on two distinct axes, or in contra-rotation torque on an axis.
• Combustion propulsion uses one or more nozzles of specific geometry and orientation in order to obtain the best distributed vertical thrust possible.
• the stabilization of the systems using this mode of propulsion imposes a gaseous or solid fuel mixture of the most uniform quality possible, knowing that the ambient physical environment introduces important disturbances with respect to this mixture by exposure to the air, humidity, rain, hail, clouds of sand or dust or ashes, etc.
• Stabilization systems for aerial, marine, submarine or space vehicles or drones are divided into winged, finned, fixed or steerable types, fixed or steerable fins, motorized or not, or jet nozzles. fixed or steerable gases.
• the control of the payload attitude and the center of gravity of the navigating platform is one of the key elements to ensure the proper functioning of a remote controlled or autonomous device or drone of small dimension, because of this depends on its ability to react adequately in real time when the aerodynamic or hydrodynamic characteristics of the environment are disturbed, problematic that a seasoned pilot can quickly interpret and translate into accurate navigation instructions.
• the approximate control of the center of gravity limits the capacity of the payload as well as the performances that can be reached by the machine or the drone: speed, acceleration, deceleration, the importance of a maneuver during a sudden change of course. 1) rapid response capability by limiting time and preparation for take-off, 2) inability to land on a vessel at sea in all weathers within a very narrow window as flight for some system (propulsion by mechanical or elastic catapult), 3) the inability for most to make a vertical landing and take-off.
• the present invention proposes the use of a gyropendular navigation device integrated into the vehicle or the drone, controlled or not by an autonomous stabilization control device housed in the payload, making it possible to modify quickly its geometry during the flight plan and adapt in real time the position of its center of gravity, according to the context defined by the abrupt changes and high intensity of the fluidic navigation support: air or water according to the case.
• the present invention proposes the use of a gyropendular device with compensatory propulsion and fluidic gradient collimation, multi-media, multimodal, vertical take-off and landing, resulting from the concept of amphibious gyropedular UAV landing and vertical takeoff characterized in that it comprises: 1) an inertial gyropendular stabilization device (integrating the gyroscopic and pendulum functions of the Foucault type), implying mechanisms of adaptation of the center of gravity and compensation of the torques or moments induced, implemented through a 3D articulated central body, offering the same flexibility and adaptability as the spine in the mammal, the reptile, the fish, or the tentacles of the jellyfish, and an inertial disk rotary plate accommodating the cockpit of the load useful, integrating a function of "Steadicam" type trim correction performed by 3D ball joint, all of which makes it possible to overcome the various aforementioned limitations, 2) a device for upper and lower propulsion units of electric, thermal, micro-turbine, turbine, gas
• the vehicle or the drone comprises as complementary devices: 1) an inflatable balloon safety device at the periphery of the upper propulsion unit to provide buoyancy in case of failure, a cylindrical cavity device in the center of the upper propulsion unit to accommodate safety devices in case of sinking (parachute, inflatable stratospheric balloon, distress rocket, laser module).
• a payload device with a cylindrical housing that can go from one end to the other of the vertebral structure to accommodate an application function specific, or many other devices (control, visualization, detection, interception, inflatable cushions for shock absorption at the ground landing, harpooning device for towing a victim to the sea or docking with another craft , platform or to a relief element, securing device for hoisting a passenger or a victim, holding device of the hexapod type with an arm multiple or central platform, articulated robotic arm, gas spray or liquid spray, hypodermic dart gun, missile launcher (air mortar function) up or down, nano-satellite launcher launch platform), 3) a semi-rigid sunshade device for braking the fall in case of failure or in economy mode.
• the rotational torque of the rotating propellers or nozzles has the effect of stabilizing the machine or the drone along its central axis (as the rotated rotor), which improves the attitude control of the propulsion device located in the upper part. of this one, in particular when strong disturbances (aerodynamic, hydrodynamic or others), governed by the law of the mechanics of the fluids, are applied to the machine.
