[go: up one dir, main page]

EP3986785A1 - Drone equipped with an ultrasonic sensor - Google Patents

Drone equipped with an ultrasonic sensor

Info

Publication number
EP3986785A1
EP3986785A1 EP20733800.5A EP20733800A EP3986785A1 EP 3986785 A1 EP3986785 A1 EP 3986785A1 EP 20733800 A EP20733800 A EP 20733800A EP 3986785 A1 EP3986785 A1 EP 3986785A1
Authority
EP
European Patent Office
Prior art keywords
ultrasonic sensor
drone
pole
frame
wall
Prior art date
Legal status (The legal status 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 status listed.)
Withdrawn
Application number
EP20733800.5A
Other languages
German (de)
French (fr)
Inventor
Franck CLÉMENT
Stéphane CORBINEAU
Julien DA VELA
Annie Audibert-Hayet
Mehdi BATEL
Freddy FOLATRE
Yves GALVES
Jérôme RUIZ-MATEO
Alain Uzan
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mistras Group SAS
TotalEnergies SE
Original Assignee
Total SE
Mistras Group SAS
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 Total SE, Mistras Group SAS filed Critical Total SE
Publication of EP3986785A1 publication Critical patent/EP3986785A1/en
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D1/00—Dropping, ejecting, releasing or receiving articles, liquids, or the like, in flight
    • B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/70—Constructional aspects of the UAV body
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B64U30/29—Constructional aspects of rotors or rotor supports; Arrangements thereof
    • B64U30/299—Rotor guards
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B17/00—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations
    • G01B17/02—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations for measuring thickness
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/04—Analysing solids
    • G01N29/06—Visualisation of the interior, e.g. acoustic microscopy
    • G01N29/0609—Display arrangements, e.g. colour displays
    • G01N29/0645—Display representation or displayed parameters, e.g. A-, B- or C-Scan
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/04—Analysing solids
    • G01N29/11—Analysing solids by measuring attenuation of acoustic waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/22—Details, e.g. general constructional or apparatus details
    • G01N29/225—Supports, positioning or alignment in moving situation
    • G01N29/226—Handheld or portable devices
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/22—Details, e.g. general constructional or apparatus details
    • G01N29/26—Arrangements for orientation or scanning by relative movement of the head and the sensor
    • G01N29/265—Arrangements for orientation or scanning by relative movement of the head and the sensor by moving the sensor relative to a stationary material
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U60/00—Undercarriages
    • B64U60/50—Undercarriages with landing legs
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2291/00—Indexing codes associated with group G01N29/00
    • G01N2291/02—Indexing codes associated with the analysed material
    • G01N2291/028—Material parameters
    • G01N2291/02854—Length, thickness

Definitions

  • the present invention relates to a drone, in particular a rotary wing, comprising a frame, as well as a propulsion system and an ultrasonic sensor, each being mechanically connected to the frame.
  • the invention relates to the field of drones, that is to say remotely piloted flying motorized devices, in particular rotary wing drones capable of moving in the air by means of at least one rotor actuated by at least one rotor. minus one motor.
  • the invention relates to both single-rotor drones and multi-rotor drones, in particular quadcopters with four rotors.
  • the invention relates in particular to the field of drones equipped with an ultrasonic sensor, the ultrasonic sensor typically making it possible to measure the thickness of a metal wall.
  • a rotary wing drone is known of the aforementioned type, equipped with an ultrasonic sensor.
  • the ultrasonic sensor is of the A-scan type, and then makes it possible, for example, to make a point measurement of the thickness of a metal wall against which the ultrasonic sensor is resting.
  • the aim of the invention is therefore to provide a drone equipped with an ultrasonic sensor making it possible to improve the measurement made by said sensor.
  • the object of the invention is a drone, in particular a rotary wing, comprising:
  • a device for reducing mechanical vibrations arranged between the ultrasonic sensor and the frame.
  • the device for reducing mechanical vibrations arranged between the ultrasonic sensor and the frame, makes it possible to reduce - for the ultrasonic sensor - mechanical vibrations originating from the frame, said vibrations originating from the frame. including the propulsion system. This reduction of parasitic vibrations for the ultrasonic sensor then makes it possible to improve the measurement performed by this sensor.
  • the drone comprises one or more of the following characteristics, taken in isolation or in any technically possible combination:
  • the ultrasonic sensor is connected to the frame via a pole and a ball joint;
  • the mechanical vibration reduction device comprises a damper in a direction of extension of the pole and / or a bellows for the ball joint;
  • the pole is movable in rotation relative to the frame about an axis of rotation, the axis of rotation preferably extending transversely to the frame;
  • the drone further comprises a set of battery (s) mechanically connected to the pole;
  • the drone further comprises a movement device configured to move the battery assembly (s) along the pole;
  • the displacement device is further configured to control a displacement of the battery assembly (s) according to an inclination of the pole around the axis of rotation;
  • the propulsion system comprises a group of rotor (s), and at least one rotor, preferably at least one front rotor, is mounted on a pivot relative to the frame;
  • the drone further includes a fluid storage tank and a fluid circulation circuit between the storage tank and the ultrasonic sensor;
  • the drone further comprises a trigger device configured to, if the ultrasonic sensor is in contact with a respective wall, trigger a circulation of the fluid from the storage tank to a contact zone between the wall and the sensor to ultrasound;
  • the drone further comprises a holding device configured to, if the ultrasonic sensor is in contact with a respective wall, to maintain the ultrasonic sensor in contact with the wall,
  • the holding device preferably comprising at least one magnetized wheel when the ultrasonic sensor is of the B-scan type
  • the holding device preferably comprising at least one electromagnet when the ultrasonic sensor is of the C-scan type
  • the drone further comprises a measuring device configured for, if the ultrasonic sensor is in contact with a respective wall, measuring a displacement of the ultrasonic sensor along the wall , the measuring device preferably comprising an encoder wheel.
  • FIG. 1 is a perspective view of a drone equipped with an ultrasonic sensor, according to a first embodiment of the invention where the ultrasonic sensor is of the B-scan type, and
  • FIG. 2 is a view similar to that of Figure 1, according to a second embodiment where the ultrasonic sensor is of the C-scan type.
  • a drone 10 that is to say an unmanned aircraft on board, comprises a chassis 12, a propulsion system 14 and an ultrasonic sensor 16, the propulsion system 14 and the ultrasonic sensor 16 each being mechanically connected to the frame 12.
  • the drone 10 also comprises a device 18 for reducing mechanical vibrations, the reduction device 18 being arranged between the ultrasonic sensor 16 and the frame 12.
  • the drone 10 is a motorized flying machine that can be controlled remotely, in particular via a joystick, not shown, equipped with a display screen, allowing the user to enter flight commands.
  • the drone 10 is for example a rotary-wing drone, as in the example of Figures 1 and 2. As a variant, not shown, the drone 10 is a fixed-wing drone.
  • the drone 10 comprises a pole 20 mechanically connected to the frame 12, and a ball joint 22 attached to one end of the pole 20 to connect the ultrasonic sensor 16 to the frame 12 via the pole 20.
  • the drone 10 further comprises a set 24 of battery (s) 26, the set 24 preferably being mechanically connected to the pole 20.
  • the drone 10 further comprises a mover 28 configured to move the battery assembly 24 (s) 26 along the pole 20.
  • the drone 10 further comprises a reservoir 30 for storing a fluid and a circuit 32 for circulating the fluid between the storage reservoir 30 and the ultrasonic sensor 16.
  • the drone 10 further comprises a trigger device 34 configured to, if the ultrasonic sensor 16 is in contact with a respective wall, not shown, trigger a flow of the fluid from the storage tank 30 to. a contact zone between the wall and the ultrasonic sensor 16.
  • the drone 10 further comprises a holding device 36 configured to, if the ultrasonic sensor 16 is in contact with a respective wall, to maintain the ultrasonic sensor 16 in contact with said wall.
  • the drone 10 further comprises, when the ultrasonic sensor 16 is of the B-scan type, a measuring device 38 configured for, if the ultrasonic sensor 16 is in contact with a respective wall, measuring a displacement of the ultrasonic sensor 16 along the wall.
  • the frame 12 comprises a supporting structure 40 of substantially rectangular parallelepiped shape and preferably metallic.
  • the supporting structure 40 is partly perforated to have a reduced mass.
  • the frame 12 also includes feet 42 for bearing against the ground, for taking off and landing the drone 10, the feet 42 being fixed to the supporting structure 40 at its lower part.
  • the frame 12 also includes a protective cover 44, for example fixed to the supporting structure 40 in its upper part.
  • the propulsion system 14 comprises a group of rotor (s) 46, each rotor 46 being actuated by at least one motor 48.
  • the rotor group (s) 46 preferably includes a plurality of rotors 46, and the drone 10 is then also called a multirotor drone.
  • the number of rotor (s) 46 is for example equal to four, and the drone 10 is then a four-rotor drone.
  • the rotor group (s) 46 preferably includes a single rotor 46.
  • At least one rotor 46 is mounted on a pivot 50 relative to the frame. 12, to allow the drone 10 to have a substantially horizontal attitude, while exerting a forward thrust.
