WO2019145584A1 - Multi-rotor drone with reactive cross-stability system - Google Patents

Multi-rotor drone with reactive cross-stability system Download PDF

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Publication number
WO2019145584A1
WO2019145584A1 PCT/ES2019/070017 ES2019070017W WO2019145584A1 WO 2019145584 A1 WO2019145584 A1 WO 2019145584A1 ES 2019070017 W ES2019070017 W ES 2019070017W WO 2019145584 A1 WO2019145584 A1 WO 2019145584A1
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WO
WIPO (PCT)
Prior art keywords
chassis
rotor
motors
drone
thermal
Prior art date
Application number
PCT/ES2019/070017
Other languages
Spanish (es)
French (fr)
Inventor
Pablo FLORES PEÑA
Original Assignee
Drone Hopper, S.L.
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 Drone Hopper, S.L. filed Critical Drone Hopper, S.L.
Publication of WO2019145584A1 publication Critical patent/WO2019145584A1/en

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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
    • B64C29/0008—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft having its flight directional axis horizontal when grounded
    • B64C29/0016—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft having its flight directional axis horizontal when grounded the lift during taking-off being created by free or ducted propellers or by blowers
    • B64C29/0025—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft having its flight directional axis horizontal when grounded the lift during taking-off being created by free or ducted propellers or by blowers the propellers being fixed relative to the fuselage
    • A—HUMAN NECESSITIES
    • A62—LIFE-SAVING; FIRE-FIGHTING
    • A62C—FIRE-FIGHTING
    • A62C3/00—Fire prevention, containment or extinguishing specially adapted for particular objects or places
    • A62C3/02—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires
    • A62C3/0228—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires with delivery of fire extinguishing material by air or aircraft
    • A62C3/0242—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires with delivery of fire extinguishing material by air or aircraft by spraying extinguishants from the aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C25/00—Alighting gear
    • B64C25/02—Undercarriages
    • B64C25/06—Undercarriages fixed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
    • B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
    • B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
    • B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/11—Propulsion using internal combustion piston engines
    • 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