• the contra-rotation of the propellers makes it possible to cancel almost completely the induced gyroscopic torque.
• contra-rotation of the upper propulsion group makes it possible to compensate for the induced gyroscopic torque.
• the propulsion devices rotary or not, combustion or not, gas or not, housed in the upper and lower part of the machine or drone generating an upward vertical force, allows it to rise, then to benefit from a stable orientation of the rotation torque induced by the opposite gravitational stabilizing force.
• This is applied on the lower part of the machine or drone and results from the application of the weight of the payload housed in the cockpit fixed under the plate (which acts as the weight of a pendulum or the stretched string of the kite carried by the wind).
• the center of gravity in flight must remain as low as possible to ensure the stability of the vehicle or drone along its central axis, without generating a penalizing overheating for the flight plan and autonomy.
• Free-space fluid gradient collimation performed by a mechanism for aligning the columns of the fluid circulated through the device, and axial turbo-compression resulting from a "Venturi” effect, generates an induced fluidic stabilization torque. between the upper and lower propulsion units, has the effect of improving the stability and vertical thrust of the machine.
• the axial turbine performing an auxiliary compensation function of the gyroscopic torque induced by the upper and lower propulsion units can thus move by translation on the axis of the central articulated body 3D to optimize the position of the center of gravity.
• the articulated link controlled by autonomous electronic control, located between the propulsion device and the platform accommodating the payload, allows decorrelating the plates of the latter.
• This allows the correct functioning of the safety devices (parachute, distress rocket, laser module for locating or interception, radio frequency warning module, ...), housed in the central cylindrical part of the vertebral structure, propellers, turbines, rotary nozzles or reactors, being protected from any rotational movement, vibrations or significant shocks.
• This link called the vertebral structure, is a real articulated 3D central body with dynamic stabilization function, of any shape, p. ex. of circular, rectangular or elliptical section, driven by actuators of the type, p. ex.
• long-filament piezoelectric, worm, pneumatic, hydraulic, electromagnetic actuators allows: 1) to connect the platform accommodating the payload to the propulsion device, 2) to route the various signals necessary for controlling the vehicle or the vehicle. drone, 3) makes it possible to modify the center of gravity of the machine or the drone according to the flight plan of the latter, 4) to ensure an ideal attitude of the propulsion units according to the flight plan (acceleration, deceleration (5) to ensure the stability and the ideal attitude of the platform accommodating the payload in order to provide the precision required for the proper functioning of the devices supported by the payload (navigation and inertial gyropendular stabilization control of the vehicle or drone, laser pointing, multibeam laser projection, inter-system telecommunications or with the air network, te space, sea, underwater or space, multi-beam multi-target laser shots that are incapacitating, repulsive or destructive, etc.).
• the flight configuration adopted by the vehicle or the drone is thus similar to that of the jellyfish equipped with an umbrella (upper
• FIG. 1 shows, in perspective, the gyropendular apparatus with compensatory propulsion and fluid gradient collimation, multi-media, multimodal, vertical take-off and landing, in the amphibious gyropendular drone configuration and the various devices that compose it.
• FIG. 2 represents, in perspective, various types of engines or higher propellers of the amphibious gyropendular drone.
• FIG. 3 represents, in perspective, various possible configurations of the engines or lower propellers of the amphibious gyropendular drone.
• FIG. 4 represents, in perspective, various possible configurations of the engines or upper propellers of the amphibious gyropendular drone.
• FIG. 5 represents, in perspective, the central articulated body or "vertebral structure" and the ball joints of the amphibious gyropendular drone.
• Figure 6 shows, in profile, the landing procedure of the amphibious gyropendular drone.
• FIG. 7 represents, in profile, the underwater progression of the amphibious gyropendular drone.
• Figure 8 shows, in perspective, the release of the upper safety parachute and the lower air cushion shock absorption at the ground, the amphibious gyropendulaire drone.