  • the drone 10 is a four-rotor drone
  • the rotor group (s) 46 then comprises four rotors 46
  • the two front rotors 46 are preferably each mounted on a respective pivot 50 relative to the frame 12 .
  • the ultrasonic sensor 16 is known per se, and makes it possible in particular to measure the thickness of a metal wall against which the ultrasonic sensor 16 rests.
  • the ultrasonic sensor 16 is a B-scan type sensor.
  • the B-scan type sensor is known per se, and allows a measurement in one dimension along a segment. More precisely, the B-scan type sensor is able to perform a succession of point measurements along this segment, then to take into account, for example via an integration or a summation, the various measurements taken along this segment, in order to deliver an overall measurement for said segment.
  • the ultrasonic sensor 16 is a C-scan type sensor.
  • the C-scan type sensor is known per se, and makes it possible to perform a two-dimensional measurement by traversing a predefined surface, for example a rectangular surface.
  • the C-scan type sensor is able to scan different points of said surface, and to perform a measurement, for example a measurement of the thickness of the wall, for each of these points, then to determine an overall measurement. according to the various punctual measurements carried out.
  • the ultrasonic sensor 16 is an A-scan type sensor.
  • the A-scan type sensor is known per se, and makes it possible to perform a point measurement, such as a measurement of the thickness of the wall at a given point, more precisely at the point of contact where the ultrasonic sensor 16 is in contact with said wall.
  • the reduction device 18 is able to reduce, vis-à-vis the ultrasonic sensor 16, mechanical vibrations originating from the frame 12, in order to improve the measurement performed by the ultrasonic sensor 16.
  • the reduction device 18 is then adapted to filter, at least partially, mechanical vibrations coming from the frame 12.
  • the reduction device 18 is adapted to damp movements of the drone 10 liable to interfere with the measurement made by the ultrasonic sensor 16, in particularly for damping the movements of the drone 10 when the drone is hovering at contact with the wall, the ultrasonic sensor 16 then preferably being kept in contact with said wall via the holding device 36.
  • the mechanical vibration reduction device 18 comprises a damper 52 in an extension direction of the pole 20 and / or a bellows 54 for the ball joint 22.
  • the damper 52 is able to reduce the mechanical vibrations in the direction of extension of the pole 20.
  • the bellows 54 is able to reduce the mechanical vibrations in roll, yaw and / or pitch relative to the direction of extension of the pole 20, the ball 22 being mounted at one end of the pole 20.
  • the pole 20 is preferably movable in rotation relative to the frame 12 about an axis of rotation 56.
  • the axis of rotation 56 extends transversely with respect to the frame 12. Otherwise Said, in this example, the axis of rotation 56 extends substantially along the transverse axis Y.
  • the inclination of the pole 20 around the axis of rotation 56 has an angle of value between 0 °, corresponding to an arrangement of the pole 20 substantially along the longitudinal axis X , and 90 ° corresponding to an arrangement of the pole 20 substantially along the vertical axis Z.
  • the protective cover 44 further comprises a groove 58 allowing the passage of the pole 20, and in particular allowing an arrangement of the pole 20 along the vertical axis Z.
  • the groove 58 is by example in the form of a U, and the pole 20 comes substantially into abutment against an inner end of the groove 58 when the pole 20 is arranged along the vertical axis Z.
  • the pole 20 is for example substantially in the form of a cylinder 60, the cylinder 60 having a circular section in the example of Figures 1 and 2.
  • the ball 22 is fixed to one end of the pole 20, between the pole 20 and the ultrasonic sensor 16, for example at the front end of the pole 20 when the ultrasonic sensor 16 is placed at the front of the drone 10 .
  • the ball 22 then forms an articulation of the ultrasonic sensor 16 relative to the pole 20, this articulation allowing a roll, yaw and / or pitch rotation of the ultrasonic sensor 16 relative to the pole 20.
  • the ball 22 offers three degrees of freedom in rotation of the ultrasonic sensor 16 with respect to the pole 20.
  • the battery assembly 24 comprises one or more batteries 26.
  • the assembly 24 comprises four batteries 26, preferably arranged on either side of the pole 20 to allow better balancing. of the drone 10.
  • one half of the batteries 26 of the assembly 24 is arranged on one side of the pole 20, and the other half is placed on the other side of the pole 20, one half being for example arranged to the left of the pole 20, and the other half then being arranged to the right of the pole 20.
  • the batteries 26 are preferably arranged successively according to the direction of extension of the pole 20, that is to say one after the other in said direction of extension.
  • Each battery 26 is known per se, and is capable of storing electrical energy.
  • each battery 26 is in the form of a rectangular parallelepiped.
  • the displacement device 28 is configured to move the battery assembly 24 along the pole 20, and for example comprises a slide 62 allowing the assembly 24 to slide relative to the pole 20.
  • the slide 62 is for example fixed to the pole 20, and extends in the direction of extension of the pole 20.
  • the displacement device 28 allows better balancing of the drone 10, and thereby improves the measurement performed by the ultrasonic sensor 16.
  • the battery assembly 24 (s) is preferably positioned near the end, preferably rear, of the pole 20 which is opposite the end, preferably the front, to which the ultrasonic sensor 16 is attached.
  • the battery assembly 24 When tilting the pole 20 increases and gradually varies up to 90 °, corresponding to an arrangement of the pole 20 substantially along the vertical axis Z, the battery assembly 24 is progressively moved in the direction of the ultrasonic sensor 16, or else towards the axis of rotation 56.
  • the battery assembly 24 (s) is then positioned near the axis of rotation 56.
  • the stroke of the battery assembly 24 along the pole 20 is then less than half the length of the pole 20, said stroke being associated with the rear half of the pole 20, and not going beyond half of the pole 20 corresponding substantially to the position of the axis of rotation 56.
  • the displacement device 28 is further configured to control a displacement of the battery assembly 24 as a function of an inclination of the pole 20 around its axis of rotation 56.
  • the displacement device 28 makes it possible to automatically position the set 24 of battery (s) along the pole 20 according to the inclination of said pole 20 around its axis of rotation 56, in order to facilitate balancing the drone 10, and thereby improving the measurement made by the ultrasonic sensor 16.
  • the position of the battery assembly 24 along the boom 20 is predefined prior to take-off of the drone 10, for example via manual movement of the assembly 24 along the boom 20 to the using the slide 62, then by locking the assembly 24 in this position.
  • the storage tank 30 is for example fixed under the supporting structure 40 of the frame.
  • the reservoir 30 is preferably under pressure in order to facilitate the circulation of the fluid inside the circulation circuit 32 when the circulation of said fluid has been triggered by the triggering device 34.
  • the fluid, stored in the storage reservoir 30 and capable of circulating in the circulation circuit 32, is for example water.
  • the circulation circuit 32 is for example in the form of a pipe extending from the storage tank 30 to the proximity of the ultrasonic sensor 16, in order to allow the release of the fluid inside a contact zone. between the ultrasonic sensor 16 and a respective wall, at the moment when the ultrasonic sensor 16 comes into contact with said wall.
  • the circulation circuit 32 has for example two ends, and is connected at one end to the storage tank 30, and at the other end to the trigger device 34.
  • the trigger device 34 comprises for example a shutter, not shown, making it possible to close the circulation circuit 32, and to keep it under pressure, just like the storage tank 30, as well as an opening mechanism, not shown. , capable of triggering the opening of the shutter in the event of detection of a contact of the ultrasonic sensor 16 with a respective wall.
  • said mechanism is able to trigger the release of the pressurized fluid so that it comes, at least in part, to be placed inside the contact zone between the wall and the ultrasonic sensor 16.
  • the holder 36 is configured to hold the ultrasonic sensor 16 in contact with the wall against which it is applied.
  • the retaining device 36 is preferably a retaining device by magnetic attraction, the wall typically being a metal wall.
  • the holding device 36 preferably comprises at least one magnetized wheel 64.
  • Each magnetized wheel 64 then allows a magnetic attraction with the corresponding wall, while at the same time allowing movement along the wall.
  • the holding device 36 comprises four magnetized wheels 64 distributed in pairs, on either side of the ultrasonic sensor 16.
  • a first pair of magnetized wheels 64 is fixed to the ends of a first rod 66, itself connected to the pole 20 via the ball joint 22 by a first arm 68.
  • a second pair of magnetized wheels 64 is fixed to the ends of a second rod 70, itself mechanically connected to the pole 20 via the ball 22 by a second arm 72.
  • Each arm 68, 72 is preferably further articulated relative to the ball 22.
  • the holding device 36 preferably comprises at least one electromagnet 74.
  • Each electromagnet 74 allows static holding in contact with the wall 16, ie. that is to say, keeping it in contact with the wall in a given position.
  • the holding device 36 comprises three electromagnets 74 in order to ensure an isostatic holding of the ultrasonic sensor 16 in the plane of the wall and in contact with the latter.
  • Each electromagnet 74 is mechanically connected to the pole 20 via the ball 22 by a respective bar 76.
  • Each bar 76 is preferably articulated with respect to the ball 22.
  • the second embodiment differs from the first embodiment, represented in FIG. 1, only in that the ultrasonic sensor 16 is of the C-scan type according to the second embodiment, the ultrasonic sensor 16 being of the B-scan type according to the first embodiment; and in that the holding device 36 then preferably comprises at least one electromagnet 74 according to the second embodiment, the holding device 36 preferably comprising at least one magnetized wheel 64 according to the first embodiment.