Definitions

  • the present invention relates to a multi-rotor drone, and more specifically to a hexacopter, whose special structuring makes it extremely stable in its displacements, ideal for transporting heavy loads, such as water intended for firefighting .
  • the object of the invention is therefore to provide a multi-rotor drone with high load capacity and reduced weight, which maintains horizontality at all times, regardless of the direction in which it travels, all with cross reactive stability systems. in case of gusts, turbulence or failure of any engine, which allows to ensure said stability at all times, which is decisive when transporting loads such as fluids or other loads of high inertia.
  • the multi-rotor drone that is recommended solves in a completely satisfactory way the problem previously exposed, based on a structuring that guarantees at all times the horizontality of its chassis or frame, and consequently of the load, regardless of the direction in which it is Move the drone, being able to stabilize perfectly against strong gusts of wind or even the failure of one of its rotors.
  • the drone of the invention is constituted from an essentially rectangular chassis in which two parallel alignments of three thermal motors each, coupled to respective main propellers of the device, and whose axis of Turn is associated in opposition to these propellers to respective small electric generators, whose function will be discussed later.
  • the motors will be synchronized with each other and controlled by an electronic control unit through which the drone will be controlled remotely.
  • the aforementioned synchronization in rotation of the six propellers guarantees the horizontality of the device whether it moves vertically, horizontally or diagonally, so that for controlling the displacements with horizontal component, it is provided that under each of the propellers, and in perpendicular arrangement to its axis of rotation, respective flaps assisted by servo motors are arranged, and controlled by the said control unit.
  • the flaps will be distributed on the frame in two directions perpendicular to each other.
  • these small turbines could also be replaced by small thermal engines associated with smaller propellers.
  • thermal motors are aligned with the air flow generated by the propellers, they will have optimum cooling, being an ideal solution for the purpose of the present invention, the transport of high water loads or other type of load, since they do not need heavy batteries as in the case of electric motors, being able to offer extremely high load capacities, depending on the power of said thermal motors.
  • the load instead If distributed uniformly throughout the surface of the chassis of the device, it is divided into six independent tanks of identical weight and capacity, which are distributed vertically and centrally under the axis of rotation of each thermal engine, affecting its stability when aligned the load with the thrust direction.
  • the drone has a safety or emergency system against decompensations due to wind gusts, turbulence or failure of one of the rotors, so that the main chassis, With an essentially rectangular configuration, it has four small vertical axis electric turbines corresponding to its vertices, which will be fed in case of destabilization through the generator associated to the opposite thermal motor, which contributes to maintaining the horizontality of the device. These turbines produce a powerful moment of almost instantaneous rotation that adds to the one created by obtaining the electric energy of the opposing rotor, thus multiplying its effect.
  • the device of the invention is preferably designed for extinguishing fires, although it could be used for the transport of other types of cargo, so that the aforementioned water tanks, as previously stated, are arranged by adopting a arrangement elongated vertically under the thermal engines, the fuel tank of said thermal engine being able to be properly insulated, submerged in said tanks, for greater security, a set that will be duly protected by an aerodynamic fairing, so that they are discharged in a controlled manner through its lower extremity, by any electrically controllable system through the switchboard, with the advantage that, since the water outlet is under the flow of the device's discharge air, said flow causes the fogging of the discharged water, which optimizes the consumption of said fluid, in order to maximize the surface to be treated.
  • the deposits themselves serve as support elements or legs when landing the device.
  • the device itself could be used to transport wounded people or any other type of load that is necessary, for which the main frame of the drone will include in its lower area anchoring means for fixing stretchers or load concerned.
  • the independence of the tanks and the selective control of their emptying can also be used to stabilize the aircraft in the event of failure of one of its rotors, allowing it to download only partially or totally, as necessary, its contents. This feature allows you to change the center of gravity of the drone dynamically, so that it adapts to the engine configuration resulting after the fault.
  • Figure 1 shows a schematic top plan view of a multi-rotor drone made in accordance with the object of the invention.
  • Figure 2.- Shows an elevation view of the assembly of the previous figure.
  • Figure 3. Shows a profile view of the drone of the previous figures.
  • FIG. 4 - Shows, finally, an enlarged and sectional detail of the drone at the level of one of its water tanks.
  • the drone of the invention is constituted from an essentially rectangular chassis (1), in which two parallel alignments of three thermal motors (2) each, coupled to respective ones, are established main propellers (3), whose axis of rotation is associated in opposition to said propellers with respective small electric generators, so that the motors are synchronized with each other and controlled by an electronic control unit through which the drone is controlled remotely , all the electrical and electronic elements participating in the device being powered by the generators associated with the thermal motors (2).
