WO2016166366A1

WO2016166366A1 - Drone comprising a ducted propeller

Info

Publication number: WO2016166366A1
Application number: PCT/EP2016/058518
Authority: WO
Inventors: Laurent Eschenauer; Dimitri ARENDT
Original assignee: Aerobot
Priority date: 2015-04-17
Filing date: 2016-04-18
Publication date: 2016-10-20
Also published as: BE1022943A1; BE1022943B1

Abstract

The invention relates to a drone (102). More precisely, the invention relates to a drone (102) comprising a ducted propeller, having a spheroidally shaped envelope (200) and able to take off from the hands of a user and land in same and to be handled by the mains of the user in risk-free flights.

Description

DRONE HÉLICE CARÉNÉE

Technical area

The present invention relates to a faired propeller drone.

Prior state of the art

A drone equipped with a propeller, a propeller drive motor, a substantially cylindrical fairing and an outer casing is disclosed in EP 1255673 B1. This drone is intended for surveillance and inspection tasks, such as engineering structures, suspended cables, high-voltage power lines, and nuclear equipment. It appears that this drone is designed for professional use.

Unfortunately, such drone known from the state of the art can not be taken in hand because the fairing is not large enough so that the fingers, essentially inches and index and potentially major, a user can there place, so that the user holds the machine in his hands.

In addition, the openings in the outer casing of the drone known from the state of the art may allow the fingers of the user to enter the inside of the outer casing, which is dangerous for the user who would take into account drone known from the state of the art, especially during takeoff.

In addition, the drone known from the state of the art requires piloting during his flight, via orders given by an operator.

The drone known from the state of the art has its center of gravity located below its geometric center and above its center of aerodynamic thrust, which allows it to occupy a stable position on the ground. However, this has the effect of reducing its stability in flight.

Disclosure of the invention

According to a first aspect, the invention aims to provide a drone that can be taken in hand. The invention proposes for this purpose a faired propeller drone comprising:

an envelope comprising:

A duct having a first opening and a second opening, a first perforated cover disposed on the first opening of the duct, and

A second perforated lid disposed on the second opening of the duct,

the envelope having an outer surface,

the drone further comprising, mounted inside the envelope,

• one or more engines,

One or more propellers arranged in the duct, and arranged to be driven by one or more engines,

• power means, and

· Attitude control means,

characterized in that the conduit has an outer surface that represents at least 30% of the outer surface of the envelope.

Although the drone according to the invention may comprise several engines and / or several propellers, in preferred embodiments of the invention, the drone comprises only a single propeller and a single engine.

The fact that the propeller is in the duct allows a gain in performance compared to a propeller that is not in a duct. In addition the propeller is radially protected from the outside of the drone and the outside of the drone is radially protected from the propeller. This also allows the drone to perform vertical take-offs and landing and allows for rapid drone flight.

The outer surface of the envelope is the surface delimiting the envelope towards the outside of the drone (the outside being opposed to the inside). Similarly, the outer surface of the duct corresponding to the surface (or wall) delimiting the outer side of the drone. The outer surfaces (or walls) of the conduit and the envelope are in contact with the outside of the drone. The fact that the outer surface of the duct represents at least 30% of the outer surface of the drone makes it possible for a user to hold the machine between both hands through the duct, for example using his thumbs and index fingers. Another advantage of an outer duct surface representing such a proportion of the outer surface of the casing lies in the fact that good sound insulation can be obtained, thanks to the duct damping of the noise generated by the motor. and the helix. The drone of the invention is therefore more pleasant to use because less noisy. In addition, an outer duct surface representing such a proportion of the outer surface of the casing provides a reassuring effect. The propeller rotates quickly and therefore a human being associates a danger. Due to the size of the outer surface of the drone conduit of the invention, a large portion of the helix can be masked by the conduit.

The attitude control means may for example comprise one or more control surfaces.

Advantageously, the center of gravity of the drone is on a first side of the propeller and the attitude control means are on a second side of the propeller, opposite to the first side of the propeller. Since the moment of force generated by the attitude control means is proportional to its distance from the center of gravity, having a certain distance between the center of gravity and the attitude control means provides the attitude control means with good control authority on the drone.

Advantageously, a center of gravity of the drone and a point of application of a drag force on the drone are spaced less than 10 cm, preferably less than 5 cm, more preferably less than 3 cm.

The point of application of the capture drag force is typically located approximately on an axis of the propeller of the drone at the upper end of the duct.

Advantageously, the motor is on a first side of the propeller and the attitude control means are on a second side of the propeller, opposite to the first side of the propeller.

Advantageously, the propeller is attached only to the engine.

Advantageously, the power means are on a first side of the propeller and the attitude control means are on a second side of the propeller, opposite to the first side of the propeller. Advantageously, the power means are on a first side of the engine and the propeller is on a second side of the engine, opposite the first side of the engine.

The arrangement of the various elements of the drone according to the invention is preferably chosen so that the center of gravity is as high as possible, that is to say as far as possible from the attitude control means.

Advantageously, the drone comprises only one propeller. This makes it possible to have a drone lighter, simpler and cheaper than if it included more than one propeller.

Advantageously, the first cover comprises a first gate comprising a plurality of elements arranged so as to block the passage through the first gate of a spherical body of more than 12 mm in diameter, preferably 10 mm in diameter, more preferably 8 mm of diameter. The fact that the openings in the grid of the first lid are not more than 12, 10 or 8 mm allows the fingers of a user can not cross the first cover to penetrate inside the envelope, which would be dangerous for the user as for the drone. This also protects the elements inside the casing of any external element of more than 12, 10 or 8 mm.

Advantageously, each element of the first grid is spaced from the others to form openings of less than 12, preferably 10, more preferably 8 mm.

Advantageously, the second cover comprises a second gate comprising a plurality of elements arranged to block the passage through the second gate (230) of a spherical body of more than 25 mm in diameter, preferably 18 mm in diameter, more preferably 12 mm in diameter. The fact that the apertures in the grid of the second cover are not more than 25, 18 or 12 mm allows the fingers of a user not to pass through the second cover to penetrate inside the envelope, which would be dangerous for the user as for the drone. This also protects the elements inside the casing of any external element of more than 25, 18 or 12 mm. Advantageously, each element of the second grid is spaced from the others to form openings of less than 25, preferably 18, more preferably 12 mm.

Advantageously, the first cover comprises a first gate arranged to have a stator function. The first grid then makes it possible to modify the direction of flow of the air flow entering the duct. This potentially allows not to use another stator than the first grid, which causes (1) a weight gain and (2) a release of space near the propeller, which reduces turbulence and therefore the noise caused by the drone.

Advantageously, the second cover comprises a second gate arranged to have a stator function. This potentially allows not to use another stator than the second grid, which causes (1) a weight gain and (2) a release of space near the propeller, which reduces the turbulence and therefore the noise caused by the drone.

The stator function is to deflect a flow of air to give it a tangential velocity, that is to say a vorticity (or tourbilionnaire component). The combination of the element which has a function of stator and the propeller allows that the air flow leaving the drone has more, or almost more, of vorticity (or tourbilionnaire component) but only an axial speed.

Advantageously, the second cover comprises a second gate comprising radially oriented elements of circular section.

The radially oriented elements have a projection on a plane perpendicular to the axis of the helix which is radial with respect to the axis of the helix.

Advantageously, the drone further comprises on-board calculation means. This allows that some or all calculations are made directly on the drone without delay and risk of loss of communication due to a transmission to and from computing means outside the drone.

Advantageously, the on-board calculation means are on a first side of the helix and the attitude control means is on a second side of the helix opposite the first side of the helix. Advantageously, the on-board calculation means are arranged to perform at least one type of task among the following types of tasks: automatic navigation tasks, automatic guidance tasks and automatic piloting tasks.

Advantageously, the on-board calculation means comprise a memory. This makes it possible to save certain data on the drone without having to transmit them from an external device or to an external device.

Advantageously, the envelope has an essentially spheroidal shape. This shape is aerodynamic, attractive, allows a good casing of shocks and allows that the elements of the drone inside the envelope are protected from the external elements and that the elements outside the envelope are protected from the elements to inside. In addition, this form is compact, makes the drone easy to transport and store. It can pass in tight places, which can be useful for industrial or safety inspections. It can be used for some games like Quidditch or a lightsaber training. It can roll in the event of a hard landing.

Advantageously, the second cover comprises a flat portion. This essentially flat portion allows the drone to rest on an approximately flat surface without having to use feet.

Advantageously, the conduit comprises a first conduit element and a second conduit element assembled essentially in an assembly portion located essentially in a plane perpendicular to the axis of rotation of the helix. This embodiment of the conduit provides good rigidity and robustness of the conduit for a relatively low weight. In addition, this allows the conduit to have cavities that lighten the conduit and may optionally contain foam for sound insulation.