  • the other elements of the second embodiment are identical to those of the first embodiment and are identified by identical references in Figures 1 and 2.
  • the measuring device 38 is suitable for measuring a displacement of the ultrasonic sensor 16 along the wall against which it is in contact, in particular when the ultrasonic sensor 16 is of the B-scan type.
  • the measuring device 38 comprises for example an encoder wheel 78, visible in FIG. 1.
  • the encoder wheel 78 is positioned on an edge of the ultrasonic sensor 16, and makes it possible to measure the displacement of the ultrasonic sensor 16 according to the direction of movement. of the sensor.
  • the measuring device 38 is then further configured to order a next measurement, that is to say a next measurement, of the ultrasonic sensor 16 as a function of the measured displacement.
  • the measuring device 38 is for example configured to control the performance of a measurement by the ultrasonic sensor 16 every 0.5 cm. In other words, the measuring device 38 makes it possible to sample the measurements performed by the ultrasonic sensor 16 along its displacement corresponding to the segment for which the ultrasonic sensor 16 is to perform an overall measurement.
  • the pivot 50 is a pivot about the transverse axis Y, then allowing the rotor 46 to pivot about the transverse axis Y relative to the frame 12.
  • the drone 10 makes it possible to improve the measurement carried out by the ultrasonic sensor 16 through the device 18 for reducing mechanical vibrations, arranged between the ultrasonic sensor 16 and the frame 12.
  • the reduction device 18 in fact makes it possible to reduce, or even to filter, at least partially, the mechanical vibrations coming from the frame 12 and likely to disturb the proper functioning of the ultrasonic sensor 16.
  • the reduction device 18 comprises the damper 52 and / or the bellows 54
  • the reduction device 18 makes it possible to filter the mechanical vibrations according to the direction of extension of the pole 20 by the damper 52, and / or by roll, yaw and pitch around the ball 22 relative to the pole 20 by the bellows 54.
  • the rotational mobility of the pole 20 relative to the frame 12, preferably around the transverse axis Y, makes it possible to carry out with the ultrasonic sensor 16 a measurement against a vertical surface corresponding substantially to the inclination equal to 0 ° , against an inclined surface corresponding to an inclination strictly between 0 ° and 90 °, or again against a horizontal surface corresponding substantially to the inclination equal to 90 °.
  • the rotational mobility of the pole 20 makes it possible to facilitate the measurement of the ultrasonic sensor 16 against the wall, for different orientations of the wall against which the ultrasonic sensor 16 is in contact, and thereby to improve the measurement. performed by the ultrasonic sensor 16.
  • the movement of the set 24 of battery (s) via the displacement device 28 and along the pole 20, allows a better balance of the drone 10 according to the orientation of the pole 20 relative to the frame 12, and thereby improving the measurement made by the ultrasonic sensor 16.
  • the storage tank 30 and the circuit 32 for circulating the fluid to the ultrasonic sensor 16, in order to disperse the fluid, such as water, between the ultrasonic sensor 16 and the wall, makes it possible to further improve the measurement performed by the ultrasonic sensor 16, improving the contact surface between the ultrasonic sensor 16 and the wall for said measurement.
  • the holding device 36 also makes it possible to further improve the measurement performed by the ultrasonic sensor 16 by limiting the variations in position of the ultrasonic sensor 16 relative to the wall during said measurement.
  • the measuring device 38 makes it possible to facilitate the measurement, and in particular the movement control of the ultrasonic sensor 16, in particular when the ultrasonic sensor 16 is of the B-scan type by then precisely measuring the movement of the drone 10 between two successive measurements .
  • this measuring device 38 makes it possible to measure more easily and more precisely the displacement of the drone 10 during a B-scan type measurement, than if this measurement were carried out by a specific navigation and guidance system.
  • drone 10 typically based on an inertial unit and on a satellite positioning system.
  • the drone 10 according to the invention makes it possible to improve the measurement performed by the ultrasonic sensor 16.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Remote Sensing (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Biochemistry (AREA)
  • General Health & Medical Sciences (AREA)
  • Immunology (AREA)
  • Pathology (AREA)
  • Combustion & Propulsion (AREA)
  • Acoustics & Sound (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • Measurement Of Mechanical Vibrations Or Ultrasonic Waves (AREA)

Abstract

The invention relates to a drone (10), in particular a rotary-wing drone, comprising a frame (12), a propulsion system (14) which is mechanically connected to the frame (12), an ultrasonic sensor (16) which is mechanically connected to the frame (12), and a device (18) for reducing mechanical vibrations, which is arranged between the ultrasonic sensor (16) and the frame (12).

Description

Drone équipé d’un capteur à ultrasons Drone equipped with an ultrasonic sensor
La présente invention concerne un drone, notamment à voilure tournante, comprenant un châssis, ainsi qu’un système de propulsion et un capteur à ultrasons, chacun étant relié mécaniquement au châssis. The present invention relates to a drone, in particular a rotary wing, comprising a frame, as well as a propulsion system and an ultrasonic sensor, each being mechanically connected to the frame.
L’invention concerne le domaine des drones, c’est-à-dire des appareils motorisés volants pilotés à distance, en particulier des drones à voilure tournante propres à se déplacer dans l’air au moyen d’au moins un rotor actionné par au moins un moteur. L’invention concerne aussi bien les drones mono-rotor que les drones multi-rotors, notamment des quadricoptères à quatre rotors. The invention relates to the field of drones, that is to say remotely piloted flying motorized devices, in particular rotary wing drones capable of moving in the air by means of at least one rotor actuated by at least one rotor. minus one motor. The invention relates to both single-rotor drones and multi-rotor drones, in particular quadcopters with four rotors.
L’invention concerne en particulier le domaine des drones équipés d’un capteur à ultrasons, le capteur à ultrasons permettant typiquement de mesurer l’épaisseur d’une paroi métallique. The invention relates in particular to the field of drones equipped with an ultrasonic sensor, the ultrasonic sensor typically making it possible to measure the thickness of a metal wall.
On connaît un drone à voilure tournante, du type précité, équipé d’un capteur à ultrasons. Le capteur à ultrasons est de type A-scan, et permet alors par exemple de faire une mesure ponctuelle de l’épaisseur d’une paroi métallique contre laquelle le capteur à ultrasons est en appui. A rotary wing drone is known of the aforementioned type, equipped with an ultrasonic sensor. The ultrasonic sensor is of the A-scan type, and then makes it possible, for example, to make a point measurement of the thickness of a metal wall against which the ultrasonic sensor is resting.
Toutefois, la mesure effectuée par un tel capteur à ultrasons n’est pas toujours optimale. However, the measurement performed by such an ultrasonic sensor is not always optimal.
Le but de l’invention est donc de proposer un drone équipé d’un capteur à ultrasons permettant d’améliorer la mesure effectuée par ledit capteur. The aim of the invention is therefore to provide a drone equipped with an ultrasonic sensor making it possible to improve the measurement made by said sensor.
A cet effet, l’invention a pour objet un drone, notamment à voilure tournante, comprenant : To this end, the object of the invention is a drone, in particular a rotary wing, comprising:
- un châssis, - a chassis,
- un système de propulsion, relié mécaniquement au châssis, - a propulsion system, mechanically connected to the chassis,
- un capteur à ultrasons, relié mécaniquement au châssis, et - an ultrasonic sensor, mechanically connected to the frame, and
- un dispositif de réduction de vibrations mécaniques, agencé entre le capteur à ultrasons et le châssis. a device for reducing mechanical vibrations, arranged between the ultrasonic sensor and the frame.
Avec le drone selon l’invention, le dispositif de réduction de vibrations mécaniques, agencé entre le capteur à ultrasons et le châssis, permet de réduire - pour le capteur à ultrasons - des vibrations mécaniques issues du châssis, lesdites vibrations provenant notamment du système de propulsion. Cette réduction de vibrations parasites pour le capteur à ultrasons permet alors d’améliorer la mesure effectuée par ce capteur. With the drone according to the invention, the device for reducing mechanical vibrations, arranged between the ultrasonic sensor and the frame, makes it possible to reduce - for the ultrasonic sensor - mechanical vibrations originating from the frame, said vibrations originating from the frame. including the propulsion system. This reduction of parasitic vibrations for the ultrasonic sensor then makes it possible to improve the measurement performed by this sensor.