  • thermal motors (2) chosen, specifically six is decisive, since the device can be scaled according to the required load capacity, even the main propellers (3) can be arranged at different heights to allow closer approximation between yes said motors, said number assuring the survival of the device in the event of the failure of one of the motors and being optimal against the use of a larger number of motors of smaller power and size, while the use of a smaller number of motors would not allow stabilize the aircraft in case one of these rotors fails.
  • the synchronization in rotation of the six main propellers (3) guarantees the horizontality of the device whether it moves vertically, horizontally or diagonally, provided that under said propellers, they are arranged respective flaps (5) whose axis of rotation is perpendicular to the axis of rotation of the propellers, assisted by servo motors, and controlled by said control unit.
  • Said flaps (5) are arranged in two directions perpendicular to each other to control the displacement in the horizontal plane, although, to control the rotation or rotation of the device it is provided that the frame (1) has at its ends with respective pairs of horizontal axis electric turbines (6) that are fed through the energy generated by the generators associated with each of the main rotors of the device, and also controlled by the control unit.
  • these small turbines could also be replaced by small thermal engines associated with respective smaller propellers.
  • the main chassis essentially rectangular in configuration, has four small vertical axis electric turbines (7) corresponding to its vertices, which are fed into case of destabilization through the generator associated with the opposite thermal motor, ensuring at all times the horizontality of the device.
  • These turbines produce a powerful moment of almost instantaneous rotation that adds to the one created by obtaining the electric energy of the opposing rotor, thus multiplying its effect.
  • the load is divided into six tanks (8) of identical weight and capacity, elongated vertically and that are aligned with the thrust direction of each thermal motor (2), which has a very positive influence on The stability of the device.
  • each tank (8) will be disposed inferiorly to the respective thermal engine (2), so that its fuel tank (9), properly insulated, could even be submerged in the water contained in the tank (8), as an additional safety element.
  • the set will be assisted by an aerodynamic fairing (10), which will also act as legs or support means at the landing, counting said deposits in its lower area with opening means (11) electronically controlled by the switchboard that allow the exit controlled of the water, which, as it has been said before, being arranged under the flow of supply air of the device, said flow causes the fogging of the discharged water, which optimizes the consumption of said fluid, in order to maximize the burned surface to cover.
  • an aerodynamic fairing (10) which will also act as legs or support means at the landing, counting said deposits in its lower area with opening means (11) electronically controlled by the switchboard that allow the exit controlled of the water, which, as it has been said before, being arranged under the flow of supply air of the device, said flow causes the fogging of the discharged water, which optimizes the consumption of said fluid, in order to maximize the burned surface to cover.
  • no additional pumping systems are necessary, since the water falls by gravity, and by the effect of dynamic pressure suction.
  • the device may selectively empty the water tank associated therewith, by virtue of its independent discharge means, in order to facilitate the self-stabilization maneuvers of the aircraft.
  • This feature allows you to change the center of gravity of the drone dynamically, so that it adapts to the engine configuration resulting after the fault. It only remains to point out finally that the chassis or frame (1) will incorporate at strategic points anchoring means (12) that could be used to transport wounded or any other type of load that was necessary, once the water contained in their tanks was discharged.
  • the device thus described is easily scalable according to the specific needs of each case, being able to develop devices with high load capacity based on the inclusion of high-power thermal motors, and therefore can reach devices with equal or greater load capacity than that of a seaplane.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Remote Sensing (AREA)
  • Ecology (AREA)
  • Biodiversity & Conservation Biology (AREA)
  • Forests & Forestry (AREA)
  • Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Business, Economics & Management (AREA)
  • Emergency Management (AREA)
  • Pest Control & Pesticides (AREA)
  • Wind Motors (AREA)
  • Hydraulic Turbines (AREA)

Abstract

Specially designed for fire fighting, the drone of the invention is in the form of a hexacopter in which the main rotors are distributed according to two parallel alignments of three motors, and the motors are in the form of thermal motors, mutually synchronised such that the chassis (1) of the drone remains in a horizontal position at all times, thus markedly improving the stability of the assembly. To move horizontally, flaps (5) controlled by servomotors and governed using a control module, which is powered by generators associated with the shafts of the thermal motors, are arranged beneath the main rotors (3) in a position perpendicular to the rotation axis thereof. The chassis includes means for controlling the rotation and yaw with respect to the horizontal plane, and an additional safety system.