• FIG. 9 represents, in perspective, the triggering of the ascension balloon with helium or hydrogen as well as the zone of detection, scanning and triggering of laser shots covered by the payload, of the amphibious gyropendular drone.
• FIG. 10 represents, in perspective, the triggering of the semi-rigid umbrella making it possible to maintain a flight plan to the economy or to slow down the fall in the event of a malfunction of the thrusters, the amphibious gyropendular drone.
• Figure 11 shows, in profile, the take-off procedure in the inclined position of the amphibious gyropendular drone.
• FIG. 12 represents, in perspective, the reception maneuver on a docking base, of the amphibious gyropendular drone.
• Figure 13 shows, in perspective, the vertical landing maneuver on adapted cavities, the amphibious gyropendular drone.
• Figure 14 shows the functional view of the gyropendular principle and how the resulting or compensating forces, moments and induced couples interact.
• FIG. 15 represents, in perspective, the free space fluidic gradient and column alignment collimation mechanism applicable to the different upper and lower propulsion groups.
• FIG. 16 represents, in perspective, the various variations of application functions, namely the robotic multi-arm hexapod, the plateau hexapode, the hexapod multi-arm robotic and plateau combination, the multibeam laser matrix head, the motor multispectral multibeam scanning and integration under the central plateau of the amphibious gyro-polar drone.
• FIG. 17 represents, in perspective, a hybrid control stick of the machine or the drone, allowing, in semi-autonomous or manual mode, using the upper spherical part movable along the three axes, a control of the the attitude and the gyroscopic torque of the platform, which is decorrelated from the control of the navigation carried out by the orientation of the movable handle on 3D ball joint, ie the management of the displacements in the three-dimensional space according to a specific plane of flight or a trajectory can be preprogrammed (eg angular rotation or tilt or swivel in discrete steps in degrees or quadrants, autonomous or non-obstacle avoidance or stall or spiral or loop avoidance procedure, ).
• FIG. 18 represents, in perspective, the compensating propulsion gyropendular apparatus and fluidic gradient collimation, multi-media, multimodal, vertical take-off and landing, with a simple upper propulsion group, a compound lower propulsion group, p. ex. of three turbines, and an intermediate turbine for compensation of the rotation torque of the upper and lower propulsion units.
• FIG. 19 represents, in perspective, a variant of the compensating propulsion gyropendular apparatus and multi-media, multimodal, vertical take-off and landing fluid gradient collimation, with a single upper propulsion unit, and without an intermediate compensation turbine. torque of the upper and lower propulsion groups
• FIG. 20 represents, in perspective, a variant of the compensating propulsion gyropendular apparatus and multi-media, multimodal, vertical take-off and landing fluid gradient collimation, with an upper propulsion unit comprising, e.g. ex. three rotary wing engines.
• FIG. 21 represents, in perspective, a variant of the gyropendular device with compensatory propulsion and collimation of fluidic gradient, multi-media, multimodal, vertical take-off and landing, with a passenger compartment enabling the pilot to be protected from inclement weather or aggression outside, with a higher propulsion group.
• FIG. 22 represents, in perspective, a variant of the gyropendular apparatus with compensatory propulsion and collimation of fluidic gradient, multi-media, multimodal, vertical take-off and landing, with a passenger compartment enabling the pilot to be protected from inclement weather or aggression external, with an upper propulsion unit comprising, e.g. ex. three rotary wing engines.
• FIG. 23 represents, in perspective, a variant of the compensating propulsion gyropendor apparatus and fluid gradient collimation, multi-media, multimodal, vertical take-off and landing, with an unmanned cockpit for protecting the payload from inclement weather or external aggression, a higher propulsion group comprising p. ex. three rotary wing engines, and a vertebral structure from one end to the other, to accommodate a specific application function.