Advantageously, the first duct element and / or the second duct element comprises cavities opening into the assembly part.

Advantageously, the conduit comprises a material in the form of foam. A foam is light, pleasant to the touch, cheap and has a good resistance to shocks. Advantageously, the first lid and the second lid are made of plastic. Plastic is light, cheap and has good impact resistance.

The invention further provides a drone and a control device electromagnetically connected by a communication means.

According to a second aspect, the invention proposes a method of operating a faired propeller drone, the drone comprising an envelope comprising:

A duct having a first opening and a second opening,

A first perforated lid disposed on the first opening of the duct, and

A second perforated lid disposed on the second opening of the duct,

the casing having an outer surface and the duct having an outer surface which represents at least 30% of the outer surface of the casing, the drone further comprising, mounted within the casing,

^■ one or more engines,

^■ one or more propellers disposed in the conduit and arranged to be driven by one or more motors,

^■ power means, and

^■ attitude control means,

the method comprising:

1) a takeoff,

2) a flight, and

3) a landing,

characterized in that the drone touches at least one hand of a user during at least one of the take-off, flight and landing steps

Thanks in particular to its envelope, the drone according to the invention is sufficiently secure to take off, land by touching a hand of a user or be in contact with a hand of a user during his flight. Advantageously, the user holds the drone in the hands during takeoff. This avoids having to find a flat surface to take off the drone.

Advantageously, the user holds the drone in the hands by the duct during takeoff. Since the duct has an outer surface representing at least 30% of the surface area of the casing, it is easy for a user to hold the drone through the duct, which gives it a greater sense of security, comfort and sturdiness than it does. he was holding it by the lid.

Advantageously, the drone is held by the fingers, the palms or the fingers and the palms of the user during takeoff. This corresponds to the intuitive way in which a drone such as that of the invention is held in the hands of a user.

Advantageously, the operating method according to the invention further comprises an interaction in flight between the user and the drone.

Advantageously, the flight interaction includes a touch of the drone by the user.

Advantageously, the flight interaction includes at least one instruction of the user on a control device.

Brief description of the figures

Other characteristics and advantages of the invention will appear on reading the detailed description which follows for the understanding of which reference will be made to the appended figures among which:

FIG. 1 schematizes a system according to the present invention,

FIG. 2 shows an exploded view of a drone according to one embodiment of the invention,

FIG. 3a shows a perspective view of the drone according to one embodiment of the invention,

FIG. 3b shows a view partially in cross section of the drone according to one embodiment of the invention,

FIG. 3c shows a view from above of the drone according to one embodiment of the invention,

FIGS. 4a-4d show a first cover of the drone according to one embodiment of the invention, FIGS. 4e-4f illustrate possible profiles of an element of the first and / or second cover according to one embodiment of the invention,

FIG. 5 is a sectional view of the first location, also showing the housing, the cover of the first location according to an embodiment of the present invention,

FIG. 6 schematizes on-board calculation means according to one embodiment of the invention,

FIG. 7 shows the engine and the propeller of the drone according to one embodiment of the present invention,

FIGS. 8a-8c show the central portion of the drone according to one embodiment of the present invention,

FIGS. 9a-9d show the elements of the unit of the control surfaces according to an embodiment of the present invention,

FIG. 10 shows the shape of the rudder planes in an alternative embodiment of the present invention,

FIG. 11 shows an initial rudder piece making it possible to manufacture a rudder in one embodiment of the invention;

FIGS. 12a-12c show the duct and the central part of the drone according to a first embodiment of the invention,

FIGS. 13a-13b illustrate the duct according to a second embodiment of the invention,

FIGS. 14a-14c shows a second cover of the drone according to one embodiment of the invention,

FIG. 15 schematizes the instrumentation system according to one embodiment of the invention,

FIGS. 16a-16c illustrate various forces and moments acting on the drone,

FIGS. 17a, 17b, 17c respectively illustrate a first use, a second use and a third use of the drone according to the invention, and

FIG. 18 illustrates an alternative of take-off and / or landing position of the drone according to the invention. Embodiments of the invention

The present invention is described with particular embodiments and references to figures but the invention is not limited by them. The drawings or figures described are only schematic and are not limiting. This document includes a list of references at the end of the description.

In the context of this document, the terms "first" and "second" serve only to differentiate the different elements and do not imply any order between them.

In the figures, identical or similar elements may carry the same references. The notation 202a-202d means the elements 202a, 202b, 202c and 202d.

Elements from different embodiments of the invention may be combined while remaining within the scope of the invention.

Figure 1 shows a system 100 according to the present invention. The system 100 comprises a control device 101 and a drone 102 in communication by a communication means 103.

The control device 101 is preferably a smartphone or a tablet, but can be a computer, or any other device having calculation means 104 and a connection to the communication means 103. The control device 101 preferably comprises a memory 105.

The communication means 103 is preferably a means of wireless communication, passing through radio waves, such as wi-fi, Bluetooth or mobile telephony standards. During the use of the system 100, the connection between the control device 101 and the drone 102 made by the communication means 103 may be interrupted voluntarily or involuntarily.

The drone 102 is an aircraft without anyone on board, sometimes called an unmanned craft. The drone 102 is described in detail later in this document.

FIG. 2 and FIGS. 3a-3c show the drone 102 according to one embodiment of the invention. FIG. 2 is an exploded view showing elements of the drone 102. FIG. 3a is an isometric view of the drone 102. FIG. 3b is a view partially in cross section of the drone 102, Figure 3c is a top view of the drone 102.

The drone 102 preferably comprises the following elements, which are described in more detail later in this document:

· A first cover 201,

A duct 202 (shown in FIGS. 3a-3c), which in the embodiment of the invention shown in FIG. 2 is made of four panels 202a-202d,

A second cover 203,

· At least one propeller 204,

A central portion 205,

Power means 301 (visible in FIG. 5),

• a unit of the control surfaces 206, and

At least one engine 207.

In addition, the drone 102 may comprise a housing 300, and onboard calculation means 302 (visible in Figure 5).

The drone 102 is a ducted fan (or "ducted fan" in English), which means that the propeller 204 is in the duct 202.

An arrow 4000 in Figure 3b indicates the vertical direction and the "upward" direction in the context of this document. The meaning "downward" in the context of this document is the opposite direction in the "upward" sense. A lateral direction in the context of this document is a direction substantially perpendicular to the vertical direction.

The drone 102 has an axis 1001 (shown in Figure 3b) which corresponds to the axis of rotation of the propeller 204. The axis 1001 is essentially vertical because it is substantially parallel to the arrow 4000.

The duct 202 (illustrated in FIGS. 3a-3c) is substantially annular and substantially of the same axis 1001 as the drone 102. The duct 202 has a first opening located essentially "upwards" and a second opening located essentially "downwards". , the first and second openings of the duct 202 being substantially of the same axis 1001 as the drone 102. Preferably, any opening in the conduit 202, other than the first opening and the second opening, is less than 15 mm. More preferably, any opening in the conduit 202, other than the first opening and the second opening, is less than 10 mm. Even more preferably, the duct 202 has no opening other than the first opening and the second opening, and other than unwanted openings due to manufacturing and assembly tolerances of the elements of the drone 102. The duct 202 can also be called fairing 202.

The first cover 201 is perforated and disposed on the first opening of the conduit 202, so as to close the first opening of the conduit 202 while allowing the flow of air. The conduit 202 guides the flow of air in a substantially vertical direction. The second cover 203 is perforated and disposed on the second opening of the duct 202, so as to close the second opening of the duct 202 while allowing the flow of air to pass.

An interior space 1000 of the drone 102 (shown in FIG. 3b) is delimited by the elements of the drone which have a surface facing the outside of the drone 102. In the embodiment of the invention of FIGS. 2 and 3a-3c, the interior space 1000 is delimited by the duct 202, the first cover 201, the second cover 203 and a first location cover 212 (shown in FIGS. 3a-3c) which is arranged on the first cover 201 so as to close the housing 300.

The conduit 202, the first cover 201, the second cover 203 and optionally the cover 212 of the first location define an interior space 1000 of the drone 102, which is substantially spheroidal, that is to say close to a sphere.