Description

DRON MULTI-ROTOR CON SISTEMA DE ESTABILIDAD REACTIVA CRUZADO  MULTI-ROTOR DRON WITH CROSSED REACTIVE STABILITY SYSTEM
DESCRIPCIÓN DESCRIPTION
OBJETO DE LA INVENCIÓN OBJECT OF THE INVENTION
La presente invención se refiere a un dron multi-rotor, y más concretamente a un hexacóptero, cuya especial estructuración lo hace sumamente estable en sus desplazamientos, ideal para el transporte de cargas de elevado peso, como por ejemplo agua destinada a la extinción de incendios. The present invention relates to a multi-rotor drone, and more specifically to a hexacopter, whose special structuring makes it extremely stable in its displacements, ideal for transporting heavy loads, such as water intended for firefighting .
El objeto de la invención es proporcionar por tanto un dron multi-rotor con alta capacidad de carga y reducido peso, que mantenga la horizontalidad en todo momento, indistintamente de la dirección en la que se desplace, todo ello con unos sistemas de estabilidad reactiva cruzado ante ráfagas, turbulencias o fallo de algún motor, que permitan asegurar dicha estabilidad en todo momento, lo cual resulta determinante cuando se transportan cargas tales como fluidos u otras cargas de elevada inercia. The object of the invention is therefore to provide a multi-rotor drone with high load capacity and reduced weight, which maintains horizontality at all times, regardless of the direction in which it travels, all with cross reactive stability systems. in case of gusts, turbulence or failure of any engine, which allows to ensure said stability at all times, which is decisive when transporting loads such as fluids or other loads of high inertia.
ANTECEDENTES DE LA INVENCIÓN BACKGROUND OF THE INVENTION
En el ámbito de aplicación práctica de la invención, el de los drones multi-rotor, este tipo de dispositivos si bien cuando se desplazan exclusivamente en dirección vertical mantienen su horizontalidad, para poder desplazarse en una dirección con una componente horizontal, consiguen dicha componente horizontal de fuerza mediante la inclinación del dispositivo. In the practical scope of the invention, that of multi-rotor drones, these types of devices, although when they move exclusively in the vertical direction, maintain their horizontality, in order to move in a direction with a horizontal component, they achieve said horizontal component of force by tilting the device.
Esta solución resulta peligrosa ante ráfagas de aire y turbulencias, debido a su baja estabilidad, estabilidad que se ve afectada en mayor medida cuando el dron está destinado a transportar determinadas cargas, y más aún cuando dichas cargas no son estáticas, como por ejemplo cuando el dron está destinado a la extinción de incendios, en donde la carga de agua es susceptible de desplazarse en el interior de los depósitos, afectando muy negativamente a la estabilidad del dron. Tratando de obviar esta problemática, son conocidos drones como el descrito en la patente US 5890441 , en la que se describe un dron constituido por un chasis con dos hélices principales movidas por uno o dos motores térmicos para despegue y empuje vertical, contando con hélices para el empuje horizontal, de manera que el dron no sea necesario que se incline durante su desplazamiento. This solution is dangerous to air bursts and turbulence, due to its low stability, stability that is affected to a greater extent when the drone is destined to transport certain loads, and even more so when these loads are not static, such as when the Drone is intended for firefighting, where the water load is likely to move inside the tanks, very negatively affecting the stability of the drone. Trying to avoid this problem, drones such as the one described in US 5890441 are known, in which a drone consisting of a chassis with two main propellers moved by one or two thermal motors for takeoff and vertical thrust is described, with propellers for horizontal thrust, so that the drone does not need to tilt during movement.
Si bien este dispositivo en condiciones normales soluciona la problemática anteriormente expuesta, ante el fallo de uno de los rotores principales se desequilibraría, y entraría en pérdida de manera irreversible. Although this device under normal conditions solves the problem described above, if one of the main rotors fails, it will become unbalanced, and will irreversibly lose.
Esta problemática, (la referente al fallo de uno de los rotores) se incrementa sensiblemente cuando el dron está destinado a portar cargas de elevado peso, en las que la inercia de dicho peso es determinante. This problem (referring to the failure of one of the rotors) increases significantly when the drone is intended to carry heavy loads, in which the inertia of said weight is decisive.
DESCRIPCIÓN DE LA INVENCIÓN DESCRIPTION OF THE INVENTION
El dron multi-rotor que se preconiza resuelve de forma plenamente satisfactoria la problemática anteriormente expuesta, en base a una estructuración que garantiza en todo momento la horizontalidad de su chasis o bastidor, y consecuentemente de la carga, indistintamente de la dirección en la que se desplace dicho dron, pudiéndose estabilizar perfectamente ante fuertes ráfagas de viento o incluso el fallo de uno de sus rotores. The multi-rotor drone that is recommended solves in a completely satisfactory way the problem previously exposed, based on a structuring that guarantees at all times the horizontality of its chassis or frame, and consequently of the load, regardless of the direction in which it is Move the drone, being able to stabilize perfectly against strong gusts of wind or even the failure of one of its rotors.
Para ello, y de forma más concreta, el dron de la invención se constituye a partir de un chasis esencialmente rectangular en el que se establecen dos alineaciones paralelas de tres motores térmicos cada una, acoplados a respectivas hélices principales del dispositivo, y cuyo eje de giro está asociado en oposición a dichas hélices a respectivos pequeños generadores eléctricos, cuya función se expondrá con posterioridad. For this, and more specifically, the drone of the invention is constituted from an essentially rectangular chassis in which two parallel alignments of three thermal motors each, coupled to respective main propellers of the device, and whose axis of Turn is associated in opposition to these propellers to respective small electric generators, whose function will be discussed later.
Los motores estarán sincronizados entre sí y controlados por una centralita de control electrónica a través de la que se controlará el dron de forma remota. The motors will be synchronized with each other and controlled by an electronic control unit through which the drone will be controlled remotely.
La citada sincronización en giro de las seis hélices garantiza la horizontalidad del dispositivo tanto si éste se mueve en vertical, horizontal o diagonal, de manera que para controlar los desplazamientos con componente horizontal se ha previsto que bajo cada una de las hélices, y en disposición perpendicular a su eje de giro, se dispongan respectivos flaps asistidos por servo-motores, y controlados mediante la citada centralita. The aforementioned synchronization in rotation of the six propellers guarantees the horizontality of the device whether it moves vertically, horizontally or diagonally, so that for controlling the displacements with horizontal component, it is provided that under each of the propellers, and in perpendicular arrangement to its axis of rotation, respective flaps assisted by servo motors are arranged, and controlled by the said control unit.