• FIG. 24 represents, in perspective, a variant of the compensating propulsion gyropendular machine and fluid gradient collimation, for high altitude navigation, vertical takeoff and landing, with an unmanned cockpit allowing the payload to be protected from inclement weather or external aggression, a higher propulsion group comprising, e.g. ex. three turbines, or turboprops, or turbojets, and a hollow vertebral structure from one end to the other of the latter, to accommodate a specific application function.
• a higher propulsion group comprising, e.g. ex. three turbines, or turboprops, or turbojets, and a hollow vertebral structure from one end to the other of the latter, to accommodate a specific application function.
• FIG. 25 represents, in perspective, a variant of the compensating propulsion gyropendular machine and fluid gradient collimation, nano-satellite launching platform, vertical take-off and landing, with an unmanned cockpit for protecting the payload from inclement weather. or external aggression, a higher propulsion group comprising, e.g. ex. three turbines, or turboprops, or turbojet engines, a lower propulsion unit comprising, e.g. ex. three turbines, or turboprops, or turbojets, and a vertebral structure from one end to the other, to accommodate a specific application function.
• a higher propulsion group comprising, e.g. ex. three turbines, or turboprops, or turbojet engines
• a lower propulsion unit comprising, e.g. ex. three turbines, or turboprops, or turbojets
• a vertebral structure from one end to the other, to accommodate a specific application function.
• Figures 26 and 27 show, in perspective, different configurations of the compensating propulsion gyropendular device and fluid gradient collimation, for multiaxial underwater navigation, with a passenger compartment with or without a driver to protect the payload from the weather or external aggression, a group of upper propulsion comprising, p. ex. three profiled propellers or hydraulic turbines, a lower propulsion unit comprising, e.g. ex. three profiled propellers or hydraulic turbines and a vertebral structure from one end to the other, for guiding and propelling or not the fluid flowing in the interior during a displacement in immersion with a propeller or turbine propulsion device, or to host a specific application function (torpedoes, mini-drones, beacons, ).
• FIG. 28 represents, in perspective, a variant of the compensating propulsion gyropendor apparatus and fluid gradient collimation, for multiaxial airship type airship navigation, with a cockpit with or without a pilot device making it possible to protect the payload from inclement weather or external aggression, an upper propulsion unit comprising three propellers or turbines, a lower propulsion unit comprising three propellers or turbines and a vertebral structure from one end to the other, for guiding and propelling the fluid circulating inside. during an atmospheric displacement with a propeller or turbine propulsion device, or to accommodate a specific application function (missile launchers, drones, nano-satellites, weather beacons, telecommunication beacons, etc.).
• FIGS. 29, 30 and 31 represent, in perspective, different configurations of the compensating propulsion propulsion gyropendular apparatus and fluid gradient collimation, for helicopter-based or unmanned aerial navigation, equipped with an upper propulsion unit comprising a number of simple or counter-rotating propellers, or turbines, and a lower propulsion group having a number of single or counter-rotating propellers or turbines.
• the multimodal multi-media gyro-end device object of the invention shown (FIG 18), comprises an amphibious gyropendular drone declination (FIG 1), which allows to take off (or to land) vertically then to move, according to the three axes according to a specific flight plan, without modifying if necessary the plate of the plate (3) accommodating the cockpit (4) of the payload (5) which integrates the other navigation control and stabilization (19), synchronization (20), detection and interception (21) and telecommunications (23) devices.
• FOG 1 amphibious gyropendular drone declination
• the vertical ascent of the drone is ensured by the thrust produced by the upper (1) and lower (7) propulsion (10) or turbine (10) propulsion units, or with a helical turbine (10), or reactor with rotary gas nozzles (10), or turboprop, or reactor.
• a shroud or guard (11) protects the upper and lower portions of the upper and lower propulsion units.
• Housing central (9) can accommodate various accessories (flare, laser tracking or interception, parachute, inflatable ball, radio beacon, light rocket launcher with laser guidance, ).