The first cover 201, the conduit 202, the second cover 203 and optionally the cover 212 of the first location form an envelope 200 which is part of the drone 102. The outer surface of the drone 102 is the outer surface of the envelope 200. The surface The outer surface of the conduit 202 is preferably at least 30%, more preferably 40%, even more preferably 50% and potentially 60% of the outer surface of the shell 200. The envelope 200 preferably has a substantially spheroidal shape and has a slightly flattened upper portion substantially corresponding to the first cover 201, a flattened bottom portion corresponding substantially to the second cover 203 and a substantially vertical curved portion corresponding substantially to the outer surface of the conduit 202. The envelope 200 may further comprise a projecting portion 290 (shown in FIGS. 3a-3c) with respect to the spheroidal shape at the junction between the first cover 201 and the conduit 202.

The drone 102 preferably has no arm or appendix which extends out of the casing 200, and which would break strongly the essentially cylindrical symmetry of the drone and which would greatly deteriorate the spheroidal shape of the drone 102. The drone 102 preferably has a height of 10 to 40 cm and a weight between 100 and 1000 g. The drone 102 more preferably has dimensions and a weight such that it can be held between the two hands of a user.

Figures 4a-4d show the first cover 201 of the drone 102 according to an embodiment of the invention. Figure 4a is an isometric perspective view of the first cover 201 and the housing 300. Figure 4b is a top view of the first cover 201 and the housing 300. Figure 4c is a side view of the first cover 201 and the housing 300. Figure 4d is a bottom view of the first cover 201 and the housing 300.

The first cover 201 preferably comprises a first gate 210. In addition, the first cover 201 preferably comprises the following elements:

· A first location 211 (shown in Figure 2) and

Supports 226 of the first location (visible in particular in FIG. 4d).

The housing 300 fits into the first slot 211 as shown in FIG.

A cover 212 of the first location (shown in FIGS.

3c) is further attached to the first cover 201 and / or the housing 300.

The first cover 201 potentially further includes one or more of the following: At least location 223 for fixing means,

At least one pin 224 (shown in FIG. 2),

A horizontal circular element 225 (shown in FIG.

2)

At least one support 214 of the first cover 201, and

A first groove 219.

The first grid 210 allows the first cover 201 is perforated, that is to say it has openings. The openings of the first grid allow the flow of air generated by the propeller to enter the interior space of the drone 1000 (as described above) or to leave. Another system that a grid allowing the air flow of the propeller to enter the interior space of the drone 1000 or leave is also possible within the scope of the invention.

In the embodiment of the invention shown in the figures, the first grid 210 comprises a plurality of first rays 218 which essentially follow meridians of the spheroid and a first circular support 213. The first rays 218 are preferentially oriented radially, that is to say that is, their projection on a plane perpendicular to the axis 1001 of the drone is radial. The first grid 210 could, however, have another type of mesh while remaining within the scope of the invention.

The elements of the first grid 210, whose first spokes 218 and the first circular support 213, may have, in the context of the present invention, a circular section or a tapered profile.

In one embodiment of the invention, the first spokes 218 and / or the first circular support 213 have a circular section.

In an alternative embodiment of the invention, the elements of the first grid 210 whose first rays 218 have a rotation compensation function, that is to say a stator function, in addition to or instead of the stator 251, having a tapered profile and inclined in the opposite direction to the direction of the vortex generated by the propeller 204. For example, the first rays 218 may have an aerodynamic profile as shown in Figures 4e and 4f, with an elongate shape terminated by a rounded leading edge 320 and a tapered trailing edge 321. The profile of the first rays 218 may be symmetrical (FIG. 4e) or arched (Figure 4f). Examples of dimensions of the first rays 218 are the following: a chord of between 5 and 30 mm, a thickness of between 0.5 and 3 mm and / or an angle of incidence (inclination with respect to the vertical) of between 5 and 20 °.

In this case where the first gate 210 has a stator function, it is possible to delete the stator 251 under the helix 204. It is also possible to greatly simplify or even eliminate the central portion 205.

A first function of the first gate 210 is to protect a user of the drone 102, and in particular the fingers of this user, of the propeller 204. A second function of the first gate is to protect the elements of the drone 102 inside. of the envelope 200, a user of the drone 102, and in particular the fingers of this user.

The space between the elements of the first grid 210, in particular the first rays 218 and the first circular support 213, is preferably less than 12 mm, more preferably 10 mm, even more preferably 8 mm. This prevents for example any circular body, that is to say for example any spherical body or any elongated cylindrical body (such as a finger), of at least 12 mm, more preferably 10 mm, even more preferably 8 mm in diameter. to cross the first grid 210.

it is possible that the space between the elements of the first grid

210, especially the first spokes 218 and the first circular support 213 is even smaller while remaining within the scope of the invention. This small space between the elements of the first grid 210 allows a finger of a user can not preferentially not go through these openings.

The supports 214 are four in the embodiment of the invention shown in the figures. The supports 214 are optional and serve for the rigidity and the strength of the first cover 201, in particular, the rigidity and the strength of the first location 211. The supports 214 also preferably serve as a guide for electrical connections, such as electrical connections 304 , as illustrated in FIG. 5, between the on-board calculation means 302 and other electronic elements such as the servomotors 255, the camera 1002, the gyrometers 1004, the accelerometers 1005, the magnetometer 1006, the sonar 1007, and so on. The horizontal circular element 225 is preferably at the junction between the first cover 201 and the conduit 202, as can be seen in FIG. 2.

The tenons 224 are preferably distributed along the horizontal circular element 225 as visible in FIG. 2. Alternatively, there may be only one circular stud 224. The tenons 224 may be present in place of or in addition to the first groove 219. There is preferably at least one pin 224 per panel of the conduit 202. There are preferably six pins 224 per panel of the conduit 202.

The first groove 219 and / or the horizontal circular element 225 preferably comprise the locations 223 for fixing means, for example screws (not shown), for fixing the first cover 201 to the central portion 205 as illustrated in FIG. 2.

The tenons 224 and / or the first groove 219 have a function of assembling the duct 202 with the first cover 201 and an assembly function of the panels 202a-202d forming the duct 202. In particular, the tenons 224 and / or the first groove 219 prevent lateral movement of the conduit 202 or its panels relative to the first cover 201. An interest of the tenons 224 relative to the first groove 219 is that the tenons 224 require less material of the first groove 219, and by therefore, their use decreases the weight of the drone 102 relative to the use of the first groove 219.

The first groove 219 has an outer portion of the first groove and an inner portion of the first groove, the inner portion being preferentially longer than the outer portion. The inner portion is preferably long enough to cover the portion of the conduit 202 facing the helix, so as to protect the conduit 202 of the helix. The first groove 219 has a shape such that panels 202a-202d forming the conduit 202 fit into the first groove 219.

Fig. 5 is a sectional view of the first location 211, also showing the housing 300 and the cover 212 of the first location 211 according to an embodiment of the present invention. The housing 300 is inserted into the first location 211 and is attached to the supports 226 of the first location. The housing 300 is closed on its side corresponding to the outer surface of the Drone 102 through the cover 212 of the first location 211. The housing 300 is preferably non-perforated and is preferably of cylindrical shape, or, potentially, truncated cone-shaped, in which case the first location 211 is also truncated cone-shaped. The truncated cone shape of the housing 300 allows it to guide a flow of air through the openings of the first cover 201 to the propeller 204 and to minimize the drag force on the UAV 02 in flight.

The housing 300 is a housing for elements of the drone 102. The housing 300 houses power means 301, onboard calculation means 302 and electrical connections 303 between the power means 301 and the on-board calculation means 302. The housing 300 also potentially houses flight instruments belonging to a flight instrument system 3001 (shown in FIG. 15 and described below) and one or more cameras 1002.

The housing 300 is preferably fixed to the first cover 201 via elastic supports (not shown). The elastic supports are preferably damping joints. The elastic supports dampen the vibrations generated by the propeller 204 and the flow of air over the entire structure and thus allow the housing 300 and the contents of the housing to be mechanically isolated from these vibrations. Indeed, the contents of the housing may include vibration-sensitive elements such as 1004 gyrometers, 1005 accelerometers, electronic circuits, etc. The arrangement of one or more cameras 1002 in the housing 300 so that they are thus isolated from the vibrations allows that these vibrations do not impact the images, especially the films, taken by the cameras.

In the embodiment of the invention where the housing 300 houses one or more cameras 1002, the shape of the housing 300 is such that it allows the cameras 1002 to have a chosen angle of view, for example downward.

The power means 301 are preferably an electric battery but also potentially a fuel tank or a set formed by a battery and a fuel tank. The power means 301 are more preferably a lithium-polymer battery. The power means 301 are preferably housed in a battery case 310. The cover 212 of the first location is preferably part of the battery case 310.

Electrical connections 305 between the onboard calculation means 302 and the motor 207 (illustrated in FIG. 7) are connected to the on-board calculation means 302 and descend towards the motor 207.