Así pues, los flaps se distribuirán sobre el bastidor en dos direcciones perpendiculares entre sí. Thus, the flaps will be distributed on the frame in two directions perpendicular to each other.
A partir de esta estructuración, cuando los flaps se dispongan en disposición vertical se verán mínimamente afectados por el flujo de aire propulsado por las hélices, mientras que cuando éstos adopten una disposición inclinada sufrirán un empuje por parte del flujo de aire generado por las hélices que determinará una componente de fuerza horizontal que provocará el desplazamiento horizontal del dron, configuración que, a diferencia de los drones convencionales multi-rotor, asegurará que el dispositivo se desplace adoptando una disposición totalmente horizontal, mejorando sensiblemente la estabilidad del vehículo. From this structuring, when the flaps are arranged in a vertical arrangement, they will be minimally affected by the flow of air propelled by the propellers, while when they adopt an inclined arrangement they will suffer a thrust from the air flow generated by the propellers It will determine a horizontal force component that will cause horizontal drone displacement, a configuration that, unlike conventional multi-rotor drones, will ensure that the device moves by adopting a completely horizontal layout, significantly improving vehicle stability.
Si bien a partir de esta estructura es posible controlar el desplazamiento del dron en todas direcciones, para controlar su giro o guiñada con respecto al plano horizontal, en correspondencia con los dos extremos del bastidor del dispositivo se han incorporado respectivas parejas de turbinas eléctricas, con su eje de giro en disposición horizontal, y que se alimentan a través de la energía generada por los generadores asociados a cada uno de los rotores principales del dispositivo, y controladas igualmente por la centralita de control. Although from this structure it is possible to control the drone movement in all directions, to control its rotation or yaw with respect to the horizontal plane, corresponding pairs of electric turbines have been incorporated in correspondence with the two ends of the frame of the device, with its axis of rotation in horizontal arrangement, and that are fed through the energy generated by the generators associated with each of the main rotors of the device, and also controlled by the control unit.
Opcionalmente, estas pequeñas turbinas podrían ser sustituidas igualmente por pequeños motores térmicos asociados a hélices de menor tamaño. Optionally, these small turbines could also be replaced by small thermal engines associated with smaller propellers.
Cabe destacar el hecho de que al estar los motores térmicos alineados con el flujo de aire generado por las hélices, estos dispondrán de una óptima refrigeración, siendo una solución idónea para el objeto de la presente invención, el transporte de cargas elevadas de agua u otro tipo de carga, dado que no necesitan de pesadas baterías como en el caso de los motores eléctricos, pudiéndose ofrecer capacidades de carga sumamente elevadas, en función de la potencia de dichos motores térmicos. It should be noted that since the thermal motors are aligned with the air flow generated by the propellers, they will have optimum cooling, being an ideal solution for the purpose of the present invention, the transport of high water loads or other type of load, since they do not need heavy batteries as in the case of electric motors, being able to offer extremely high load capacities, depending on the power of said thermal motors.
Otro factor que afecta determinantemente a la estabilidad del dron es que la carga en vez de distribuirse uniformemente por toda la superficie del chasis del dispositivo, se divide en seis depósitos independientes de idéntico peso y capacidad, que se distribuyen vertical y centradamente bajo el eje de giro de cada motor térmico, afectando de forma determinante a su estabilidad al estar alineada la carga con la dirección de empuje. Another factor that decisively affects drone stability is that the load instead If distributed uniformly throughout the surface of the chassis of the device, it is divided into six independent tanks of identical weight and capacity, which are distributed vertically and centrally under the axis of rotation of each thermal engine, affecting its stability when aligned the load with the thrust direction.
De acuerdo con otra de las características esenciales de la invención, se ha previsto que el dron cuente con un sistema de seguridad o de emergencia ante descompensaciones por ráfagas de viento, turbulencias o fallo de uno de los rotores, de manera que el chasis principal, de configuración esencialmente rectangular, presenta en correspondencia con sus vértices cuatro pequeñas turbinas eléctricas, de eje vertical, que se alimentarán en caso de desestabilización a través del generador asociado al motor térmico opuesto lo que contribuye a mantener la horizontalidad del dispositivo. Estas turbinas producen un potente momento de giro casi instantáneo que se suma al creado al obtener la energía eléctrica del rotor en oposición, multiplicando así su efecto. In accordance with another of the essential features of the invention, it is envisioned that the drone has a safety or emergency system against decompensations due to wind gusts, turbulence or failure of one of the rotors, so that the main chassis, With an essentially rectangular configuration, it has four small vertical axis electric turbines corresponding to its vertices, which will be fed in case of destabilization through the generator associated to the opposite thermal motor, which contributes to maintaining the horizontality of the device. These turbines produce a powerful moment of almost instantaneous rotation that adds to the one created by obtaining the electric energy of the opposing rotor, thus multiplying its effect.
El dispositivo de la invención está preferentemente ideado para la extinción de incendios, si bien podría ser utilizado para el transporte de otro tipo de cargas, de manera que, los citados depósitos de agua, tal y como se ha dicho con anterioridad se disponen adoptando una disposición alargada verticalmente bajo los motores térmicos, pudiendo estar el depósito de combustible de dicho motor térmico, debidamente aislado, sumergido en dichos depósitos, para mayor seguridad, conjunto que estará debidamente protegido por un carenado aerodinámico, de manera que los mismos se descargen controladamente a través de su extremidad inferior, mediante cualquier sistema controlable eléctricamente a través de la centralita, con la ventaja de que, al estar la salida del agua bajo el flujo de aire de impulsión del dispositivo, dicho flujo provoca la nebulización del agua descargada, lo que optimiza el consumo de dicho fluido, en orden a maximizar la superficie a tratar. The device of the invention is preferably designed for extinguishing fires, although it could be used for the transport of other types of cargo, so that the aforementioned water tanks, as previously stated, are arranged by adopting a arrangement elongated vertically under the thermal engines, the fuel tank of said thermal engine being able to be properly insulated, submerged in said tanks, for greater security, a set that will be duly protected by an aerodynamic fairing, so that they are discharged in a controlled manner through its lower extremity, by any electrically controllable system through the switchboard, with the advantage that, since the water outlet is under the flow of the device's discharge air, said flow causes the fogging of the discharged water, which optimizes the consumption of said fluid, in order to maximize the surface to be treated.