Suivant d’autres aspects avantageux de l’invention, le drone comprend une ou plusieurs des caractéristiques suivantes, prises isolément ou suivant toutes les combinaisons techniquement possibles : According to other advantageous aspects of the invention, the drone comprises one or more of the following characteristics, taken in isolation or in any technically possible combination:
- le capteur à ultrasons est relié au châssis via une perche et une rotule ; - the ultrasonic sensor is connected to the frame via a pole and a ball joint;
- le dispositif de réduction de vibrations mécaniques comporte un amortisseur selon une direction d’extension de la perche et/ou un soufflet pour la rotule ; - the mechanical vibration reduction device comprises a damper in a direction of extension of the pole and / or a bellows for the ball joint;
- la perche est mobile en rotation par rapport au châssis autour d’un axe de rotation, l'axe de rotation s’étendant de préférence transversalement par rapport au châssis ; - the pole is movable in rotation relative to the frame about an axis of rotation, the axis of rotation preferably extending transversely to the frame;
- le drone comprend en outre un ensemble de batterie(s) relié mécaniquement à la perche ; - the drone further comprises a set of battery (s) mechanically connected to the pole;
- le drone comprend en outre un dispositif de déplacement configuré pour déplacer l’ensemble de batterie(s) le long de la perche ; - the drone further comprises a movement device configured to move the battery assembly (s) along the pole;
- le dispositif de déplacement est configuré en outre pour asservir un déplacement de l’ensemble de batterie(s) en fonction d’une inclinaison de la perche autour de l’axe de rotation ; - The displacement device is further configured to control a displacement of the battery assembly (s) according to an inclination of the pole around the axis of rotation;
- le système de propulsion comporte un groupe de rotor(s), et au moins un rotor, de préférence au moins un rotor avant, est monté sur un pivot par rapport au châssis ; - The propulsion system comprises a group of rotor (s), and at least one rotor, preferably at least one front rotor, is mounted on a pivot relative to the frame;
- le drone comprend en outre un réservoir de stockage d’un fluide et un circuit de circulation du fluide entre le réservoir de stockage et le capteur à ultrasons ; - The drone further includes a fluid storage tank and a fluid circulation circuit between the storage tank and the ultrasonic sensor;
- le drone comprend en outre un dispositif de déclenchement configuré pour, si le capteur à ultrasons est en contact avec une paroi respective, déclencher une circulation du fluide depuis le réservoir de stockage jusqu’à une zone de contact entre la paroi et le capteur à ultrasons ; the drone further comprises a trigger device configured to, if the ultrasonic sensor is in contact with a respective wall, trigger a circulation of the fluid from the storage tank to a contact zone between the wall and the sensor to ultrasound;
- le drone comprend en outre un dispositif de maintien configuré pour, si le capteur à ultrasons est en contact avec une paroi respective, maintenir le capteur à ultrasons en contact avec la paroi, - the drone further comprises a holding device configured to, if the ultrasonic sensor is in contact with a respective wall, to maintain the ultrasonic sensor in contact with the wall,
le dispositif de maintien comportant de préférence au moins une roue aimantée lorsque le capteur à ultrasons est de type B-scan, the holding device preferably comprising at least one magnetized wheel when the ultrasonic sensor is of the B-scan type,
le dispositif de maintien comportant de préférence au moins un électroaimant lorsque le capteur à ultrasons est de type C-scan ; et the holding device preferably comprising at least one electromagnet when the ultrasonic sensor is of the C-scan type; and
- lorsque le capteur à ultrasons est de type B-scan, le drone comprend en outre un dispositif de mesure configuré pour, si le capteur à ultrasons est en contact avec une paroi respective, mesurer un déplacement du capteur à ultrasons le long de la paroi, le dispositif de mesure comportant de préférence une roue codeuse. Ces caractéristiques et avantages de l’invention apparaîtront plus clairement à la lecture de la description qui va suivre, donnée uniquement à titre d’exemple non limitatif, et faite en référence aux dessins annexés, sur lesquels : - when the ultrasonic sensor is of the B-scan type, the drone further comprises a measuring device configured for, if the ultrasonic sensor is in contact with a respective wall, measuring a displacement of the ultrasonic sensor along the wall , the measuring device preferably comprising an encoder wheel. These characteristics and advantages of the invention will appear more clearly on reading the description which follows, given solely by way of non-limiting example, and made with reference to the appended drawings, in which:
- la figure 1 est une vue en perspective d’un drone équipé d’un capteur à ultrasons, selon un premier mode de réalisation de l’invention où le capteur à ultrasons est de type B-scan, et - Figure 1 is a perspective view of a drone equipped with an ultrasonic sensor, according to a first embodiment of the invention where the ultrasonic sensor is of the B-scan type, and
- la figure 2 est une vue analogue à celle de la figure 1 , selon un deuxième mode de réalisation où le capteur à ultrasons est de type C-scan. - Figure 2 is a view similar to that of Figure 1, according to a second embodiment where the ultrasonic sensor is of the C-scan type.
Dans la suite de la description, les termes « avant », « arrière », « droite », « gauche », « haut », « bas », « longitudinal », « transversal » et « vertical » s’entendent par référence au système d’axe orthogonal usuel des drones, représenté sur les figures 1 et 2, et possédant : In the remainder of the description, the terms “front”, “rear”, “right”, “left”, “top”, “bottom”, “longitudinal”, “transverse” and “vertical” are understood by reference to the usual orthogonal axis system for drones, shown in Figures 1 and 2, and having:
- un axe longitudinal X dirigé de l’arrière vers l’avant ; - a longitudinal axis X directed from the rear to the front;
- un axe transversal Y dirigé de la droite vers la gauche ; et - a transverse axis Y directed from right to left; and
- un axe vertical Z, dirigé du bas vers le haut. - a vertical Z axis, directed from bottom to top.
Sur la figure 1 , un drone 10, c’est-à-dire un aéronef sans pilote à bord, comprend un châssis 12, un système de propulsion 14 et un capteur à ultrasons 16, le système de propulsion 14 et le capteur à ultrasons 16 étant chacun relié mécaniquement au châssis 12. In Figure 1, a drone 10, that is to say an unmanned aircraft on board, comprises a chassis 12, a propulsion system 14 and an ultrasonic sensor 16, the propulsion system 14 and the ultrasonic sensor 16 each being mechanically connected to the frame 12.
Le drone 10 comprend également un dispositif 18 de réduction de vibrations mécaniques, le dispositif de réduction 18 étant agencé entre le capteur à ultrasons 16 et le châssis 12. The drone 10 also comprises a device 18 for reducing mechanical vibrations, the reduction device 18 being arranged between the ultrasonic sensor 16 and the frame 12.
Le drone 10 est un engin volant motorisé pilotable à distance, notamment via une manette, non représentée, équipée d’un écran d’affichage, permettant à l’utilisateur de saisir des commandes de vol. The drone 10 is a motorized flying machine that can be controlled remotely, in particular via a joystick, not shown, equipped with a display screen, allowing the user to enter flight commands.
Le drone 10 est par exemple un drone à voilure tournante, comme dans l’exemple des figures 1 et 2. En variante, non représentée, le drone 10 est un drone à voilure fixe. The drone 10 is for example a rotary-wing drone, as in the example of Figures 1 and 2. As a variant, not shown, the drone 10 is a fixed-wing drone.
Selon un autre aspect facultatif, le drone 10 comprend une perche 20 reliée mécaniquement au châssis 12, et une rotule 22 fixée à une extrémité de la perche 20 pour relier le capteur à ultrasons 16 au châssis 12 via la perche 20. According to another optional aspect, the drone 10 comprises a pole 20 mechanically connected to the frame 12, and a ball joint 22 attached to one end of the pole 20 to connect the ultrasonic sensor 16 to the frame 12 via the pole 20.
Le drone 10 comprend en outre un ensemble 24 de batterie(s) 26, l’ensemble 24 étant de préférence relié mécaniquement à la perche 20. Selon un autre aspect facultatif, le drone 10 comprend en outre un dispositif de déplacement 28 configuré pour déplacer l’ensemble 24 de batterie(s) 26 le long de la perche 20. The drone 10 further comprises a set 24 of battery (s) 26, the set 24 preferably being mechanically connected to the pole 20. In another optional aspect, the drone 10 further comprises a mover 28 configured to move the battery assembly 24 (s) 26 along the pole 20.
Selon un autre aspect facultatif, le drone 10 comprend en outre un réservoir 30 de stockage d’un fluide et un circuit 32 de circulation du fluide entre le réservoir de stockage 30 et le capteur à ultrasons 16. According to another optional aspect, the drone 10 further comprises a reservoir 30 for storing a fluid and a circuit 32 for circulating the fluid between the storage reservoir 30 and the ultrasonic sensor 16.
Selon cet aspect facultatif, le drone 10 comprend en outre un dispositif de déclenchement 34 configuré pour, si le capteur à ultrasons 16 est en contact avec une paroi respective, non représentée, déclencher une circulation du fluide depuis le réservoir de stockage 30 jusqu’à une zone de contact entre la paroi et le capteur à ultrasons 16. According to this optional aspect, the drone 10 further comprises a trigger device 34 configured to, if the ultrasonic sensor 16 is in contact with a respective wall, not shown, trigger a flow of the fluid from the storage tank 30 to. a contact zone between the wall and the ultrasonic sensor 16.
Selon un autre aspect facultatif, le drone 10 comprend en outre un dispositif de maintien 36 configuré pour, si le capteur à ultrasons 16 est en contact avec une paroi respective, maintenir le capteur à ultrasons 16 en contact avec ladite paroi. In another optional aspect, the drone 10 further comprises a holding device 36 configured to, if the ultrasonic sensor 16 is in contact with a respective wall, to maintain the ultrasonic sensor 16 in contact with said wall.
Selon un autre aspect facultatif, le drone 10 comprend en outre, lorsque le capteur à ultrasons 16 est de type B-scan, un dispositif de mesure 38 configuré pour, si le capteur à ultrasons 16 est en contact avec une paroi respective, mesurer un déplacement du capteur à ultrasons 16 le long de la paroi. According to another optional aspect, the drone 10 further comprises, when the ultrasonic sensor 16 is of the B-scan type, a measuring device 38 configured for, if the ultrasonic sensor 16 is in contact with a respective wall, measuring a displacement of the ultrasonic sensor 16 along the wall.
