DE102014005838A1 - Unmanned small aircraft and method for landing a small aircraft - Google Patents

Abstract

An unmanned small aircraft with a support structure (10) and at least one drive device (20), wherein the support structure (10) is provided with at least one attachment device (3) is characterized in that the at least one attachment device (3; 3 ') above the Support structure (10) is provided and connected to this by a tensile forces receiving suspension structure (32, 32 ') and that the at least one fastening means (3, 3') at least one gripper device (30) and / or at least one anchoring device (40, 41, 42, 32, 44, 45, 46, 47).

Description

TECHNICAL AREA

The present invention relates to an unmanned small aircraft according to the preamble of claim 1. It further relates to a method for landing such an unmanned small aircraft below a landing structure.

BACKGROUND OF THE INVENTION

Unmanned small aircraft, such as rotary wing aircraft, are already being used for reconnaissance, targeting and tracking purposes in the public safety and military sectors. Such small aircraft usually have a rotor drive with one or more rotor assemblies, with two different drive configurations most commonly used, namely a coaxial configuration with two coaxial rotors on a mostly central main rotor axis rotating counter rotors or a planar multi-rotor configuration in which multiple rotors, for example four or six Rotors are arranged in preferably a common plane of rotation. The rotors with their respective drive are provided on a supporting structure, which also serves to accommodate payloads such as cameras, and in the control electronics, the power supply and the sensors for position (GPS), location (IMU, magnetic field sensor) and Distance (ultrasound) laterally and downwards and sensors for observation and target assignment (day / night vision cameras) are arranged. Such small aircraft are well known and available in the market.

The disadvantage of such small aircraft is that they can take only a very limited supply of energy on a mission due to their limited payload. In the case of an electric drive of the rotors, the weight of the electrical energy storage increases dramatically with the amount of energy to be stored, thereby reducing the weight of the mitnehmbaren payload. In order to find an optimum between payload and energy storage here, in practice feasible flight times in hovering of about 20 to 30 minutes have proven to be realistic. This time is often insufficient for reconnaissance or observation missions.

In stationary operation of such a small aircraft in which this small aircraft does not have to spend the stored energy for the lift generation, but stands on their landing legs forming stators, electrical energy is needed only for the sensors and for the corresponding data transmission devices, so that in this case an observation period of about 3 to 4 hours is feasible. However, an increased, horizontal area is required as a landing and location for the small aircraft for this application. When used in a natural environment, such as in a flat terrain or in a wooded terrain such landing sites are not available. Even in the case of an employment in inhabited area, for example in a village or in a city, such elevated, flat surfaces are only very rarely available as landing sites.

It would therefore be desirable to provide a generic unmanned small aircraft that is capable of landing on non-horizontal surfaces and remaining there without requiring the operation of the aircraft's propulsion equipment.

STATE OF THE ART

It is already known from space technology, designed as a landing module daughter module of a satellite, which is provided with landing legs to design so that it can land on the uneven surface of a comet, which is provided with in the landing legs ice screws in the surface of the comet. In order to prevent a shock pulse generated during touchdown, which would cause an uncontrolled return of the landing module due to the extremely low gravity of a comet harpoon are additionally provided on the landing module, which are to be shot in the comet surface and to retain the landing module there. In this regard, reference is made to the publications on the landing module "Philae" of the spacecraft "Rosetta", for example: http://de.wikipedia.org/wiki"philae_(Sonde) "; retrieved on 28.01.2014.

The not pre-published German patent application 10 2014 001 702.8 describes a small aircraft that can temporarily land and anchor in non-horizontal, sloping or vertical surfaces. However, such walls are available only in built-up area or in the wild at best as rock walls.

PRESENTATION OF THE INVENTION

Object of the present invention is to provide a generic unmanned small aircraft, which is able to land below suitable structures and remain there for a predetermined time without buoyancy.

This object is achieved by the unmanned small aircraft with the features of claim 1.

In this case, at least one fastening device is provided above the support structure and connected to this by a tensile forces receiving hanger structure with the support structure and the at least one fastening device has at least one gripper device and / or at least one anchoring device.