Los propios depósitos sirven como elementos de apoyo o patas a la hora de aterrizar el dispositivo. The deposits themselves serve as support elements or legs when landing the device.
Una vez descargada la carga de agua, el propio dispositivo podría ser utilizado para transportar heridos o cualquier otro tipo de carga que fuera necesaria, para lo cual el bastidor principal del dron incluirá en su zona inferior medios de anclaje para la fijación de camillas o carga de que se trate. La independencia de los depósitos y el control selectivo de vaciado de los mismos puede igualmente ser utilizado para estabilizar la aeronave en caso de fallo de uno de sus rotores, permitiendo descargar exclusivamente de forma parcial o total, según sea necesario, el contenido de éste. Esta característica permite cambiar el centro de gravedad del dron dinámicamente, de forma que se adapte a la configuración de motores resultante tras el fallo. Once the water load is unloaded, the device itself could be used to transport wounded people or any other type of load that is necessary, for which the main frame of the drone will include in its lower area anchoring means for fixing stretchers or load concerned. The independence of the tanks and the selective control of their emptying can also be used to stabilize the aircraft in the event of failure of one of its rotors, allowing it to download only partially or totally, as necessary, its contents. This feature allows you to change the center of gravity of the drone dynamically, so that it adapts to the engine configuration resulting after the fault.
Se consigue de esta forma un dispositivo ligero, de bajo coste y fácilmente escalable en función de las necesidades de carga de cada caso, sumamente estable en sus desplazamientos, lo que resulta determinante a la hora de transportar fluidos, dada la inercia de los mismos. In this way, a lightweight, low-cost and easily scalable device is achieved depending on the load needs of each case, extremely stable in its movements, which is decisive when transporting fluids, given their inertia.
DESCRIPCIÓN DE LOS DIBUJOS DESCRIPTION OF THE DRAWINGS
Para complementar la descripción que seguidamente se va a realizar y con objeto de ayudar a una mejor comprensión de las características del invento, de acuerdo con un ejemplo preferente de realización práctica del mismo, se acompaña como parte integrante de dicha descripción, un juego de planos en donde con carácter ilustrativo y no limitativo, se ha representado lo siguiente: To complement the description that will then be made and in order to help a better understanding of the characteristics of the invention, according to a preferred example of practical implementation thereof, a set of drawings is attached as an integral part of said description. where, for illustrative and non-limiting purposes, the following has been represented:
La figura 1.- Muestra una vista esquemática en planta superior de un dron multi-rotor realizado de acuerdo con el objeto de la invención. Figure 1 shows a schematic top plan view of a multi-rotor drone made in accordance with the object of the invention.
La figura 2.- Muestra una vista en alzado del conjunto de la figura anterior. Figure 2.- Shows an elevation view of the assembly of the previous figure.
La figura 3.- Muestra una vista en perfil del dron de las figuras anteriores. Figure 3.- Shows a profile view of the drone of the previous figures.
La figura 4 - Muestra, finalmente, un detalle ampliado y en sección del dron a nivel de uno de sus depósitos de agua. Figure 4 - Shows, finally, an enlarged and sectional detail of the drone at the level of one of its water tanks.
REALIZACIÓN PREFERENTE DE LA INVENCIÓN A la vista de las figuras reseñadas, puede observarse como el dron de la invención se constituye a partir de un chasis (1) esencialmente rectangular, en el que se establecen dos alineaciones paralelas de tres motores térmicos (2) cada una, acoplados a respectivas hélices principales (3), cuyo eje de giro está asociado en oposición a dichas hélices a respectivos pequeños generadores eléctricos, de manera que los motores están sincronizados entre sí y controlados por una centralita electrónica a través de la que se controla el dron de forma remota, estando todos los elementos eléctricos y electrónicos que participan en el dispositivo alimentados por los generadores asociados a los motores térmicos (2). PREFERRED EMBODIMENT OF THE INVENTION In view of the figures outlined, it can be seen how the drone of the invention is constituted from an essentially rectangular chassis (1), in which two parallel alignments of three thermal motors (2) each, coupled to respective ones, are established main propellers (3), whose axis of rotation is associated in opposition to said propellers with respective small electric generators, so that the motors are synchronized with each other and controlled by an electronic control unit through which the drone is controlled remotely , all the electrical and electronic elements participating in the device being powered by the generators associated with the thermal motors (2).
El número de motores térmicos (2) elegido, concretamente seis, resulta determinante, dado que el dispositivo puede escalarse en función de la capacidad de carga que se precise, pudiendo incluso las hélices principales (3) disponerse a distintas alturas para permitir aproximar más entre sí dichos motores, asegurando dicho número la supervivencia del dispositivo ante el fallo de uno de los motores y siendo óptimo frente a la utilización de un número de motores mayor de menor potencia y tamaño, mientras que el uso de un número menor de motores no permitiría estabilizar la aeronave en caso de que uno de dichos rotores fallara. The number of thermal motors (2) chosen, specifically six, is decisive, since the device can be scaled according to the required load capacity, even the main propellers (3) can be arranged at different heights to allow closer approximation between yes said motors, said number assuring the survival of the device in the event of the failure of one of the motors and being optimal against the use of a larger number of motors of smaller power and size, while the use of a smaller number of motors would not allow stabilize the aircraft in case one of these rotors fails.