Electrical connections 304 between the on-board calculation means 302 and electronic elements of the drone 102, such as servomotors 255 (as illustrated in FIG. 2) are connected to the onboard calculation means 302, leave the first location 211 near the supports 214 and follow one of the supports 214 to which they are attached to reach the top of the conduit 202 and go to join the electronic element (s) to (s) which (s) they are connected.

The motor 207 is preferably fixed to the first location 211 or to any other element of the first cover by a support 241 for fixing the motor, for example a cross as shown in FIG. 7.

A set of parts comprising the first grid 210 the supports 214, the supports 226, and potentially the first groove 219 and / or the pins 224 and / or the horizontal circular element 225 is preferably made in one piece. This part is preferably plastic, for example, acrylonitrile butadiene styrene (ABS), and is preferably made by molding.

The on-board calculation means 302 comprise electronic circuits. The on-board calculation means 302 comprise at least one printed circuit board and electronic components. In particular, an electronic component is preferably a processor or a microcontroller. In particular, an electronic component of the on-board calculation means 302 is preferably a memory 308 capable of recording the images generated by the camera 1002.

Preferably, and as shown in FIG. 6, the on-board calculation means 302 comprise a navigation system 306 and a secondary system 307.

The navigation system 306 is primarily responsible for controlling the flight stability and control of the movements of the drone 102. Navigation system 306 is connected, via electrical connections 304, to aircraft instrument system 3001 (shown in FIG. 5), and in particular to a system 3003 of sensors which are described in more detail below.

The secondary system 307 is responsible for interactions with a user of the drone 102 via a wireless connection (preferably wi-fi), which passes through at least one antenna, and the recording of the images filmed by a camera 1002 on the memory 308. The secondary system 307 preferably comprises a system on module ("System on module") type RISC 32 bits architecture ARM, and a processor designed for the interface with the antenna, such as a wi-fi processor. . The secondary system 307 preferably executes an embedded operating system, such as a Linux operating system.

The secondary system 307 interfaces with the navigation system 306, in particular to transmit the movement instructions. The secondary system 307 also interfaces with the camera 1002.

The navigation system 306 and secondary system 307 are preferably strongly decoupled. In particular, the navigation system 306 does not depend on the secondary system 307. As a result, stability functions included in the navigation system 306 are not impacted if the secondary system 307 were to fail or slow down. This prevents the drone 02 from falling in such a case.

Figure 7 shows the engine 207 and the propeller 204 of the drone in one embodiment of the present invention. The motor 207 is preferably mounted to a mounting bracket 241 and has a single propeller 204 placed lower than the engine 207. However, a motor 207 with a double helix or with its propeller or propellers placed higher than it is possible while remaining within the scope of the invention.

The propeller 204 is preferably arranged "upside down". The motor 207 and the propeller 204 are preferably placed lower than the power means 301 and the on-board calculation means 302.

The engine 207 is preferably an electric motor but it could be a combustion engine. There are potentially several engines 207 driving one or more propellers 204. In one embodiment of the invention, the propeller 204 is attached only to the engine 207. The bottom of the propeller 204 is preferably free, that is to say does not touch other elements of the drone 102. for the advantage that there is no friction at the bottom of the propeller, which would increase the power required to obtain a certain speed of rotation of the propeller and consequently the consumption of the engine 207. I! however, it is possible in another embodiment of the invention that the bottom of the helix 204 is in contact with the element below it.

It is possible, in one embodiment of the invention, for two propellers 204 to be present on the drone 102, for example a helix and a counter-rotating propeller.

Figures 8a-8c show the central portion 205 of the drone 102 in one embodiment of the present invention. Figure 8a shows the central portion 205 in isometric perspective. Figure 8b shows the central portion 205 in a view from below. Figure 8c shows the central portion 205 in side view.

The central portion 205 preferably comprises a plurality of stators 251, a third circular support 252, a plurality of vertical uprights 253, and an upper mast portion 254. A plurality of servomotors 255 visible in FIG. 2 are fixed to the central portion 205.

A set of parts comprising the plurality of stators 251, the third circular support 252, the plurality of vertical uprights 253 and the upper mast portion 254 is preferably made in one piece. This part is preferably plastic, for example, acrylonitrile butadiene styrene (ABS) and is preferably made by molding.

A function of the stators 251 is to counterbalance the moment of rotation generated by the propeller 204 by straightening the vortex of air generated by the propeller 204. The stators 251 are inclined so as to counterbalance the rotation generated by the propeller 204. The stators 251 are preferably eight in number. However, the drone 102 could comprise another number of stators, preferably between three and twenty. The stators 251 are preferably radial with respect to the axis 1001 (illustrated in FIG. 3b). The stators 251 are centrally connected to an upper portion of the upper portion 254 of the mast and peripherally to the third circular support 252, which allows the stators 251 to assist the mechanical stability of the drone 102.

The stators 251 might not be present in the drone 102, especially if the compensation of the rotational moment generated by the propeller 204 was done by other means, such as a counter-rotating propeller or elements of the second gate 203 having a function compensation of the rotation.

The third circular support 252 is a substantially cylindrical structure of circular section and axis identical to the axis 1001 (shown in Figure 3b).

The uprights 253 are essentially vertical structures optionally having a role in the assembly of the panels 202a-202d. Each vertical upright 253 preferably comprises a recess 256. Various elements of the drone 102, preferentially elements that do not concern the flight itself, can be placed on the uprights 253. For example, one or more camera (s) 1002 can be placed on a vertical upright 253 or on several uprights 253.

In one embodiment of the invention, for example an embodiment where the conduit 202 is made in one piece and therefore does not include several panels 202a-202d, the central portion 205 does not have vertical upright 253.

The recesses 256 in the vertical uprights 253 allow the passage of the electrical connections 304 between the on-board calculation means and the electronic elements such as the servomotors 255 or the camera 1002. Holes 260 may be present in the recesses 256 to make this connection passage electrical 304 even easier.

The servomotors 255 are preferably located in the bottom of the recesses 256. The servomotors 255 are in contact with control surfaces (illustrated in FIGS. 9a-9c). The servomotors 255 are controlled by the onboard calculation means 302 preferably belonging to the navigation system 306 (illustrated in FIG. 6) and control the position of the control surfaces 263.

The upper portion 254 of the mast preferably comprises a hollow cylinder. The upper portion 254 of the mast preferably comprises holes 257 into which the fastening means 265 of the 263 The holes 257 are preferably present in cylinders 258 projecting from the mast. There is preferably a hole 257 by means 256 for fixing the control surfaces 263.

Figures 9a-9d show the elements of the control unit 206 in an embodiment of the present invention. FIG. 9a shows the elements of the unit of the control surfaces 206 in isometric perspective. Figure 9b shows the elements of the unit of the control surfaces 206 in top view. Figure 9c shows the elements of the unit of the control surfaces 206 in side view. Figure 9d shows a rudder 263 in an embodiment of the invention where each rudder 263 comprises two vertical planes 263.

The unit of the control surfaces 206 comprises a plurality of control surfaces 263. The unit of the control surfaces 206 preferably comprises at least three control surfaces 263. Each control surface 263 comprises a connecting element 262, a central connecting element 267, one or more vertical planes ( preferably from one to five) 261 joined by this connecting element 262 and this central connecting element 267, and a fastening element 265 fixed to this central connecting element 267. The expressions "vertical plane" and "vertical planes" such as they are used here refer to a plane or planes extending parallel to the axis 1001. The unit of the control surfaces 206 is preferably at least partially inside the conduit 202.

The control surfaces 263 are a means of controlling the attitude of the drone, that is to say of controlling the rotational movements around horizontal main axes (pitch and roll) and around a vertical axis (yaw) of the drone. 102. The top of the control surfaces 263 is preferably inside the conduit 202.

Other types of control surfaces or other attitude control means are possible in the context of the present invention, such as a propeller with active control of the cyclic pitch and the collective pitch or a helix with Bell-Hiller bar.

The control surfaces 263 are preferably four in number. The control surfaces 263 preferably comprise two vertical planes 261 linked at their radial end by means of the connection elements 262 of the control surfaces and at their central end by means of central linking elements 267. The use of two or more planes by rudder 263 makes it possible to increase the lift force of the control surfaces and therefore their control authority without increasing their height, which makes it easy to include the control surfaces 263 in the interior space 1001 of the drone. The connecting elements 262 are attached to the servomotors 255 so that a servomotor 255 can rotate a connecting member 262 around a substantially horizontal and radial axis 266 passing between two planes 261 of a rudder. This rotation of the connecting element 262 makes it possible to control the attitude of the drone 102.