• a 3D ball joint function (13) is used to orient the trim of the propulsion units
• a 3D articulated central body (2) establishes a rigid or flexible link between the upper power unit and the passenger compartment (4) of the payload (5).
• 3D articulated central body (2) composed of a number of sections
• (2) and ball functions (13), (14), (15), (16) and (17) can take any configuration necessary to preserve the balance of the drone by optimizing the position of its center of gravity (84). ), by compensating for the different thrust or braking forces, moments or torques (79), (80), (82), (83), (85) and (87), while limiting the modifications of plates and the -coups applied to the payload.
• Lateral bodies (6) connect the lower thrusters (7) to the plate (3).
• 3D ball joint functions (18) at both ends of these lateral bodies (6) allow the latter to be freely orientated and the lower thrusters (7) at their ends to reproduce the different configurations, e.g. ex. adopted by the jellyfish, for a given flight or dive plan.
• the lower thrusters (7) being in rotation generates several gyroscopic pairs (79), (80), (82), (83), (85) and (87), which make it possible to apply to the drone the resultant (88) of the balance compensation forces implemented.
• This force balancing mechanism can thus be applied in air, in water and in space (under vacuum), depending on the method of propulsion retained.
• the first configuration (36) associates with the upper propellant (1) a double propeller (37) and (41) or counter-rotating turbines (37) and (41) with lower propellant groups (7) with propellers (38).
• the second configuration (42) incorporates for the upper thruster (1) a helical turbine (43) and for the lower thrusters (7) helical turbines (44).
• the third variant (45) incorporates for the upper thruster (1) a single propeller and for the lower thrusters (7) helical turbines (44).
• the fourth variant (46) incorporates for the upper thruster a double counter-rotating propellers (37) and (41) and for the lower thrusters (7) helical turbines (44).
• the fifth variant (47) incorporates for the upper thruster (1) a helical turbine (43) and for the lower thrusters (7) single propellers (8) or (38).
• FIG. 3 Variations of flight configurations are shown (FIG. 3) involving a specific orientation of the lateral bodies (6) and the lower thrusters (7).
• the first configuration is the idle mode of the drone with the lateral bodies (48) in axial position along the articulated central body 3D (2).
• the second configuration has a geometry to positive inclination of the lateral bodies (6).
• the third configuration has a negative inclination geometry of the lateral bodies (6).
• the fourth configuration has a negative inclination geometry of the lateral bodies (6) with the lower thrusters (7) or (38) in axial position (flat).
• FIG. 4 Other variants of flight configurations are shown (FIG. 4) involving a specific orientation (51) or (52) of the upper propulsion group (1).
• FIG. 5 Other variants of flight configurations are shown (FIG. 5) involving a specific orientation (54) of the upper propulsion group (1) as well as the 3D articulated central body (2) by the play of the 3D ball joint functions (13). , (14), (15), (16) and (17) associated.
• FIG. 6 Other variants of flight configurations are shown (FIG. 6) during the emergency ditching procedure with triggering of the buoyancy airbag (54) and (56) followed by activation of the radio distress beacon. frequency and short-range laser location (57) when recovery is imminent.
• FIG. 7 Other variants of flight configurations are shown (FIG. 7) during the controlled landing procedure (58) followed by underwater progression.
• FIG. 8 Other variants of flight configurations are shown (FIG. 8) during the trip procedure (59) of the upper safety parachute (60) and the lower impact airbag (61) of the arrival shock at the ground.
• FIG. 9 Other variants of flight configurations are shown (FIG. 9) during the triggering procedure (59) of the ascension flask (64) and (65) with helium or hydrogen as well as the detection zone (FIG. 67), scanning (68) and firing of laser shots (68) covered by the payload or application.
• FIG. 10 Other variants of flight configurations are shown (FIG. 10) during the procedure of deployment of the semi-rigid umbrella (69) and (70) to maintain a flight plan to the economy or to curb the fall in case of malfunction of the thrusters.