Le châssis 12 comporte une structure porteuse 40 de forme sensiblement parallélépipédique rectangle et de préférence métallique. La structure porteuse 40 est en partie ajourée pour avoir une masse réduite. The frame 12 comprises a supporting structure 40 of substantially rectangular parallelepiped shape and preferably metallic. The supporting structure 40 is partly perforated to have a reduced mass.
Le châssis 12 comporte également des pieds 42 d’appui contre le sol, pour le décollage et l’atterrissage du drone 10, les pieds 42 étant fixés à la structure porteuse 40 en sa partie inférieure. The frame 12 also includes feet 42 for bearing against the ground, for taking off and landing the drone 10, the feet 42 being fixed to the supporting structure 40 at its lower part.
Le châssis 12 comporte également un capot de protection 44, par exemple fixé à la structure porteuse 40 en sa partie supérieure. The frame 12 also includes a protective cover 44, for example fixed to the supporting structure 40 in its upper part.
Le système de propulsion 14 comporte un groupe de rotor(s) 46, chaque rotor 46 étant actionné par au moins un moteur 48. The propulsion system 14 comprises a group of rotor (s) 46, each rotor 46 being actuated by at least one motor 48.
Dans l’exemple des figures 1 et 2, où le drone 10 est un drone à voilure tournante, le groupe de rotor(s) 46 comporte de préférence une pluralité de rotors 46, et le drone 10 est alors également appelé drone multirotor. Le nombre de rotor(s) 46 est par exemple égal à quatre, et le drone 10 est alors un drone quadrirotor. In the example of Figures 1 and 2, where the drone 10 is a rotary wing drone, the rotor group (s) 46 preferably includes a plurality of rotors 46, and the drone 10 is then also called a multirotor drone. The number of rotor (s) 46 is for example equal to four, and the drone 10 is then a four-rotor drone.
En variante, lorsque le drone 10 est un drone à voilure fixe, le groupe de rotor(s) 46 comporte de préférence un unique rotor 46. Alternatively, when the drone 10 is a fixed-wing drone, the rotor group (s) 46 preferably includes a single rotor 46.
Selon un autre aspect facultatif, et de préférence lorsque le drone 10 est un drone à voilure tournante, au moins un rotor 46 est monté sur un pivot 50 par rapport au châssis 12, pour permettre au drone 10 d’avoir une assiette sensiblement horizontale, tout en exerçant une poussée vers l’avant. According to another optional aspect, and preferably when the drone 10 is a rotary wing drone, at least one rotor 46 is mounted on a pivot 50 relative to the frame. 12, to allow the drone 10 to have a substantially horizontal attitude, while exerting a forward thrust.
Selon cet aspect facultatif, lorsque le drone 10 est un drone quadrirotor, et que le groupe de rotor(s) 46 comporte alors quatre rotors 46, les deux rotors 46 avant sont de préférence montés chacun sur un pivot 50 respectif par rapport au châssis 12. According to this optional aspect, when the drone 10 is a four-rotor drone, and the rotor group (s) 46 then comprises four rotors 46, the two front rotors 46 are preferably each mounted on a respective pivot 50 relative to the frame 12 .
Le capteur à ultrasons 16 est connu en soi, et permet notamment de faire une mesure de l’épaisseur d’une paroi métallique contre laquelle le capteur à ultrasons 16 est en appui. The ultrasonic sensor 16 is known per se, and makes it possible in particular to measure the thickness of a metal wall against which the ultrasonic sensor 16 rests.
Dans l’exemple de la figure 1 , illustrant le premier mode de réalisation de l’invention, le capteur à ultrasons 16 est un capteur de type B-scan. Le capteur de type B-scan est connu en soi, et permet d’effectuer une mesure en une dimension le long d’un segment. Plus précisément, le capteur de type B-scan est apte à effectuer une succession de mesures ponctuelles le long de ce segment, puis à prendre en compte, par exemple via une intégration ou une sommation, les différentes mesures effectuées le long de ce segment, afin de délivrer une mesure globale pour ledit segment. In the example of Figure 1, illustrating the first embodiment of the invention, the ultrasonic sensor 16 is a B-scan type sensor. The B-scan type sensor is known per se, and allows a measurement in one dimension along a segment. More precisely, the B-scan type sensor is able to perform a succession of point measurements along this segment, then to take into account, for example via an integration or a summation, the various measurements taken along this segment, in order to deliver an overall measurement for said segment.
Dans l’exemple de la figure 2, illustrant le deuxième mode de réalisation de l’invention, le capteur à ultrasons 16 est un capteur de type C-scan. Le capteur de type C- scan est connu en soi, et permet d’effectuer une mesure en deux dimensions en parcourant une surface prédéfinie, par exemple une surface rectangulaire. Autrement dit, le capteur de type C-scan est apte à balayer différents points de ladite surface, et à effectuer une mesure, par exemple une mesure de l’épaisseur de la paroi, pour chacun de ces points, puis à déterminer une mesure globale en fonction des différentes mesures ponctuelles effectuées. In the example of Figure 2, illustrating the second embodiment of the invention, the ultrasonic sensor 16 is a C-scan type sensor. The C-scan type sensor is known per se, and makes it possible to perform a two-dimensional measurement by traversing a predefined surface, for example a rectangular surface. In other words, the C-scan type sensor is able to scan different points of said surface, and to perform a measurement, for example a measurement of the thickness of the wall, for each of these points, then to determine an overall measurement. according to the various punctual measurements carried out.
En variante non représentée, le capteur à ultrasons 16 est un capteur de type A- scan. Le capteur de type A-scan est connu en soi, et permet d’effectuer une mesure ponctuelle, telle qu’une mesure de l’épaisseur de la paroi en un point donné, plus précisément en le point de contact où le capteur à ultrasons 16 est en contact avec ladite paroi. In a variant not shown, the ultrasonic sensor 16 is an A-scan type sensor. The A-scan type sensor is known per se, and makes it possible to perform a point measurement, such as a measurement of the thickness of the wall at a given point, more precisely at the point of contact where the ultrasonic sensor 16 is in contact with said wall.
Le dispositif de réduction 18 est apte à réduire, vis-à-vis du capteur à ultrasons 16, des vibrations mécaniques issues du châssis 12, afin d’améliorer la mesure effectuée par le capteur à ultrasons 16. Le dispositif de réduction 18 est alors adapté pour filtrer, au moins partiellement, des vibrations mécaniques issues du châssis 12. En d’autres termes, le dispositif de réduction 18 est adapté pour amortir des mouvements du drone 10 susceptibles de parasiter la mesure effectuée par le capteur à ultrasons 16, en particulier pour amortir les mouvements du drone 10 lorsque le drone est en vol stationnaire au contact de la paroi, le capteur à ultrasons 16 étant alors de préférence maintenu en contact avec ladite paroi via le dispositif de maintien 36. The reduction device 18 is able to reduce, vis-à-vis the ultrasonic sensor 16, mechanical vibrations originating from the frame 12, in order to improve the measurement performed by the ultrasonic sensor 16. The reduction device 18 is then adapted to filter, at least partially, mechanical vibrations coming from the frame 12. In other words, the reduction device 18 is adapted to damp movements of the drone 10 liable to interfere with the measurement made by the ultrasonic sensor 16, in particularly for damping the movements of the drone 10 when the drone is hovering at contact with the wall, the ultrasonic sensor 16 then preferably being kept in contact with said wall via the holding device 36.
Dans l’exemple des figures 1 et 2, où le capteur à ultrasons 16 est relié au châssis 12 via la perche 20 et/ou la rotule 22, le dispositif de réduction de vibrations mécaniques 18 comporte un amortisseur 52 selon une direction d’extension de la perche 20 et/ou un soufflet 54 pour la rotule 22. L’amortisseur 52 est apte à réduire les vibrations mécaniques selon la direction d’extension de la perche 20. Le soufflet 54 est apte à réduire les vibrations mécaniques en roulis, lacet et/ou tangage par rapport à la direction d’extension de la perche 20, la rotule 22 étant montée à une extrémité de la perche 20. In the example of Figures 1 and 2, where the ultrasonic sensor 16 is connected to the frame 12 via the pole 20 and / or the ball 22, the mechanical vibration reduction device 18 comprises a damper 52 in an extension direction of the pole 20 and / or a bellows 54 for the ball joint 22. The damper 52 is able to reduce the mechanical vibrations in the direction of extension of the pole 20. The bellows 54 is able to reduce the mechanical vibrations in roll, yaw and / or pitch relative to the direction of extension of the pole 20, the ball 22 being mounted at one end of the pole 20.
La perche 20 est de préférence mobile en rotation par rapport au châssis 12 autour d’un axe de rotation 56. Dans l’exemple des figures 1 et 2, l’axe de rotation 56 s’étend transversalement par rapport au châssis 12. Autrement dit, dans cet exemple, l’axe de rotation 56 s’étend sensiblement selon l’axe transversal Y. The pole 20 is preferably movable in rotation relative to the frame 12 about an axis of rotation 56. In the example of FIGS. 1 and 2, the axis of rotation 56 extends transversely with respect to the frame 12. Otherwise Said, in this example, the axis of rotation 56 extends substantially along the transverse axis Y.