En cualquier caso, y como se ha dicho con anterioridad, la sincronización en giro de las seis hélices principales (3) garantiza la horizontalidad del dispositivo tanto si éste se mueve en vertical, horizontal o diagonal, habiéndose previsto que bajo dichas hélices, se dispongan respectivos flaps (5) cuyo eje de giro es perpendicular al eje de giro de las hélices, asistidos por servo-motores, y controlados mediante la citada centralita. In any case, and as stated previously, the synchronization in rotation of the six main propellers (3) guarantees the horizontality of the device whether it moves vertically, horizontally or diagonally, provided that under said propellers, they are arranged respective flaps (5) whose axis of rotation is perpendicular to the axis of rotation of the propellers, assisted by servo motors, and controlled by said control unit.
Dichos flaps (5) se disponen en dos direcciones perpendiculares entre sí para controlar el desplazamiento en el plano horizontal, si bien, para controlar el giro o giñada del dispositivo se ha previsto que el bastidor (1) cuente en sus extremos con respectivas parejas de turbinas eléctricas de eje horizontal (6) que se alimentan a través de la energía generada por los generadores asociados a cada uno de los rotores principales del dispositivo, y controladas igualmente por la centralita de control. Said flaps (5) are arranged in two directions perpendicular to each other to control the displacement in the horizontal plane, although, to control the rotation or rotation of the device it is provided that the frame (1) has at its ends with respective pairs of horizontal axis electric turbines (6) that are fed through the energy generated by the generators associated with each of the main rotors of the device, and also controlled by the control unit.
Opcionalmente, estas pequeñas turbinas podrían ser sustituidas igualmente por pequeños motores térmicos asociados a respectivas hélices de menor tamaño. Como sistema de emergencia ante ráfagas de viento, turbulencias o fallo de algún rotor, se ha previsto que el chasis principal, de configuración esencialmente rectangular, presente en correspondencia con sus vértices cuatro pequeñas turbinas eléctricas de eje vertical (7), que se alimentan en caso de desestabilización a través del generador asociado al motor térmico opuesto, asegurando en todo momento la horizontalidad del dispositivo. Estas turbinas producen un potente momento de giro casi instantáneo que se suma al creado al obtener la energía eléctrica del rotor en oposición, multiplicando así su efecto. Optionally, these small turbines could also be replaced by small thermal engines associated with respective smaller propellers. As an emergency system in case of wind gusts, turbulence or failure of a rotor, it is provided that the main chassis, essentially rectangular in configuration, has four small vertical axis electric turbines (7) corresponding to its vertices, which are fed into case of destabilization through the generator associated with the opposite thermal motor, ensuring at all times the horizontality of the device. These turbines produce a powerful moment of almost instantaneous rotation that adds to the one created by obtaining the electric energy of the opposing rotor, thus multiplying its effect.
Tal y como se ha dicho con anterioridad, la carga se divide en seis depósitos (8) de idéntico peso y capacidad, alargados verticalmente y que quedan alineados con la dirección de empuje de cada motor térmico (2), lo que influye muy positivamente en la estabilidad del aparato. As previously stated, the load is divided into six tanks (8) of identical weight and capacity, elongated vertically and that are aligned with the thrust direction of each thermal motor (2), which has a very positive influence on The stability of the device.
Tal y como se puede observar en el detalle de la figura 4, cada depósito (8) se dispondrá inferiormente al respectivo motor térmico (2), de manera que su tanque de combustible (9), debidamente aislado, podría incluso ir sumergido en el agua contenida en el depósito (8), como elemento adicional de seguridad. As can be seen in the detail of figure 4, each tank (8) will be disposed inferiorly to the respective thermal engine (2), so that its fuel tank (9), properly insulated, could even be submerged in the water contained in the tank (8), as an additional safety element.
El conjunto estará asistido por una carena (10) aerodinámica, que también hará las veces de patas o medios de apoyo en el aterrizaje, contando dichos depósitos en su zona inferior con medios de apertura (11) controlados electrónicamente por la centralita que permitan la salida controlada del agua, la cual, como se ha dicho con anterioridad, al estar dispuesta bajo el flujo de aire de impulsión del dispositivo, dicho flujo provoca la nebulización del agua descargada, lo que optimiza el consumo de dicho fluido, en orden a maximizar la superficie incendiada a cubrir. En tal sentido, no es preciso sistemas de bombeo adicionales, ya que el agua cae por gravedad, y por efecto de succión de la presión dinámica. The set will be assisted by an aerodynamic fairing (10), which will also act as legs or support means at the landing, counting said deposits in its lower area with opening means (11) electronically controlled by the switchboard that allow the exit controlled of the water, which, as it has been said before, being arranged under the flow of supply air of the device, said flow causes the fogging of the discharged water, which optimizes the consumption of said fluid, in order to maximize the burned surface to cover. In this sense, no additional pumping systems are necessary, since the water falls by gravity, and by the effect of dynamic pressure suction.
Ante el fallo de alguno de los motores/rotores, el dispositivo podrá vaciar selectivamente el depósito de agua asociado al mismo, en virtud de sus medios de descarga independientes, en orden a facilitar las maniobras de auto-estabilización de la aeronave. Esta característica permite cambiar el centro de gravedad del dron dinámicamente, de forma que se adapte a la configuración de motores resultante tras el fallo. Solo resta señalar por último que el chasis o bastidor (1) incorporará en puntos estratégicos medios de anclaje (12) que podrían ser utilizados para transportar heridos o cualquier otro tipo de carga que fuera necesaria, una vez descargado el agua contenida en sus depósitos. In the event of the failure of any of the engines / rotors, the device may selectively empty the water tank associated therewith, by virtue of its independent discharge means, in order to facilitate the self-stabilization maneuvers of the aircraft. This feature allows you to change the center of gravity of the drone dynamically, so that it adapts to the engine configuration resulting after the fault. It only remains to point out finally that the chassis or frame (1) will incorporate at strategic points anchoring means (12) that could be used to transport wounded or any other type of load that was necessary, once the water contained in their tanks was discharged.
El dispositivo así descrito es fácilmente escalable en función de las necesidades específicas de cada caso, pudiéndose desarrollar dispositivos de gran capacidad de carga en base a la inclusión de motores térmicos de gran potencia, pudiendo por tanto llegar a dispositivos con capacidad de carga igual o mayor que la de un hidroavión. The device thus described is easily scalable according to the specific needs of each case, being able to develop devices with high load capacity based on the inclusion of high-power thermal motors, and therefore can reach devices with equal or greater load capacity than that of a seaplane.