ADVANTAGES

Such a configured small aircraft can also be used and parked outside of built-up terrain in the wild, for example, by fixing itself to a branch of a tree with the gripper device or the anchoring device. This small aircraft according to the invention can also be fixed in a tunnel under the tunnel ceiling or under a bridge by means of the anchoring device.

The unmanned small aircraft is designed in an advantageous development that the drive device has at least one buoyancy rotor or buoyancy propeller, which rotates in a plane of rotation, which runs in the hovering flight of the small aircraft substantially horizontally.

Preferably, the at least one gripping device comprises at least one gripping means attached to a gripper holder connected to the hanging structure, which is designed to grasp and to hold an element of a landing structure and to remain in the locked state in connection with the gripper holder. This variant is particularly suitable for use in the wild, where the gripping means can grip a branch of a tree as a landing structure element. The gripping means may be formed by a gripping tongs, which has at least one electrically, pneumatically, hydraulically, magnetically or by spring force gripping jaw.

Alternatively or additionally, an anchoring device may be provided, which comprises at least one of an anchoring support connected to the support structure in a first direction ejectable anchor means which is adapted to penetrate into a landing structure element, to anchor there and in the anchored state in connection with the Anchorage to stay. As a result, the anchoring means which has penetrated into the landing ground reliably fixes the supporting structure in a suspended manner under the landing structure on account of its connection with the anchoring support, which is still in the anchored state. These anchoring devices are preferably formed by bolt thrusters or bolt guns.

Preferably, the gripper device or the anchoring device or at least a part thereof are detachably formed by the support structure. This solvability allows a quick start from the parked position without the need to expend energy to release the fastener from the landing structure, for example, to reopen the jaws of the gripper. It is also possible, for example, to restart a small aircraft anchored in this way on the ground by decoupling the anchoring device or the part of a respective anchoring device firmly connected to the landing ground from the supporting structure.

An advantageous development of this small aircraft according to the invention is characterized in that the respective anchor means is connected via an extendable from the respective anchor carrier connecting means with the associated anchor carrier and that the connecting means is driven such that the distance between the anchor means and the associated anchor carrier after anchoring is reducible. This variant has the advantage that the anchor means can be introduced, for example injected, from the distance into an element of the landing structure, whereby it remains connected to the associated anchoring carrier via the connecting means. Such a connection means may be, for example, a thin pull rope on which the unmanned small aircraft pulls up by means of a drive for the connecting means, such as a miniature winch, to the landing structure. This variant is advantageous when too close Heranmanövrieren the small aircraft to the landing structure, for example due to gusts of wind, brings with it the danger that the buoyancy rotors of the small aircraft come into contact with the landing structure.

Advantageously, in particular in the above variant of the small aircraft, the respective anchor means after anchoring in the associated anchor carrier can be locked. This significantly increases the reliability of a secure landing on the ground.

• a) Annähern des Kleinfluggeräts von unten an die Landestruktur;
• b1) Greifen eines Elements der Landestruktur mittels des Greifermittels und Arretieren des Greifermittels; und/oder
• b2) Verankern von zumindest einem Ankermittel der zumindest einen Verankerungseinrichtung in einem Element der Landestruktur.

The inventive method for landing an unmanned small aircraft according to the invention under a landing structure is carried out with the following steps:

• a) approaching the small aircraft from below to the landing structure;
• b1) gripping an element of the landing structure by means of the gripper means and locking the gripper means; and or
• b2) anchoring of at least one anchoring means of the at least one anchoring device in an element of the landing structure.

PRESENTATION OF PREFERRED EMBODIMENTS

The invention will now be described by way of example with reference to the drawings. In this shows:

1 a schematic plan view of a first embodiment of a small aircraft according to the invention;

2 a schematic side view of the small aircraft according to the invention 1 in the direction of arrow II in 1 ;

3 a schematic side view of hanging on a stylized tree small aircraft;

4 a schematic plan view of a second embodiment of a small aircraft according to the invention;

5 a schematic side view of the small aircraft according to the invention 4 in the direction of the arrow IV in 4 and

6 a schematic side view of hanging under a bridge arch small aircraft according to the second embodiment.