The control surfaces 263 are preferably attached to a lower mast portion 232 by fastening elements 265 which allow rotation about the pins 266, for example because the fastening elements 265 are themselves in the pins 266. The elements 265 of FIG. fixation are preferentially attached to the central connecting elements 267.

A rudder 263 is preferably made in one piece. This part is preferably made of plastic, more preferably acrylonitrile butadiene styrene (ABS), and is preferably produced by molding.

The dimensions, the number and the shape of the control surfaces 263 and the number of planes 261 constituting a rudder 263 are chosen to allow a good control of the attitude of the drone 102, this control increasing with the surface of the planes 261 included in the control surfaces. 263, while being contained in the interior space 1001 of the drone, as well as with the distance of the control surfaces to the center of gravity of the drone. The fact that the control surfaces 263 are contained in the interior space 1001 of the drone allows the control surfaces 263 to be protected, for example, in the event of shock or protected fingers of a user.

The control surfaces 263 are placed so as to be inclined about their axis 266 without touching each other up to an angle of movement of 30 °.

In a preferred embodiment of the invention, the vertical planes 261 of the control surfaces 263 have a shape comprising (FIG. 9d):

A first right side 268 which is horizontal and located upwards, A second right side 269 which is vertical and located towards the center of the drone 102,

A third right side 270 which is vertical and located towards the periphery of the drone 102 and is shorter than the second right side 269, the first right side joining the upper ends of the second right side 269 and the third right side 270, and

A curved side 271 joining the lower ends of the second right side 269 and the third right side 270.

The first right side 268 is preferentially slightly longer than the second right side 269. The curved side 271 preferably corresponds substantially to an arc of a circle.

The shape of the vertical planes 261, with in particular the presence of the third right side 270, allows a good control of the attitude of the drone 102 by control surfaces 263 contained in a relatively small space 1001.

In an alternative embodiment of the invention, shown in FIG. 10, the vertical planes 261 have a shape 272 comprising:

A first right side 278 which is horizontal and located upwards,

A second right side 279 which is vertical and located towards the center of the drone 102,

A third right side 280 which is vertical and located towards the periphery of the drone 02 the second right side 279, the first right side joining the upper ends of the second right side 279 and the third right side 280,

· A fourth right side 282 which is horizontal and located downwards,

A fifth right side 283 which is inclined and situated towards the bottom and towards the center of the drone 102 and which joins the central end of the fourth right side 282 and the lower end of the second right side 279, and

A curved side 281 joining the lower ends of the third right side 280 and the peripheral end of the fourth right side 282. The vertical control planes 281 are preferably wider than they are tall. The curved side 281 preferably corresponds substantially to an arc of a circle.

The shape of the vertical planes 261, with in particular the presence of the third right side 280, allows good control of the attitude of the drone 102 by control surfaces 263 contained in a relatively small space 1001. The presence of the fifth right side 283 allows that the control surfaces 263 are more inclined to each other without collision than in the absence of the fifth right side 283 (greater maximum angle of inclination).

In one embodiment of the invention, each rudder 263 is manufactured by folding an initial rudder piece 284 shown in Figure 11. The manufacture of the rudders 263 by folding allows the use of a low-height manufacturing mold. This is cheaper than another manufacturing. In addition, this facilitates the injection of the initial rudder piece 284. In addition, this allows to achieve lower thicknesses for the rudder planes 261, which decreases the weight of the drone 102.

Figures 12a-12c show the conduit 202 and the central portion 205 of the drone 102 according to a first embodiment of the invention. Figures 13a-13b show the conduit 202 of the drone 12 according to a second embodiment of the invention.

In these first and second embodiments of the invention, the conduit 202 has a substantially annular shape. The conduit 202 is preferably made of foam, for example expanded polypropylene (EPP), or expanded polystyrene (EPS) or expanded polyolefin (EPO). The flexibility of these materials gives a good damping in case of shock or fall and reduces the intensity of the shock for the more fragile components of the drone 102.

In these first and second embodiments of the invention, the conduit 202 preferably has a height of at least 5 cm, so that a user is comfortable to hold the drone 102 in his hands while holding duct 202 between his two hands.

In these first and second embodiments of the invention, the conduit 202 preferably comprises mortises on its upper lip in which are inserted the pins 224 of the first cover 201 (Figure 2) during the assembly of the drone 102. A mortise system on the lower lip of the conduit in which would be inserted pins present on the second cover is also possible.

In these first and second embodiments of the invention, and as visible in Figure 3b, the conduit 202 is preferably asymmetrical with respect to a horizontal plane passing through its middle. Indeed, an upper lip 401 of the duct is preferably wider than a lower lip 402 (visible in FIG. 12c), which creates the projecting portion 290. The upper lip 401 is preferably curved and creates a smooth junction between the face 404 and the inner face 403 of the duct 202. The lower lip 402 preferably comprises an angle between the outer face 404 and the inner face 403 of the duct 202, which creates a junction forming an angle between the two faces 403, 404 of the duct .

A function of the duct 202 is to guide the air so as to increase the thrust generated by the propeller 204. The presence of the duct 202 increases the propulsive efficiency with respect to a drone having no duct 202. The presence of the duct 202 decreases the noise of the drone perceived by the outside compared to a drone having no duct 202.

In these first and second embodiments of the invention, the outer face 404 of the duct 202 is preferably curved in a vertical direction, in addition to being curved in a horizontal plane. The inner face 403 is preferably straight in a vertical direction and is curved in a horizontal plane. The shape of the upper lip 401 influences the movement of the air flow that enters the drone 102 during its flight and therefore has an impact on the flight of the drone itself.

In these first and second embodiments of the invention, the conduit 202 may comprise at least one cavity 405 (Figure 3a) which is a non-through hole in the conduit 202, provided for example as a housing for one or more elements of the drone 102.

Figure 12a is an isometric perspective view of the conduit 202 and the central portion 205 according to the first embodiment of the invention. Figure 12b is a top view of the duct 202 and the central portion 205 according to the first embodiment of the invention. Figure 12c is a side view of the duct 202 and the central portion 205 according to the first embodiment of the invention.The conduit 202 is formed of one or more, preferably four panels 202a-202d as described above in Figure 2. The panels 202a-202d are preferably in foam. The panels 202a-202d are more preferably expanded polypropylene (EPP). EPP is inexpensive, lightweight, flexible, tear-proof, highly resistant to fatigue and flexion, very low density, chemically inert and recyclable, highly impact resistant, has good shape memory, and can be molded. The EPP also gives a pleasant feeling to the touch, which is an advantage in the present drone that can be taken in hand. Panels 202a-202d may have side cutouts to interlock into each other to form conduit 202.

The junction between two panels 202a-202d is preferably made at the level of the uprights 253. The uprights 253 and the panels 202a-202d are arranged at the junction between two panels 202a-202d so as not to let play, outside of that due to manufacturing and assembly tolerances, so that all the air driven by the propeller exit the drone through the openings of the second cover 203. The shape of the panels 202a-202d is such that the uprights 253 (with the servomotors 255 and potentially other elements such as a camera 1002) can be arranged at the junction between two panels.

Figure 13a is an isometric perspective view of the conduit 202 according to the second embodiment of the invention. Figure 13b is an isometric perspective view of a first conduit member 406 and a second conduit member 407 prior to assembly to form conduit 202.

The first duct element 406 and the second duct element 407 are preferably designed to be assembled essentially in a plane perpendicular to the axis of rotation of the helix 204. Their assembly is preferably done by one or more clips or by gluing. Their assembly, upstream of the assembly of the drone 102, allows the conduit 202 to be in one piece, which increases the rigidity of the drone 102 and its impact resistance. The first cover 201 and the second cover 203 can be to fix directly on the conduit 202. The uprights 253 may not be present, which allows a reduction in the weight of the drone 102.

The embodiment of the duct 202 in two pieces 406, 407 provided to be assembled essentially in a plane perpendicular to the axis of rotation of the propeller 204 also makes it easy to produce these two parts 406, 407 by molding. Notches for housing the servomotors can easily be made in at least one of the two parts 406, 407.

The embodiment of the duct 202 in two pieces 406, 407 intended to be assembled essentially in a plane perpendicular to the axis of rotation of the propeller 204 also makes it possible to create cavities 408 in the thickness of the duct 202 in order to reduce its weight. while maintaining good stiffness and mechanical strength. The cavities 408 open into the junction plane between the two parts 406, 407 so as to be closed when the two parts 406, 407 are assembled.

Cavities 408 may contain or be filled with a material having good sound absorption. The cavities 408 may contain or be filled with a light open cell foam. Cavities 408 may contain or be filled with melamine foam. This extra foam adds additional damping of the propeller noise.