• FIG. 12 Other variants of flight configurations are shown (FIG. 12) during the maneuvering procedure for receiving the drone on a docking base (73).
• FIG. 13 Other variants of flight configurations are shown (FIG. 13) during the procedure for maneuvering vertical landing of the building drone (74) inside adapted cavities (75).
• the functional view of the gyropedular principle (63) of the drone shown (FIG. 14) involves several devices: a programmable logic component (65), p. ex.
• the vehicle or drone gyropendulaire can accommodate under its lower plate (3) in the context of scenarios like search and rescue or exploration, an application function whose different configurations are represented (FIG.16).
• the first application function corresponds to a complex manipulation or gripping function of low precision, achieved by the addition of a hexapod-type robotic platform, a robot with six legs or an arm.
• the second application function corresponds to a simple manipulation function but very high accuracy, achieved by the addition of a robotic platform type hexapod "plateau.
• the third application function corresponds to a complex manipulation function of average precision, achieved by the addition of the two previous robotic platforms, namely the six-legged hexapod periphery and the hexapod plateau in its center.
• the fourth application function corresponds to a low, medium and high accuracy laser pointing function, making it possible to affix the imprint of a beam (108) or (114) on one or more fixed or moving targets and to follow them in dynamic, or to establish a point-to-multipoint free space telecommunication network, realized by the addition of a laser multibeam matrix head, or a 2D multi-spectral laser multibeam synchronous digital scanning engine. 3D (106) and (107), or type 150 360 ° (110).
• 17) is applicable to the set of configurations of the machine or of the gyropod-based drone, by means of a control carried out in on-board or remote mode of semi-autonomous type or manual, authorizing with the aid of the upper spherical portion (189) movable along the three axes (192) and (194), a control of the attitude (191) and the gyroscopic pair (193) of the platform, which is decorrelated from the control of the navigation carried out by the orientation (188) and (190) of the movable handle on 3D ball joint (195) and (196), ie the management of displacements in the three-dimensional space according to a specific flight plan or a path that can be preprogrammed (eg, angular rotation or tilt or pivot in discrete steps in degrees or quadrants, autonomous or non-obstacle avoidance or stall or spiral or loop-off procedure, ).
• a specific flight plan or a path that can be preprogrammed (eg, angular rotation or tilt or pivot in discrete steps in
• the object of the present invention namely the multimodal multi-media gyropendor device shown (FIG 18), comprises a number of arrangements allowing the integration of a pilot under the central upper plate (118) ensuring the rigidity of the structure.
• the vertebral structure (119) has been split into three branches that allow to create a space for the pilot, while respecting the center of gravity of the machine, so the balance gyropendulaire. This is, according to this basic configuration, equipped with a number of seats (128) giving access to the control levers (123) along the axis of rotation (121) of the support rod (122).
• a ball-and-socket function (117) has been incorporated to allow a correction of the alignment of the passenger compartment (119) with respect to the axis of the dynamic and adaptive vertebral structure (119) and (120). machine.
• the structure surrounding the engine (129) has been extended to raise the cabin (4) and the engines (7) or propellers (7) relative to the ground, while respecting a configuration compatible with the type of propulsion retained and the fluid that circulates, this to protect the lower propulsion group during landings, landings, landing gear, landing, ...

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• Combustion & Propulsion (AREA)
• Toys (AREA)
• Emergency Lowering Means (AREA)
• Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

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• 2010
  • 2010-04-22 FR FR1001719A patent/FR2959208B1/fr active Active
• 2011
  • 2011-04-20 WO PCT/EP2011/056356 patent/WO2011131733A2/fr not_active Ceased
  • 2011-04-20 US US13/642,521 patent/US20130206915A1/en not_active Abandoned
  • 2011-04-20 EP EP11729582.4A patent/EP2601100A2/de not_active Withdrawn

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