1 shows a schematic plan view of an unmanned small aircraft 1 according to the present invention. The trained as a rotary wing aircraft small aircraft 1 is provided with a support structure 10 and with a drive device 20 , which in the example shown four rotor arrangements 22 . 24 . 26 . 28 includes. Every rotor arrangement 22 . 24 . 26 . 28 has a buoyancy rotor shown only schematically in the figure 22A . 24A . 26A . 28A on, each from an electric drive motor 22B . 24B . 26B . 28B directly driven. The buoyancy rotors lie in a common plane of rotation E.

The electric motors 22B . 24B . 26B . 28B be from a battery 21 supplied with electrical energy. The battery 21 is in a payload area shown only schematically in the figure 12 the supporting structure 10 provided and also in the payload range 12 provided control device 23 with the electric motors 22B . 24B . 26B . 28B electrically connected.

In the payload range 12 the supporting structure 10 is also a sensor signal processing device 25 provided with distance sensors 50 . 51 . 52 . 53 . 54 . 55 . 56 . 57 and optionally other sensors of the small aircraft 1 is in communication and which also with the controller 23 communicates for data exchange. The sensor signal processing device 25 is also with a likewise in the payload range 12 provided data transmission device 27 connected, wherein the data transmission device 27 also with the control device 23 in communication with each other.

As in 2 it can be seen, is the supporting structure 10 with a plurality of landing legs 14 . 16 , which are also referred to as stators provided. These stators support the support structure 10 with the drive device 20 and the payload in the state. When in 2 also only two landing legs 14 . 16 are shown, so has the support structure 10 but at least three landing legs, but preferably four landing legs.

In the lower section of the payload area 12 are reconnaissance sensors 29 such as a camera 29A or a laser rangefinder 29B arranged. Of course, other types of reconnaissance sensors may be provided depending on the mission involved.

Along its circumference is the support structure 10 with a protective frame 18 provided in the event of a collision of the small aircraft with foreign objects, the corresponding rotor assemblies 22 . 24 . 26 . 28 protects.

The support structure further has a fastening device in the region of its center 3 on, with which the small aircraft, as in 3 is shown schematically, parked below a country structure L. The landing structure is exemplified here as a tree.

The fastening device 3 has one with the support structure 10 connected gripper device 30 on, a telescopically extendable suspension structure 32 comprising, which with one on the support structure 10 attached pedestal 31 is provided. In the pedestal 31 are control and actuating devices for extending and retracting the telescopic elements 32 ' . 32 '' intended. At the free end of the telescopic hanging structure 32 is a gripper holder 34 provided by the telescopic hanging structure 32 decoupled configured. On the gripper holder 34 is a gripper 36 provided, the two gripper jaws 37 . 38 which are pivotable in the direction of the arrows G1, G2 to the gripper means 36 to open and close. The drive for the Operation of the gripper jaws 37 . 38 is also in the socket 31 intended. Corresponding actuating devices extend within the telescopic suspension structure 32 from the pedestal 31 to the gripper means 36 ,

The unmanned small aircraft 1 can thus, as in 3 is shown by means of the gripper means 36 an element B of a landing structure L (here a branch of a tree) from below and engage this element B of the landing structure L by means of the hanging structure 32 Attach. The telescopic hanging structure 32 For example, prior to approaching the small craft, the element B of the landing structure L may be fully extended from below to avoid collision of the minivan with other elements of the landing structure L, for example with other branches or branches of a tree. After the gripper means 36 the element B has seized and the small aircraft 1 firmly hangs on element B of the landing structure L, the rotors are turned off. The small aircraft 1 can then by means of the telescopically formed suspension structure 32 be moved vertically, for example, in the cover of other branches, branches and leaves of the tree to be pulled up.