FIGS. 14a-14c shows the second cover 202 of the drone 102 according to one embodiment of the invention. Figure 14a is an isometric perspective view of the second cover 202. Figure 14b is a top view of the second cover 202. Figure 14c is a side view of the second cover 202.

A function of the second cover 202 is to protect the control surfaces 261 from any contact with the outside, including any contact with the ground when the drone 202 is placed and any contact with the fingers of a user.

The second cover 202 preferably comprises the following elements:

A second grid 230,

A second location 231, and

A lower part 232 of mast. The second cover 202 potentially further includes one or more of the following:

At least location 234 for fixing means, and

A second groove 239,

The second gate 230 allows the second cover 231 to be perforated, that is to say that it has openings. The openings of the second grid allow air to exit the interior of the inner space 1000 of the drone 102 or to enter. Another system that a grid allowing the air to enter the interior space 1000 of the drone or leave it is also possible within the scope of the invention.

A first function of the second gate 230 is to protect the elements of the drone 102 inside the casing 200, in particular the control surfaces 263, which are particularly fragile, from contact with elements outside the drone 102, particularly the fingers 'an user. A second function of the second gate 230 is to protect a user, elements of the drone 102 inside the envelope 200.

In the embodiment of the invention shown in FIGS. 14a-14c, the second grid 230 comprises a plurality of second upper radii 238 which essentially follow meridians of the spheroid, a second circular support 233 and a plurality of second lower radii 237 which follow. essentially meridians of the spheroid. The second upper radii 238 and second lower radii 237 are preferentially oriented radially, that is to say that their projection on a plane perpendicular to the axis 1001 of the drone is radial. The second grid 230 could, however, have another type of mesh while remaining within the scope of the invention.

The elements of the second grid 230, including the second spokes 237, 238 and the second circular support 233, may have, in the context of the present invention, a circular section or a plane tapered profile perpendicular to the surface of the drone. In the case shown in the figures, where an attitude control is carried out by means of control surfaces situated in the air flow of the propeller, the second radially oriented radii 237 and 238 have a circular section profile. This allows that these elements do not generate a lift force. Section elements profiled in the vertical direction would generate lift forces and moments in the opposite direction to those generated by the control surfaces and reduce their effectiveness.

The elements of the second grid 230 whose second radii 237, 238 may optionally have a rotation compensation function, that is to say a stator function, in addition to or in place of the stators 251, having a tapered profile and inclined in the opposite direction to the direction of the vortex generated by the propeller 204, for example as shown in Figures 4e-4f. The other elements of the second grid 230 preferentially have a profile tapered in the perpendicular to the surface of the drone so as to be aerodynamic, minimizing the drag forces.

The space between the elements of the second grid 230, in particular the second upper radii 238, the second lower radii 237 and the second circular support 233, is preferably less than 25 mm, more preferably 18 mm, even more preferably 12 mm. This prevents for example any circular body, that is to say for example any spherical body or any elongate cylindrical body (such as a finger), of at least 25 mm, more preferably 18 mm, even more preferably 12 mm, of diameter to pass through the second grid 230.

It is possible that the space between the elements of the second grid

230, especially the second upper rays 238, the second lower rays 237 and the second circular support 233. This small space between the elements of the second grid 230 allows a finger of a user can not preferentially not go through these openings.

The second upper spokes 238 preferably have a vertical component and a horizontal component such that the second upper radii 238 are directed towards the axis 1001 of the drone going down. The second lower rays 237 preferably have a horizontal component and no vertical component. In other words, the second lower spokes 237 form a horizontal flat portion 236 at the lower end of the drone 102. The flat horizontal portion 236 allows the drone 102 to be stably positioned, even if the center of gravity drone 102 is high. The flat horizontal part 236 of laying the drone stably, but if the drone 102 has no landing foot. The horizontal flat portion 236 also makes it easy to differentiate the top and the bottom of the drone 102 because the underside comprises this horizontal flat portion 236, as can be seen in FIG. 3b.

The second groove 239 preferably includes the locations 234 for fastening means, for example, screws, for fixing the second cover 203 to the lower lip of the central portion 205. The second groove 239 has a duct assembly function. 202 with the second cover 203 and an assembly function of the panels 202a-202d forming the conduit. In particular, the second groove 239 prevents lateral movement of the conduit 202 or its panels relative to the second cover 203.

The second location 231 is preferably provided for the placement of a camera 1002 which displays what is below the drone 102. The second location 231 can also accommodate other elements of the drone 102, in particular on-board instruments.

The lower portion 232 of the mast preferably comprises a hollow cylinder. The lower part 232 of mast is provided to assemble, preferably simply mechanically, to the upper part 254 of mast to form a mast 208 (visible in Figure 3b). For example, the lower mast portion 232 may have its inside diameter slightly larger than the outer diameter of the mast top portion 254 so that the upper mast portion 254 fits into the mast lower portion 232. The assembly of the second cover 203 with the central portion 205 via the assembly of the two mast parts to form the mast 208 is an element which gives a good mechanical rigidity to the drone 102.

A set of parts comprising the second grid 230, the lower mast portion 232 and the groove 239 is preferably made in one piece. This part is preferably made of plastic, more preferably acrylonitrile butadiene styrene (ABS) and is preferably made by molding.

As has been described, several parts of the drone 102 are preferably made of ABS. ABS was chosen for these parts mainly for the following reasons: good shock resistance, good resilient, relatively rigid, lightweight and moldable, good surface appearance, good dimensional stability, easily stainable.

The following elements are preferably located inside the envelope 200 and are therefore protected from shocks to the environment by the first cover 201, the conduit 202, the second cover and potentially the cover 212 of the first location:

• the propeller 204,

The central part 205,

• the unit of control surfaces 206,

· The engine 207,

The housing 300,

The power means 301,

The on-board calculation means 302.

The drone 102 comprises means for capturing images and / or sound and / or instruments for measuring environmental parameters. The information captured by these capture means and / or measuring instruments are preferably received by the user of the drone during or after the flight of the drone 102.

Preferably, the drone 02 comprises at least one camera 1002, since a preferred function of the drone 102 is the aerial photograph. A "camera" in this document is a device capable of capturing images, whether for a photo, a video, a movie, with or without sound. The camera 1002 is preferably located in a cavity 405 either in the center of one of the panels 202a-202d or at the junction between two panels 202a-202d. The camera 1002 preferably points downwards at an angle between 5 ° and 60 ° relative to the vertical.

The camera 1002 may also be located in a cavity (not shown) of the second cover 203. Two cameras 1002 may also each be located in a different cavity (not shown) of the second cover 203.

In one embodiment of the invention, the orientation of the camera 1002 relative to the vertical can be manually modified by the user before the flight depending on the type of photo or video he wants to take. In one embodiment of the invention, the camera 1002 is secured to the housing 300 to take advantage of the mechanical isolation of the housing vibrations experienced by the rest of the structure of the drone.

The drone 102 may optionally include several cameras 1002, for example distributed around the periphery of the drone to make 360 ° images. The drone 102 may optionally include two wide-angle lens cameras separated horizontally by a distance corresponding to a natural distance of the two eyes and which allow to record in 3D. At least one camera is preferably capable of generating an HD video stream (1080p) at 30 frames per second. A camera can be a thermal or ultraviolet camera.

The drone 102 potentially includes one or more instruments for emitting light or sound (laser, loudspeaker, etc.). The drone 102 potentially includes activation means such as a button, starting the engine and / or turning it off. The drone 102 according to the invention comprises a system

3001 of on-board instruments comprising a visual system 3002 and a sensor system 3003, as illustrated in FIG. 15.

The visual system 3002 includes the camera 1002. In fact, the camera 002 can have an imaging function for the purpose of shooting and can have an odometry function. It is also possible that a first camera 1002, or a plurality of first cameras, has as main function shooting and a second camera, or a plurality of second cameras, has as main function the odometry.

The camera 1002 can be located at the bottom of the drone, in the axis 1001 and looks down. In its odometry function in the context of the visual system 3002, the camera 1002 serves the drone to find its bearings. The visual system

3002 sends information to the onboard calculation means 302 (Figure 5). The visual system 3002 is preferably used to generate visual information that is used for image analysis by the onboard calculation means 302. The image analysis is preferably used for a stabilization loop in the position of the drone and optïonnellement for the realization of a mission 2130 by the drone 102 (Figure 17a). The sensor system 3003 is used to estimate the orientation, the position and the speed of the drone and comprises at least one 1004 gyrometer, at least one 1005 accelerometer, at least one 1006 magnetometer, at least one 1007 sonar and potentially others. elements such as a radar, a plurality of microphones, one or more lidars, a barometer, an anemometer, a variometer, an altimeter, a GPS, etc.