Dans l’exemple des figures 1 et 2, l’inclinaison de la perche 20 autour de l’axe de rotation 56 présente un angle de valeur comprise entre 0°, correspondant à un agencement de la perche 20 sensiblement selon l’axe longitudinal X, et 90° correspondant à un agencement de la perche 20 sensiblement selon l’axe vertical Z. In the example of Figures 1 and 2, the inclination of the pole 20 around the axis of rotation 56 has an angle of value between 0 °, corresponding to an arrangement of the pole 20 substantially along the longitudinal axis X , and 90 ° corresponding to an arrangement of the pole 20 substantially along the vertical axis Z.
Dans l’exemple des figures 1 et 2, le capot de protection 44 comporte en outre une rainure 58 permettant le passage de la perche 20, et autorisant notamment un agencement de la perche 20 selon l’axe vertical Z. La rainure 58 est par exemple en forme d’un U, et la perche 20 vient sensiblement en butée contre une extrémité intérieure de la rainure 58 lorsque la perche 20 est agencée selon l’axe vertical Z. In the example of Figures 1 and 2, the protective cover 44 further comprises a groove 58 allowing the passage of the pole 20, and in particular allowing an arrangement of the pole 20 along the vertical axis Z. The groove 58 is by example in the form of a U, and the pole 20 comes substantially into abutment against an inner end of the groove 58 when the pole 20 is arranged along the vertical axis Z.
La perche 20 est par exemple sensiblement en forme d’un cylindre 60, le cylindre 60 présentant une section circulaire dans l’exemple des figures 1 et 2. The pole 20 is for example substantially in the form of a cylinder 60, the cylinder 60 having a circular section in the example of Figures 1 and 2.
La rotule 22 est fixée à une extrémité de la perche 20, entre la perche 20 et le capteur à ultrasons 16, par exemple à l’extrémité avant de la perche 20 lorsque le capteur à ultrasons 16 est disposé à l’avant du drone 10. The ball 22 is fixed to one end of the pole 20, between the pole 20 and the ultrasonic sensor 16, for example at the front end of the pole 20 when the ultrasonic sensor 16 is placed at the front of the drone 10 .
La rotule 22 forme alors une articulation du capteur à ultrasons 16 par rapport à la perche 20, cette articulation permettant une rotation en roulis, lacet et/ou tangage du capteur à ultrasons 16 par rapport à la perche 20. Autrement dit, la rotule 22 offre trois degrés de liberté en rotation du capteur à ultrasons 16 par rapport à la perche 20. The ball 22 then forms an articulation of the ultrasonic sensor 16 relative to the pole 20, this articulation allowing a roll, yaw and / or pitch rotation of the ultrasonic sensor 16 relative to the pole 20. In other words, the ball 22 offers three degrees of freedom in rotation of the ultrasonic sensor 16 with respect to the pole 20.
L’ensemble 24 de batterie comporte une ou plusieurs batteries 26. Dans l’exemple des figures 1 et 2, l’ensemble 24 comporte quatre batteries 26, de préférence disposées de part et d’autre de la perche 20 pour permettre un meilleur équilibrage du drone 10. Dans cet exemple, une moitié des batteries 26 de l’ensemble 24 est disposée d’un côté de la perche 20, et l’autre moitié est disposée de l’autre côté de la perche 20, une moitié étant par exemple disposée à gauche de la perche 20, et l’autre moitié étant alors disposée à droite de la perche 20. Lorsque plusieurs batteries 26 sont disposées d’un côté de la perche 20, les batteries 26 sont de préférence disposées successivement selon la direction d’extension de la perche 20, c’est-à-dire les unes à la suite des autres selon ladite direction d’extension. The battery assembly 24 comprises one or more batteries 26. In the example of FIGS. 1 and 2, the assembly 24 comprises four batteries 26, preferably arranged on either side of the pole 20 to allow better balancing. of the drone 10. In this example, one half of the batteries 26 of the assembly 24 is arranged on one side of the pole 20, and the other half is placed on the other side of the pole 20, one half being for example arranged to the left of the pole 20, and the other half then being arranged to the right of the pole 20. When several batteries 26 are arranged on one side of the pole 20, the batteries 26 are preferably arranged successively according to the direction of extension of the pole 20, that is to say one after the other in said direction of extension.
Chaque batterie 26 est connue en soi, et est apte à stocker de l’énergie électrique. Dans l’exemple des figures 1 et 2, chaque batterie 26 est en forme d’un parallélépipède rectangle. Each battery 26 is known per se, and is capable of storing electrical energy. In the example of Figures 1 and 2, each battery 26 is in the form of a rectangular parallelepiped.
Le dispositif de déplacement 28 est configuré pour déplacer l’ensemble 24 de batterie(s) le long de la perche 20, et comporte par exemple une glissière 62 permettant un coulissement de l’ensemble 24 par rapport à la perche 20. La glissière 62 est par exemple fixée à la perche 20, et s’étend selon la direction d’extension de la perche 20. The displacement device 28 is configured to move the battery assembly 24 along the pole 20, and for example comprises a slide 62 allowing the assembly 24 to slide relative to the pole 20. The slide 62 is for example fixed to the pole 20, and extends in the direction of extension of the pole 20.
En autorisant un déplacement de l’ensemble 24 de batterie(s) le long de la perche 20, le dispositif de déplacement 28 permet un meilleur équilibrage du drone 10, et ce faisant une amélioration de la mesure effectuée par le capteur à ultrasons 16. A titre d’exemple, lorsque l’inclinaison de la perche 20 est sensiblement égale à 0° autour de son axe de rotation 56, et que la perche 20 est alors agencée sensiblement selon l’axe longitudinal X, l’ensemble 24 de batterie(s) est de préférence positionné à proximité de l’extrémité, de préférence arrière, de la perche 20 qui est opposée à l’extrémité, de préférence avant, à laquelle est fixé le capteur à ultrasons 16. Lorsque l’inclinaison de la perche 20 augmente et varie progressivement jusqu’à 90°, correspondant à un agencement de la perche 20 sensiblement selon l’axe vertical Z, l’ensemble 24 de batterie(s) est progressivement déplacé en direction du capteur à ultrasons 16, ou encore en direction de l’axe de rotation 56. Lorsque l’inclinaison de la perche 20 est sensiblement égale à 90°, et que la perche 20 est alors disposée sensiblement verticalement, l’ensemble 24 de batterie(s) est alors positionné à proximité de l’axe de rotation 56. By allowing the battery assembly 24 to move along the pole 20, the displacement device 28 allows better balancing of the drone 10, and thereby improves the measurement performed by the ultrasonic sensor 16. By way of example, when the inclination of the pole 20 is substantially equal to 0 ° around its axis of rotation 56, and when the pole 20 is then arranged substantially along the longitudinal axis X, the battery assembly 24 (s) is preferably positioned near the end, preferably rear, of the pole 20 which is opposite the end, preferably the front, to which the ultrasonic sensor 16 is attached. When tilting the pole 20 increases and gradually varies up to 90 °, corresponding to an arrangement of the pole 20 substantially along the vertical axis Z, the battery assembly 24 is progressively moved in the direction of the ultrasonic sensor 16, or else towards the axis of rotation 56. When the incline its boom 20 is substantially equal to 90 °, and that the boom 20 is then disposed substantially vertically, the battery assembly 24 (s) is then positioned near the axis of rotation 56.
La course de l’ensemble 24 de batterie(s) le long de la perche 20 est alors inférieure à la moitié de la longueur de la perche 20, ladite course étant associée à la moitié arrière de la perche 20, et n’allant pas au-delà de la moitié de la perche 20 correspondant sensiblement à la position de l’axe de rotation 56. The stroke of the battery assembly 24 along the pole 20 is then less than half the length of the pole 20, said stroke being associated with the rear half of the pole 20, and not going beyond half of the pole 20 corresponding substantially to the position of the axis of rotation 56.
En complément facultatif, le dispositif de déplacement 28 est configuré en outre pour asservir un déplacement de l’ensemble 24 de batterie(s) en fonction d’une inclinaison de la perche 20 autour de son axe de rotation 56. Autrement dit, selon ce complément facultatif, le dispositif de déplacement 28 permet de positionner automatiquement l’ensemble 24 de batterie(s) le long de la perche 20 en fonction de l’inclinaison de ladite perche 20 autour de son axe de rotation 56, ceci afin de faciliter l’équilibrage du drone 10, et ce faisant d’améliorer la mesure effectuée par le capteur à ultrasons 16. As an optional addition, the displacement device 28 is further configured to control a displacement of the battery assembly 24 as a function of an inclination of the pole 20 around its axis of rotation 56. In other words, according to this optional complement, the displacement device 28 makes it possible to automatically position the set 24 of battery (s) along the pole 20 according to the inclination of said pole 20 around its axis of rotation 56, in order to facilitate balancing the drone 10, and thereby improving the measurement made by the ultrasonic sensor 16.