Claims

REIVINDICACIONES
1a.- Dron multi-rotor con sistema de estabilidad reactivo cruzado, constituido a partir de un chasis (1) en el que se establecen dos alineaciones paralelas de tres motores térmicos (2) cada una, motores asociados a respectivas hélices principales (3), motores térmicos (2) sincronizados entre sí y controlados por una centralita electrónica, con la particularidad de que como medios de desplazamiento horizontal bajo las hélices principales (3) se establecen flaps (5) cuyo eje de giro es perpendicular al eje de giro de las hélices principales (3), flaps (5) controlados por servo-motores, y gobernados mediante la centralita de control, habiéndose previsto que el chasis incluya medios de control de guiñada con respecto al plano horizontal en al menos uno de sus extremos, así como un sistema de emergencia ante ráfagas de viento, turbulencias o fallo de uno de los motores, a base de cuatro pequeñas turbinas eléctricas de eje vertical (7), dispuestas en correspondencia con los cuatro vértices del rectángulo que forma el chasis (1), caracterizado por que el eje de giro de las respectivas hélices principales (3) está asociado a su vez a respectivos generadores eléctricos, las cuatro pequeñas turbinas eléctricas de eje vertical (7) están alimentadas en caso de desestabilización a través de un generador asociado al motor térmico que se dispone en oposición sobre dicho chasis (1), y habiéndose previsto que el dispositivo incluya seis depósitos (8) de idéntico peso y capacidad, alargados verticalmente y que quedan alineados con la dirección de empuje de cada motor térmico (2), depósitos dotados de medios de control de descarga independiente para cada uno. 1 .- Dron multi-rotor system stability reactive cross, formed from a chassis (1) in which two parallel rows of three thermal engine (2) each, motors associated with respective main propellers are set (3 ), thermal motors (2) synchronized with each other and controlled by an electronic control unit, with the particularity that as means of horizontal displacement under the main propellers (3) flaps (5) are established whose axis of rotation is perpendicular to the axis of rotation of the main propellers (3), flaps (5) controlled by servo motors, and governed by the control unit, the chassis being provided to include yaw control means with respect to the horizontal plane at least one of its ends, as well as an emergency system in case of wind gusts, turbulence or failure of one of the engines, based on four small vertical axis electric turbines (7), arranged in correspondence with the cu Atro vertices of the rectangle that forms the chassis (1), characterized in that the axis of rotation of the respective main propellers (3) is in turn associated with respective electric generators, the four small vertical axis electric turbines (7) are fed in case of destabilization through a generator associated with the thermal engine that is arranged in opposition to said chassis (1), and having provided that the device includes six tanks (8) of identical weight and capacity, lengthened vertically and that are aligned with the thrust direction of each thermal motor (2), tanks equipped with independent discharge control means for each one.
2a.- Dron multi-rotor con sistema de estabilidad reactivo cruzado, según reivindicación 1a, caracterizado porque los medios de control de guiñada con respecto al plano horizontal se materializan en parejas de turbinas eléctricas de eje horizontal (6), dispuestas en cada uno de los extremos del chasis (1) y alimentadas a través de la energía generada por los generadores asociados a cada uno de los rotores principales del dispositivo. 2 .- Dron multi-rotor reagent system stability crossed, according to claim 1, wherein the yaw control means with respect to the horizontal plane are embodied in pairs of electric turbines with horizontal axis (6), arranged in each one of the ends of the chassis (1) and fed through the energy generated by the generators associated with each of the main rotors of the device.
3a.- Dron multi-rotor con sistema de estabilidad reactivo cruzado, según reivindicación 1a, caracterizado porque los medios de control de guiñada con respecto al plano horizontal se materializan en pequeños motores térmicos de eje horizontal y asociados a las correspondientes hélices. 3 .- Dron multi-rotor reagent system stability crossed, according to claim 1, characterized in that the yaw control means with respect to the horizontal plane materialize small heat engines horizontal axis associated with the corresponding helices.
4a.- Dron multi-rotor con sistema de estabilidad reactivo cruzado, según reivindicación 1a, caracterizado porque el tanque de combustible (9) de cada motor térmico (2) está aislado y queda sumergido en el agua contenida en el depósito (8) situado bajo éste. 4 a .- Multi-rotor drone with cross reactive stability system, according to claim 1 a , characterized in that the fuel tank (9) of each thermal engine (2) is insulated and immersed in the water contained in the tank (8) located below it.
5a.- Dron multi-rotor con sistema de estabilidad reactivo cruzado, según reivindicaciónl3, caracterizado porque cada depósito (8) de agua está asistido por una carena (10) aerodinámica como medio de apoyo en el aterrizaje, contando cada depósito (8) en su zona inferior con medios de apertura (11) y expulsión del agua controlada electrónicamente a través de la centralita de control. 6a.- Dron multi-rotor con sistema de estabilidad reactivo cruzado, según reivindicación 1a, caracterizado porque el chasis o bastidor (1) incorporará en puntos estratégicos medios de anclaje (12) para la fijación de cargas. 5 .- Dron multi-rotor reagent system stability crossed according reivindicaciónl 3, characterized in that each container (8) of water is assisted by a casing (10) aerodynamics as a means of support on landing, with each reservoir (8 ) in its lower zone with opening means (11) and expulsion of the electronically controlled water through the control unit. 6 .- Dron multi-rotor reagent system stability crossed, according to claim 1, characterized in that the chassis or frame (1) incorporated in strategic points anchoring means (12) for fastening loads.
PCT/ES2019/070017 2018-01-29 2019-01-14 Multi-rotor drone with reactive cross-stability system WO2019145584A1 (en)

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Citations (4)

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Publication number Priority date Publication date Assignee Title
US5890441A (en) * 1995-09-07 1999-04-06 Swinson Johnny Horizontal and vertical take off and landing unmanned aerial vehicle
US20100076625A1 (en) * 2006-11-30 2010-03-25 Raphael Yoeli Flight control cockpit modes in ducted fan vtol vehicles
US9676477B1 (en) * 2014-08-25 2017-06-13 Amazon Techonlogies, Inc. Adjustable unmanned aerial vehicles
WO2017141069A1 (en) * 2016-02-17 2017-08-24 Ardn Technology Limited Multicopter with different purpose propellers

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5890441A (en) * 1995-09-07 1999-04-06 Swinson Johnny Horizontal and vertical take off and landing unmanned aerial vehicle
US20100076625A1 (en) * 2006-11-30 2010-03-25 Raphael Yoeli Flight control cockpit modes in ducted fan vtol vehicles
US9676477B1 (en) * 2014-08-25 2017-06-13 Amazon Techonlogies, Inc. Adjustable unmanned aerial vehicles
WO2017141069A1 (en) * 2016-02-17 2017-08-24 Ardn Technology Limited Multicopter with different purpose propellers

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