The sensors are preferably located in one or more cavities 405 (FIG. 3a). The sonar 1007 is preferably located in cavities 405 in the lower part of the panels 202a-202d. The camera 1002 is also potentially located there. The magnetometer 1006 is also preferably located in one of the panels 202a-202d because the motor can create electromagnetic disturbances which would distort the measurements made by the magnetometer 1006.

The sensors are optionally located in the first slot 211 (FIG. 2) on the one hand because they can be heavy and it is advantageous for the heavy elements to be high and, on the other hand, to be close to the on-board calculation means 302, which makes it possible to reduce the length and the weight of the electrical connections and to facilitate the assembly, but they can optionally be at different places of the drone.

The sensor system 3003 preferably sends information to the on-board calculation means 302 (FIG. 5) which, based on this information, carries out calculations comprising navigation, guidance and automatic piloting tasks. The tasks of automatic navigation, automatic guidance and automatic piloting result in information that is sent essentially to the servomotors 255 to control the inclination angles of the control surfaces 263 and the motor 207 to control the speed of the propeller, and thus allow a loop rapid stabilization of the drone for stabilization in attitude and altitude of the drone. The control frequency for the control loop corresponding to an information capture of the sensor system 3003 which leads an adaptation of the servomotors 255 and / or the motor 207 is more than 20 Hz.

This automatic piloting makes it possible for the attitude and the altitude of the drone 102 to be stabilized very rapidly and without outside intervention to the drone, and especially without human intervention. The on-board calculation means 307 can process information from the camera 1002 to determine the position of the user, for example for the drone to follow the user.

An advantage of the drone 02 is to be able to fly autonomously, without a user having to guide him during his flight, and although a user can, if he wishes to guide the drone during his flight.

The drone 102 has been designed so that its center of gravity 503 is high compared to the entire drone 102. The center of gravity of the drone 102 is preferentially higher than the geometric center of the drone 102. The center of gravity The gravity of the drone 102 is more preferably higher than, or approximately coincides with, the upper end of the duct of the drone 102. The center of gravity 503 is preferably a first side of the propeller 204 while the unit of the surfaces 206 is a second side of the propeller 204, the second side of the propeller 204 being opposite to the first side of the propeller 204.

FIG. 16 illustrates different forces and moments acting on the drone 102 and makes it possible to understand the advantage of having the center of gravity 503 is on a first side of the propeller 204 and the unit of the control surfaces 206 is a second side of the propeller 204.

FIG. 16a illustrates the position of the center of gravity 503, the direction of a force 520 generated by the control surfaces 263 and the direction of a moment of force 530 generated by the control surfaces 263. Like the moment of force 530 generated by the control surfaces 263 is proportional to the distance 531 between the center of gravity 503 and the control surfaces 263, a center of gravity 503 higher than the propeller 204 allows the control surfaces 263 a good control authority, which contributes to a better responsiveness and stability of the drone 102.

FIG. 16b illustrates the position of a point 502 for applying the capture drag force and the direction of a capture drag force 540 generated by a wind blowing in the direction of the arrow 541. In a drone with propeller careened as that of the invention, the point 502 of application of the capture drag force is at the height of the upper edge of the duct 202.

The moment of force generated by the trailing drag 540, or tilting moment, is proportional to the distance between the center of gravity 503 and the point 502 of application of the capture drag force. In the drone 102 according to the invention, the center of gravity 503 and the point 502 of application of the capture drag force are very close, which allows the tilting moment to be very low.

In one embodiment of the invention, the distance between the center of gravity 503 and the point 502 for applying the capture drag force is less than 10 cm, preferably less than 5 cm, more preferably less than 3 cm. cm. In one embodiment of the invention, the distance between the center of gravity 503 and the point 502 of application of the trailing force is less than 15% of the inside diameter of the duct 202. In other words, in the case of the drone 102 which is a faired propeller drone, the main component of the aerodynamic drag force is the drag drag (or "ram drag" in English). This capture drag applies to the point 502 for applying the capture drag force situated approximately on the axis 1001 of the drone at the upper end of the duct 200.

If the center of gravity 503 was lower than this point 502, the relative wind 541, that is to say the wind relative to the drone 102, could easily pitch the drone 102 by creating a pitching pitching moment that would tend to tilt the axis 1001 of the drone 102 so as to fold the top of the drone 102 in the relative wind 541. This upward moment could be to some extent counterbalanced by the moment 530 generated by the control surfaces 263, but so limited. In the event of a gust of wind 541, this tilting moment would tend to align the thrust vector of the propeller 204 in the direction of the gust of wind 541 and thus to further destabilize the drone 102 and to increase the displacement undergone by the drone. Following the burst 541. The control surfaces 263 could come into action to oppose this tilting moment generated by a gust of wind 541, but the action of the control surfaces 263 would be limited in amplitude and always late compared to the tilting moment initial generated by the gust of wind 541.

Figure 16c shows the direction of the capture drag force

540 generated by a wind blowing in the direction of the arrow 541, the direction of the force due to the thrust of the propeller 550 and the direction of the gravity force 560. So that the drone 102 can move laterally or make in front of a constant lateral wind 541, it must tilt against the relative wind to incline the thrust vector 550 of the propeller 204 in the opposite direction to the relative wind 541, which would be difficult if the tilting moment was important.

The closer the center of gravity 503 is to the point 502 of application of the trailing drag, the lower the tilting moment. If the center of gravity 503 coincides approximately with this point 502, it follows that the trailing drag does not generate a pitching pitching moment. In case of gust of wind, the orientation of the drone 102 is more or less preserved. In case of lateral displacement or constant side wind, the inclination of the drone 102 can be adjusted to the necessary value with a limited steering moment.

If the center of gravity 503 is higher than the point 502 of application of the trailing drag, this results in a naturally stinging behavior which is favorable in case of gust of wind; indeed the piercing moment has a tendency to align the thrust vector of the propeller 204 in the opposite direction to that of the wind gust and thus to naturally stabilize the drone 102 by reducing the displacement suffered following the burst.

So the higher the 503 center of gravity of the drone is high, the better its responsiveness and stability in flight, especially in case of gust of wind and greater is its speed of lateral displacement or its resistance to a side wind. The following preferred features of the invention allow the center of gravity 503 of the drone 102 to be high, that is to say close to the point 502 of application of the trailing force:

1. the heavy elements are preferably placed high, in particular:

1. the power means 301,

2. the calculation means 302 on board,

3. the engine 207, and

4. the propeller 204,

2. the elements placed low are preferentially light, in particular:

1. control surfaces 261, and

2. the stators 251, 3. the engine 207 is disposed "propeller down", which allows the engine 207 to be higher than the propeller 204,

4. the duct 202 is in a light material, preferably the

EPP

5. a large part of the elements are made of lightweight plastic, preferably ABS,

6. the overall shape of the drone 102 and the arrangement of the elements of the drone 102.

In one embodiment of the invention, the power means 301 and the motor 207 are approximately half the weight of the drone 102.

The shape of the drone 102 looks like an eye when seen from above, as seen in Figure 3c. The cover 212 of the first location resembles a pupil, the set of first rays 218 resembles an iris and the duct 202, and in particular its protruding portion 290, resembles the whiteness of the eye. As a function of the drone 102 is to capture images, as an eye captures images, this resemblance is pleasant to the user.

FIGS. 17a, 17b, 17c respectively illustrate a first use 2100, a second use 2200 and a third use 2300 of the drone according to the invention. FIG. 17a illustrates the first use 2100. During a take-off step 2120, a user 2101 holds the drone 102 in his hands 2102a, 2102b and the drone 102 takes off. At a flight stage 2130, the drone 02 makes a flight. At a landing step 2140, the drone 102 lands, preferably in the hands 2102a, 2102b of the user 2101. The landing, in the context of this document, does not necessarily imply that the drone touches the ground.

FIG. 17b illustrates the second use 2200 of the drone according to the invention. At a programming step 2110, the user 2101 indicates on the control device 101 a mission 2180 that he wants the drone 102 to perform. Mission 2180 includes at least flight 2130 and preferably includes take-off 2120 and / or landing 2140. Steps 2120, 2130 and 2140 correspond to those depicted in FIG. 17a.

FIG. 17c illustrates the third use 2300 of the drone according to the invention. Steps 2120, 2130 and 2140 correspond to those described in Figure 17a. During a flight interaction step 2135, the user 2101 gives the drone, preferably by touching it one or more times, one or more indications on the mission 2180. The interaction in flight 2135 preferably comprises the causes the user 2101 to push the drone with a hand a number of times chosen by the user 2101, in a direction chosen by the user 2101, during a time chosen by the user 2101 and with a force chosen by the user. The number of thrusts, their direction, their duration and their force are estimated by the system 3001 of drone instruments and processed by the onboard calculation means 302 to generate indications on the mission 2180. For example, the indication for the drone may be to move in the direction of the thrust at a distance proportional to the force of the thrust.