En variante, la position de l’ensemble 24 de batterie(s) le long de la perche 20 est prédéfinie avant le décollage du drone 10, par exemple via un déplacement manuel de l’ensemble 24 le long de la perche 20 à l’aide de la glissière 62, puis via un blocage de l’ensemble 24 dans cette position. Alternatively, the position of the battery assembly 24 along the boom 20 is predefined prior to take-off of the drone 10, for example via manual movement of the assembly 24 along the boom 20 to the using the slide 62, then by locking the assembly 24 in this position.
Le réservoir de stockage 30 est par exemple fixé sous la structure porteuse 40 du châssis. Le réservoir 30 est de préférence sous pression afin de faciliter la circulation du fluide à l’intérieur du circuit de circulation 32 lorsque la circulation dudit fluide a été déclenchée par le dispositif de déclenchement 34. Le fluide, stocké dans le réservoir de stockage 30 et apte à circuler dans le circuit de circulation 32, est par exemple de l’eau. The storage tank 30 is for example fixed under the supporting structure 40 of the frame. The reservoir 30 is preferably under pressure in order to facilitate the circulation of the fluid inside the circulation circuit 32 when the circulation of said fluid has been triggered by the triggering device 34. The fluid, stored in the storage reservoir 30 and capable of circulating in the circulation circuit 32, is for example water.
Le circuit de circulation 32 est par exemple en forme d’un tuyau s’étendant depuis le réservoir de stockage 30 jusqu’à proximité du capteur à ultrasons 16, afin de permettre la libération du fluide à l’intérieur d’une zone de contact entre le capteur à ultrasons 16 et une paroi respective, au moment où le capteur à ultrasons 16 entre en contact avec ladite paroi. Le circuit de circulation 32 comporte par exemple deux extrémités, et est connecté en une extrémité au réservoir de stockage 30, et en l’autre extrémité au dispositif de déclenchement 34. The circulation circuit 32 is for example in the form of a pipe extending from the storage tank 30 to the proximity of the ultrasonic sensor 16, in order to allow the release of the fluid inside a contact zone. between the ultrasonic sensor 16 and a respective wall, at the moment when the ultrasonic sensor 16 comes into contact with said wall. The circulation circuit 32 has for example two ends, and is connected at one end to the storage tank 30, and at the other end to the trigger device 34.
Le dispositif de déclenchement 34 comporte par exemple un obturateur, non représenté, permettant d’obturer le circuit de circulation 32, et de le maintenir sous pression, tout comme le réservoir de stockage 30, ainsi qu’un mécanisme d’ouverture, non représenté, apte à déclencher l’ouverture de l’obturateur en cas de détection d’un contact du capteur à ultrasons 16 avec une paroi respective. Autrement dit, ledit mécanisme est apte à déclencher la libération du fluide sous pression afin qu’il vienne, au moins en partie, se disposer à l’intérieur de la zone de contact entre la paroi et le capteur à ultrasons 16. The trigger device 34 comprises for example a shutter, not shown, making it possible to close the circulation circuit 32, and to keep it under pressure, just like the storage tank 30, as well as an opening mechanism, not shown. , capable of triggering the opening of the shutter in the event of detection of a contact of the ultrasonic sensor 16 with a respective wall. In other words, said mechanism is able to trigger the release of the pressurized fluid so that it comes, at least in part, to be placed inside the contact zone between the wall and the ultrasonic sensor 16.
Le dispositif de maintien 36 est configuré pour maintenir le capteur à ultrasons 16 en contact avec la paroi contre laquelle il est appliqué. Le dispositif de maintien 36 est de préférence un dispositif de maintien par attraction magnétique, la paroi étant typiquement une paroi métallique. The holder 36 is configured to hold the ultrasonic sensor 16 in contact with the wall against which it is applied. The retaining device 36 is preferably a retaining device by magnetic attraction, the wall typically being a metal wall.
Lorsque le capteur à ultrasons 16 est de type B-scan selon le premier mode de réalisation, le dispositif de maintien 36 comporte de préférence au moins une roue aimantée 64. Chaque roue aimantée 64 permet alors une attraction magnétique avec la paroi correspondante, tout en autorisant un déplacement le long de la paroi. When the ultrasonic sensor 16 is of the B-scan type according to the first embodiment, the holding device 36 preferably comprises at least one magnetized wheel 64. Each magnetized wheel 64 then allows a magnetic attraction with the corresponding wall, while at the same time allowing movement along the wall.
Dans l’exemple de la figure 1 , le dispositif de maintien 36 comporte quatre roues aimantées 64 réparties par paires, de part et d’autre du capteur à ultrasons 16. Dans cet exemple, une première paire de roues aimantées 64 est fixée aux extrémités d’une première tige 66, elle-même reliée à la perche 20 via la rotule 22 par un premier bras 68. De manière analogue, une deuxième paire de roues aimantées 64 est fixée aux extrémités d’une deuxième tige 70, elle-même reliée mécaniquement à la perche 20 via la rotule 22 par un deuxième bras 72. Chaque bras 68, 72 est de préférence en outre articulé par rapport à la rotule 22. In the example of FIG. 1, the holding device 36 comprises four magnetized wheels 64 distributed in pairs, on either side of the ultrasonic sensor 16. In this example, a first pair of magnetized wheels 64 is fixed to the ends of a first rod 66, itself connected to the pole 20 via the ball joint 22 by a first arm 68. Similarly, a second pair of magnetized wheels 64 is fixed to the ends of a second rod 70, itself mechanically connected to the pole 20 via the ball 22 by a second arm 72. Each arm 68, 72 is preferably further articulated relative to the ball 22.
Lorsque le capteur à ultrasons 16 est de type C-scan selon le deuxième mode de réalisation, le dispositif de maintien 36 comporte de préférence au moins un électroaimant 74. Chaque électroaimant 74 permet un maintien statique en contact avec la paroi 16, c’est-à-dire un maintien en contact avec la paroi en une position donnée. Dans l’exemple de la figure 2, le dispositif de maintien 36 comporte trois électro-aimants 74 afin d’assurer un maintien isostatique du capteur à ultrasons 16 dans le plan de la paroi et en contact avec celle-ci. Chaque électroaimant 74 est relié mécaniquement à la perche 20 via la rotule 22 par une barre respective 76. Chaque barre 76 est de préférence articulée par rapport à la rotule 22. When the ultrasonic sensor 16 is of the C-scan type according to the second embodiment, the holding device 36 preferably comprises at least one electromagnet 74. Each electromagnet 74 allows static holding in contact with the wall 16, ie. that is to say, keeping it in contact with the wall in a given position. In the example of FIG. 2, the holding device 36 comprises three electromagnets 74 in order to ensure an isostatic holding of the ultrasonic sensor 16 in the plane of the wall and in contact with the latter. Each electromagnet 74 is mechanically connected to the pole 20 via the ball 22 by a respective bar 76. Each bar 76 is preferably articulated with respect to the ball 22.
L’homme du métier observera alors que le deuxième mode de réalisation, représenté sur la figure 2, diffère du premier mode de réalisation, représenté sur la figure 1 , seulement en ce que le capteur à ultrasons 16 est de type C-scan selon le deuxième mode de réalisation, le capteur à ultrasons 16 étant de type B-scan selon le premier mode de réalisation ; et en ce que le dispositif de maintien 36 comporte alors de préférence au moins un électroaimant 74 selon le deuxième mode de réalisation, le dispositif de maintien 36 comportant de préférence au moins une roue aimantée 64 selon le premier mode de réalisation. Les autres éléments du deuxième mode de réalisation sont identiques à ceux du premier mode de réalisation et sont repérés par des références identiques sur les figures 1 et 2. Those skilled in the art will then observe that the second embodiment, represented in FIG. 2, differs from the first embodiment, represented in FIG. 1, only in that the ultrasonic sensor 16 is of the C-scan type according to the second embodiment, the ultrasonic sensor 16 being of the B-scan type according to the first embodiment; and in that the holding device 36 then preferably comprises at least one electromagnet 74 according to the second embodiment, the holding device 36 preferably comprising at least one magnetized wheel 64 according to the first embodiment. The other elements of the second embodiment are identical to those of the first embodiment and are identified by identical references in Figures 1 and 2.
Le dispositif de mesure 38 est adapté pour mesurer un déplacement du capteur à ultrasons 16 le long de la paroi contre laquelle il est en contact, en particulier lorsque le capteur à ultrasons 16 est du type B-scan. Le dispositif de mesure 38 comporte par exemple une roue codeuse 78, visible sur la figure 1. La roue codeuse 78 est positionnée sur un bord du capteur à ultrasons 16, et permet de mesurer le déplacement du capteur à ultrasons 16 selon la direction de déplacement du capteur. The measuring device 38 is suitable for measuring a displacement of the ultrasonic sensor 16 along the wall against which it is in contact, in particular when the ultrasonic sensor 16 is of the B-scan type. The measuring device 38 comprises for example an encoder wheel 78, visible in FIG. 1. The encoder wheel 78 is positioned on an edge of the ultrasonic sensor 16, and makes it possible to measure the displacement of the ultrasonic sensor 16 according to the direction of movement. of the sensor.