The gripper jaws 37 . 38 of the gripper means 36 can be operated hydraulically, electrically, pneumatically or magnetically, whereby they can be opened and closed by this operation. But it is also possible under spring tension open gripper jaws 37 . 38 to provide, which snap together in contact with a corresponding element B of a landing structure L under the spring force and firmly embrace the element B. Such a trained gripper means that can not be solved by a remote control again, is preferably on a ejectable gripper holder 34 attached, so that when the small aircraft from the parking position under the landing structure L to fly away again, the gripper holder 34 from the gripper means 36 or from the hanging structure 32 is decoupled. The gripper means 36 then remains on element B of the landing structure L, while the small aircraft 1 flies away. In this case, the small aircraft 1 to be provided with a new gripper means as part of a maintenance.

An alternative embodiment of the small aircraft according to the invention is in the 4 to 6 shown. The elements of the small aircraft which are identical to the first embodiment are also provided with the same reference numerals in the second embodiment.

On the protective frame 18 are vertical anchoring devices 40 . 41 . 42 . 43 . 44 . 45 . 46 . 47 provided, which act perpendicular to the plane of rotation E.

The respective anchoring devices 40 . 41 . 42 . 43 . 44 . 45 . 46 . 47 are with one from an anchor support T (in 5 upwards) ejectable anchor means A and a this assigned and the anchor means with a shock impinging thrust module S provided. The anchor means A is formed, for example, by a bolt and the shear modulus is formed, for example, by a bolt acting on the bolt with an outward thrust propellant or a drivable by a propellant piston-cylinder unit. In this way, the respective anchor means A can be projected directly or indirectly out of the anchoring support T by means of the propellant charge in order to penetrate into the surface of an element B 'of the landing structure L'. In this case, the landing structure L 'is a bridge, as in 6 is shown, and the element B 'is the underside of a bridge arch. Instead of a bridge arch, this example can also be applied to a tunnel, the element B 'then being the tunnel ceiling.

The second anchoring devices 40 . 41 . 42 . 43 . 44 . 45 . 46 . 47 are solid with the support structure 10 connected and aligned so that their respective anchor means A in a substantially vertical direction R ₅ , R ₆ is ejected from the associated anchor support T, which is perpendicular to the plane of rotation E (in 5 ) upwards. "Above" here refers to a direction from the one with the landing feet 14 . 16 provided underside of the support structure 10 turned away.

Once at least three of the anchoring devices 41 . 42 . 45 . 46 each come in contact with an element B 'of the landing structure L', as shown in 6 is shown, or if provided in this area distance sensors 51 . 52 . 55 . 56 a sufficiently small distance to the landing structure L 'sense, is the anchorage in question 41 . 42 . 45 . 46 whose anchor means A is ejected and penetrates into the landing structure L '. This is the small aircraft 1' by means of the triggered anchoring devices 41 . 42 . 45 . 46 fixed under the landing structure L 'hanging. The anchoring devices 41 . 42 . 45 . 46 with their respective anchoring means form a fastening structure 3 ' , wherein the anchor means A is a hanging structure 32 ' of the small aircraft 1' form. Once this fixation is done, the drive device 20 switched off. The stored electrical energy carried by the small aircraft is now available exclusively for the payload.

Has the small aircraft 1' done his mission, it may be out of the 6 Park position shown again. First, the buoyancy rotors of the drive device 20 so controlled that they are responsible for a hovering of the Small aircraft 1' generate necessary buoyancy, whereupon then the anchoring devices 41 . 42 . 45 . 46 from the supporting structure 10 of the small aircraft 1' , For example, by breaking off, be solved and the small aircraft is thus decoupled from the element B 'of the landing structure L'. The small aircraft 1' is now in free hovering again and moves away from the landing structure L '. The anchoring devices or their from the support structure 10 of the small aircraft 1' detached parts remain at the landing structure L 'back.

• – Der Pilot aktiviert den automatischen Lösevorgang oder eine Coming-Home-Funktion wird automatisch ausgelöst, wenn der Energievorrat der Batterie zur Neige geht.
• – Die Rotoren werden so angesteuert, dass das Kleinfluggerät in den Schwebeflug versetzt wird.
• – Die Greifmittel werden geöffnet und/oder die Verbindung der Verankerungseinrichtungen zur Struktur des Kleinfluggeräts 1 werden mittels eines jeweiligen Ver-/Entriegelungs-Mechnismus' gelöst.
• – Das Kleinfluggerät 1, 1' entfernt sich in waagrechter Lage von der Landestruktur L, L', die Steuerung des Kleinfluggeräts 1, 1' übernimmt nun wieder der Pilot.