The interaction in flight 2135 is preferably one or more thrusts on the conduit 202. The flight interaction 2135 is safe for the user 2101 and the drone 102 thanks to the envelope 200.

The flight interaction 2135 may include, alternatively or more than the touch of the drone 102, at least one instruction given by the user 2101 to the system 100 via the control device 101.

FIG. 18 illustrates an alternative of take-off and / or landing position of the drone 102, where the drone 102 rests on the palm of a hand 2102a of the user 2101.

The combination of the following preferred features of the invention allows a user to take the drone 102 without the risk of injury and without risk of damaging the drone 102:

A proportion of preferably at least 30% of the outer surface of the drone corresponds to the outer surface of the conduit 202, which allows a user to take the drone 02 in his hands through the conduit 202, which gives him a larger sense of security relative to the propeller 204 which rotates rapidly and better protects the propeller 204, if the user held the drone 102 by a perforated portion as one of the covers; and

All the mobile and / or fragile elements of the drone are enveloped by the envelope 200. The combination of the following preferred features of the invention allows it to be particularly fun to use, so that the invention can be considered as a toy:

• funny and unusual spheroidal shape for a drone used in particular non-professional,

• looks like an eye when viewed from above,

The possibility of placing the drone on a flat surface thanks to its horizontal flat portion 236 (FIG. 3b),

• easy to fly, no need to learn how to handle the drone through missions,

• no need for remote control,

• freedom of movement of the user during the flight, and

• no need for a flat surface for landing and / or take-off,

• possibility of intuitive interaction with the drone during the flight, by pushing it for example,

• feeling of personality of the drone performing actions autonomously.

The combination of the following preferred features of the invention allows it to be particularly inexpensive, especially compared to existing drones:

• cheap materials,

• few elements,

• cheap items,

• production for a particularly non-professional and particularly non-military market, in particular a leisure market, which makes it possible to manufacture the elements in large quantities and thus to make the production costs low,

• easy assembly of the elements, which makes assembly costs low.

The combination of the following preferential characteristics of the invention makes it possible to maintain the drone 102 in good flight: • keeled propeller drone which induces a guidance of the air flow through the conduit 202 inside the drone 102, control surfaces 263, which control the attitude of the drone 102,

• stators 251 and / or first gate 210 arranged to have a stator function and / or second gate 230 arranged to have a stator function, to counterbalance the rotation generated by the helix 204,

• calculations for the rapid stabilization performed by the on-board calculation means 302, and

• center of gravity located in height.

Claims

claims

A careened propeller drone (102) comprising an envelope (200) comprising:

A duct (202) having a first opening and a second opening,

A first perforated cover (201) disposed on the first opening of the duct (202), and

A second perforated cover (203) disposed on the second opening of the duct (202),

the envelope (200) having an outer surface,

the drone (102) further comprising, mounted inside (1000) of the envelope (200):

One or more motors (207),

One or more propellers (204) disposed in the conduit (202), and arranged to be driven by one or more motors (207),

Power means (301), and

Attitude control means (263),

characterized in that the conduit (202) has an outer surface that represents at least 30% of the outer surface of the envelope (200).

The drone (102) of claim 1 having a center of gravity (503) of a first side of the helix (204) and wherein the attitude control means (263) is of a second side of the helix (204) opposite the first side of the helix (204).

3. Drone (102) according to any one of the preceding claims, characterized in that a center of gravity (503) of the drone (102) and a point (502) for applying a capture drag force on the drone (102) are spaced less than 10 cm, preferably less than 5 cm, more preferably less than 3 cm.

4. Drone (102) according to any one of the preceding claims, characterized in that the motor (207) is on a first side of the propeller and the attitude control means (263) are of a second the side of the propeller (204) opposite the first side of the propeller (204).

5. Drone (102) according to any one of the preceding claims, characterized in that the propeller (204) is attached only to the engine (207).

6. Drone (102) according to any one of the preceding claims, characterized in that the power means (301) are on a first side of the at least one propeller (204) and the attitude control means (263) are on a second side of the helix (204) opposite the first side of the helix (204).

7. Drone (102) according to any one of the preceding claims, characterized in that the power means (301) are on a first side of the engine (207) and the propeller (204) is on a second side the motor (207) opposite the first side of the motor (207).

8. Drone (102) according to any one of the preceding claims, comprising only a single propeller (204).

9. Drone (102) according to any one of the preceding claims, characterized in that the first cover (201) comprises a first gate (210) with a plurality of elements (213, 218) arranged to block the passage through the first gate (210) of a spherical body of more than 12 mm in diameter, preferably 10 mm in diameter, more preferably 8 mm in diameter.

10. Drone (102) according to any one of the preceding claims, characterized in that the second cover (203) comprises a second gate

(230) comprising a plurality of elements (233, 237, 238) arranged to block the passage through the second grid (230) of a spherical body of more than 25 mm in diameter, preferably 18 mm in diameter, more preferably 12 mm in diameter.

11. Drone (102) according to any one of the preceding claims, characterized in that the first cover (201) comprises a first gate

(210) arranged to have a stator function.

12. Drone (102) according to any one of the preceding claims, characterized in that the second cover (203) comprises a second gate (230) arranged to have a stator function.

13. Drone (102) according to any one of the preceding claims, characterized in that the second cover (203) comprises a second gate (230) comprising radially oriented elements (237, 238) and circular section.

14. Drone (102) according to any one of the preceding claims, further comprising on-board calculation means (302).

15. Drone (102) according to the preceding claim, characterized in that the onboard calculation means (302) are on a first side of the propeller and the attitude control means (263) is on a second side the helix (204) opposite the first side of the helix (204).

16. Drone (102) according to claim 14 or 15, wherein the onboard calculation means (302) are arranged to perform at least one type of task among the following types of tasks: automatic navigation tasks, automatic guidance tasks and autopilot tasks.

17. Drone (102) according to any one of claims 14 to 16, characterized in that the on-board calculation means (302) comprise a memory (108).

18. Drone (102) according to any one of the preceding claims, characterized in that the envelope (200) has an essentially spheroidal shape.

19. Drone (102) according to any one of the preceding claims, characterized in that the second cover (203) comprises a flat portion (236).

20. Drone (102) according to any one of the preceding claims, characterized in that the duct (202) comprises a first duct element (406) and a second duct element (407) assembled essentially in an assembly part located essentially in a plane perpendicular to the axis of rotation of the helix (204).

21. Drone (102) according to the preceding claim, characterized in that the first conduit element (406) and / or the second conduit element (407) comprises cavities (48) opening into the assembly part.

22. Drone (102) according to any one of the preceding claims, characterized in that the conduit (202) comprises a material in the form of foam.

23. Drone (102) according to any one of the preceding claims, characterized in that the first cover (201) and the second cover (202) are plastic.

24. System comprising the drone (102) according to any one of the preceding claims and a control device (101) connected by a communication means (103).

25. A method of operation of a fair-propeller drone (102), the drone (102) comprising an envelope (200) comprising:

A duct (202) having a first opening and a second opening, A first perforated cover (201) disposed on the first opening of the duct (202), and a second perforated cover (203) disposed on the second opening of the duct (202),

the casing having an outer surface and the duct (202) having an outer surface which is at least 30% of the outer surface of the casing (200), the drone (102) further comprising, mounted within the envelope (200),

One or more motors (207),

One or more propellers (204) disposed in the duct (202) and arranged to be driven by the one or more motors (207),

Power means (301), and

Attitude control means (263),

the method comprising:

1) a take-off (2120),

2) a flight (2130), and

3) a landing (2140),

characterized in that the drone touches at least one hand of a user (2101) during at least one of the take-off (2120), the flight (2130) and the landing (2140) steps.

26. The method of operation of claim 25, wherein the user holds the drone (102) in the hands during takeoff (2120).

27. The method of operation of claim 26, wherein the user (2101) holds the drone (102) in the hands by the conduit during takeoff (2120).

The method of operation as claimed in any one of claims 26 and 27, wherein the drone (102) is held by the user's fingers, palms or fingers and palms (2101) during take-off (2120). .

The method of operation of any one of claims 25 to 28, further comprising an in-flight interaction (2135) between the user (2101) and the drone (102).

The method of operation of claim 29, wherein the flight interaction (2135) includes a touch of the drone (102) by the user (2101).

The method of operation of claim 29 or 30, wherein the flight interaction (2135) includes at least one instruction of the user (2101) on a control device (101).