Remote control of the small aircraft by the pilot 1 . 1' The structure of the country L or L 'is described in detail as follows:

• - The pilot activates the automatic release process or a coming home function is triggered automatically when the energy supply of the battery is running out.
• - The rotors are controlled so that the small aircraft is put into hovering.
• - The gripping means are opened and / or the connection of the anchoring means to the structure of the small aircraft 1 are solved by means of a respective locking / unlocking mechanism.
• - The small aircraft 1 . 1' moves away in a horizontal position from the landing structure L, L ', the control of the small aircraft 1 . 1' The pilot takes over again.

For anchoring devices detached or otherwise detached from the supporting structure, new anchoring devices can be installed as part of a maintenance of the small aircraft, so that the small aircraft is ready for a new deployment.

Reference signs in the claims, the description and the drawings are only for the better understanding of the invention and are not intended to limit the scope.

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 102014001702 [0007]

Claims (8)

Unmanned small aircraft with a supporting structure ( 10 ) and at least one drive device ( 20 ), wherein the support structure ( 10 ) with at least one fastening device ( 3 ), characterized in that - the at least one fastening device ( 3 ; 3 ' ) above the support structure ( 10 ) and with this via a tensile forces receiving hanger structure ( 32 ; 32 ' ) and - that the at least one fastening device ( 3 ; 3 ' ) at least one gripper device ( 30 ) and / or at least one anchoring device ( 40 . 41 . 42 . 32 . 44 . 45 . 46 . 47 ) having. Unmanned small aircraft according to claim 1, characterized in that the drive device ( 20 ) at least one buoyancy rotor ( 22A . 24A . 26A . 28A ) or buoyancy propeller which rotates in a plane of rotation (E) which is in the hovering flight of the small aircraft ( 1 ) is substantially horizontal. Unmanned small aircraft according to claim 1 or 2, characterized in that the at least one gripper device ( 30 ) at least one on one with the hanging structure ( 32 ) connected gripper holder ( 34 ) gripper means ( 36 ), which is adapted to grip and retain an element (B) of a landing structure (L) and, in the locked state, in conjunction with the gripper holder (10). 34 ) to stay. Unmanned small aircraft according to claim 1 or 2, characterized in that the at least one anchoring device ( 40 . 41 . 42 . 32 . 44 . 45 . 46 . 47 ) At least one of a with the support structure ( 10 anchoring beam (T) connected in a substantially vertical direction (R ₅ , R ₆ ) ejectable anchor means (A), which is adapted to penetrate into an element (B ') of a landing structure (L') and to anchor there and to stay in the anchored state in conjunction with the anchor bracket (T). Unmanned small aircraft according to one of the preceding claims, characterized in that the gripper device ( 30 ) or the anchoring device ( 40 . 41 . 42 . 32 . 44 . 45 . 46 . 47 ) or at least part of it from the support structure ( 10 ) is detachably formed. Unmanned small aircraft according to claim 4 or 5, characterized in that - that the respective anchor means (A) via a from the respective anchorage carrier (T) extendable connecting means with the associated anchoring support (T) is connected and - that the connecting means is driven such that the Distance between the anchor means (A) and the associated anchor carrier (T) after anchoring of the anchor means (A) can be reduced. Unmanned small aircraft according to one of the preceding claims, characterized in that the respective anchor means (A) after anchoring in the associated anchor carrier (T) is lockable. Method for landing an unmanned small aircraft ( 1 ) according to one of the preceding claims under a landing structure (L; L ') comprising the steps of: a) approaching the small aircraft ( 1 ; 1' ) from below to the landing structure (L; L '); b1) gripping an element (B) of the landing structure (L) by means of the gripper means ( 36 ) and locking the gripper means ( 36 ); and / or b2) anchoring at least one anchoring means (A) of the at least one anchoring device ( 41 . 42 . 45 . 46 ) in an element (B ') of the landing structure (L').

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