Le dispositif de mesure 38 est alors configuré en outre pour commander une prochaine mesure, c’est-à-dire une mesure suivante, du capteur à ultrasons 16 en fonction du déplacement mesuré. Le dispositif de mesure 38 est par exemple configuré pour commander la réalisation d’une mesure par le capteur à ultrasons 16 tous les 0,5 cm. Autrement dit, le dispositif de mesure 38 permet de faire un échantillonnage des mesures effectuées par le capteur à ultrasons 16 le long de son déplacement correspondant au segment pour lequel le capteur à ultrasons 16 doit effectuer une mesure globale. The measuring device 38 is then further configured to order a next measurement, that is to say a next measurement, of the ultrasonic sensor 16 as a function of the measured displacement. The measuring device 38 is for example configured to control the performance of a measurement by the ultrasonic sensor 16 every 0.5 cm. In other words, the measuring device 38 makes it possible to sample the measurements performed by the ultrasonic sensor 16 along its displacement corresponding to the segment for which the ultrasonic sensor 16 is to perform an overall measurement.
Le pivot 50 est un pivot autour de l’axe transversal Y, permettant alors au rotor 46 de pivoter autour de l’axe transversal Y par rapport au châssis 12. The pivot 50 is a pivot about the transverse axis Y, then allowing the rotor 46 to pivot about the transverse axis Y relative to the frame 12.
Ainsi, le drone 10 selon l’invention permet d’améliorer la mesure effectuée par le capteur à ultrasons 16 de par le dispositif 18 de réduction de vibrations mécaniques, agencé entre le capteur à ultrasons 16 et le châssis 12. Le dispositif de réduction 18 permet en effet de réduire, ou encore de filtrer, au moins partiellement, les vibrations mécaniques issues du châssis 12 et susceptibles de perturber le bon fonctionnement du capteur à ultrasons 16. Thus, the drone 10 according to the invention makes it possible to improve the measurement carried out by the ultrasonic sensor 16 through the device 18 for reducing mechanical vibrations, arranged between the ultrasonic sensor 16 and the frame 12. The reduction device 18 in fact makes it possible to reduce, or even to filter, at least partially, the mechanical vibrations coming from the frame 12 and likely to disturb the proper functioning of the ultrasonic sensor 16.
Lorsque le dispositif de réduction 18 comporte l’amortisseur 52 et/ou le soufflet 54, le dispositif de réduction 18 permet de filtrer les vibrations mécaniques selon la direction d’extension de la perche 20 de par l’amortisseur 52, et/ou en roulis, en lacet et en tangage autour de la rotule 22 par rapport à la perche 20 de par le soufflet 54. When the reduction device 18 comprises the damper 52 and / or the bellows 54, the reduction device 18 makes it possible to filter the mechanical vibrations according to the direction of extension of the pole 20 by the damper 52, and / or by roll, yaw and pitch around the ball 22 relative to the pole 20 by the bellows 54.
La mobilité en rotation de la perche 20 par rapport au châssis 12, de préférence autour de l’axe transversal Y, permet d’effectuer avec le capteur à ultrasons 16 une mesure contre une surface verticale correspondant sensiblement à l’inclinaison égale à 0°, contre une surface inclinée correspondant à une inclinaison strictement comprise entre 0° et 90°, ou encore contre une surface horizontale correspondant sensiblement à l’inclinaison égale à 90°. Autrement dit, la mobilité en rotation de la perche 20 permet de faciliter la mesure du capteur à ultrasons 16 contre la paroi, pour différentes orientations de la paroi contre laquelle le capteur à ultrasons 16 est en contact, et ce faisant d’améliorer la mesure effectuée par le capteur à ultrasons 16. The rotational mobility of the pole 20 relative to the frame 12, preferably around the transverse axis Y, makes it possible to carry out with the ultrasonic sensor 16 a measurement against a vertical surface corresponding substantially to the inclination equal to 0 ° , against an inclined surface corresponding to an inclination strictly between 0 ° and 90 °, or again against a horizontal surface corresponding substantially to the inclination equal to 90 °. In other words, the rotational mobility of the pole 20 makes it possible to facilitate the measurement of the ultrasonic sensor 16 against the wall, for different orientations of the wall against which the ultrasonic sensor 16 is in contact, and thereby to improve the measurement. performed by the ultrasonic sensor 16.
Le déplacement de l’ensemble 24 de batterie(s) via le dispositif de déplacement 28 et le long de la perche 20, permet un meilleur équilibrage du drone 10 en fonction de l’orientation de la perche 20 par rapport au châssis 12, et ce faisant d’améliorer la mesure effectuée par le capteur à ultrasons 16. The movement of the set 24 of battery (s) via the displacement device 28 and along the pole 20, allows a better balance of the drone 10 according to the orientation of the pole 20 relative to the frame 12, and thereby improving the measurement made by the ultrasonic sensor 16.
Le réservoir de stockage 30 et le circuit 32 de circulation du fluide jusqu’au capteur à ultrasons 16, afin de disperser du fluide, tel que de l’eau, entre le capteur à ultrasons 16 et la paroi, permet d’améliorer encore la mesure effectuée par le capteur à ultrasons 16, en améliorant la surface de contact entre le capteur à ultrasons 16 et la paroi pour ladite mesure. The storage tank 30 and the circuit 32 for circulating the fluid to the ultrasonic sensor 16, in order to disperse the fluid, such as water, between the ultrasonic sensor 16 and the wall, makes it possible to further improve the measurement performed by the ultrasonic sensor 16, improving the contact surface between the ultrasonic sensor 16 and the wall for said measurement.
Le dispositif de maintien 36 permet également d’améliorer encore la mesure effectuée par le capteur à ultrasons 16 en limitant les variations de position du capteur à ultrasons 16 par rapport à la paroi lors de ladite mesure. Le dispositif de mesure 38 permet de faciliter la mesure, et notamment la commande de déplacement du capteur à ultrasons 16, en particulier lorsque le capteur à ultrasons 16 est de type B-scan en mesurant alors précisément le déplacement du drone 10 entre deux mesures successives. L’homme du métier comprendra alors que ce dispositif de mesure 38 permet de mesurer plus facilement et plus précisément le déplacement du drone 10 pendant une mesure de type B-scan, que si cette mesure était effectuée par un système de navigation et de guidage propre au drone 10, basé typiquement sur une centrale inertielle et sur un système de positionnement par satellite. The holding device 36 also makes it possible to further improve the measurement performed by the ultrasonic sensor 16 by limiting the variations in position of the ultrasonic sensor 16 relative to the wall during said measurement. The measuring device 38 makes it possible to facilitate the measurement, and in particular the movement control of the ultrasonic sensor 16, in particular when the ultrasonic sensor 16 is of the B-scan type by then precisely measuring the movement of the drone 10 between two successive measurements . Those skilled in the art will then understand that this measuring device 38 makes it possible to measure more easily and more precisely the displacement of the drone 10 during a B-scan type measurement, than if this measurement were carried out by a specific navigation and guidance system. drone 10, typically based on an inertial unit and on a satellite positioning system.
L’homme du métier comprendra que les aspects facultatifs décrits précédemment sont indépendants les uns des autres et pourraient chacun faire l’objet d’une demande divisionnaire distincte portant sur un drone comprenant le châssis 12, le système de propulsion 14 et le capteur à ultrasons 16, chacun relié mécaniquement au châssis 12, le drone comprenant alors ledit aspect facultatif, mais ne comprenant pas nécessairement le dispositif de réduction de vibrations mécaniques 18. Those skilled in the art will understand that the optional aspects described above are independent of each other and could each form the subject of a separate divisional application for a drone comprising the chassis 12, the propulsion system 14 and the ultrasonic sensor. 16, each mechanically connected to the frame 12, the drone then comprising said optional aspect, but not necessarily comprising the device for reducing mechanical vibrations.
Ceci étant, l’homme du métier observera également, et ainsi que cela a été expliqué, que lorsqu’ils sont combinés avec le dispositif de réduction de vibrations mécaniques 18, ces aspects facultatifs viennent chacun améliorer encore la mesure effectuée par le capteur à ultrasons 16, et autrement dit offrent chacun un effet de synergie avec le dispositif de réduction de vibrations mécaniques 18. However, those skilled in the art will also observe, and as has been explained, that when combined with the mechanical vibration reduction device 18, these optional aspects each further improve the measurement made by the ultrasonic sensor. 16, and in other words each offer an effect of synergy with the mechanical vibration reduction device 18.
On conçoit ainsi que le drone 10 selon l’invention permet d’améliorer la mesure effectuée par le capteur à ultrasons 16. It can thus be seen that the drone 10 according to the invention makes it possible to improve the measurement performed by the ultrasonic sensor 16.

Claims

REVENDICATIONS
1. Drone (10), notamment à voilure tournante, comprenant : 1. Drone (10), in particular rotary airfoil, comprising:
- un châssis (12), - a frame (12),
- un système de propulsion (14), relié mécaniquement au châssis (12), - a propulsion system (14), mechanically connected to the frame (12),
- un capteur à ultrasons (16), relié mécaniquement au châssis (12), - an ultrasonic sensor (16), mechanically connected to the frame (12),
caractérisé en ce qu’il comprend en outre : characterized in that it further comprises:
- un dispositif (18) de réduction de vibrations mécaniques, agencé entre le capteur à ultrasons (16) et le châssis (12). - a device (18) for reducing mechanical vibrations, arranged between the ultrasonic sensor (16) and the frame (12).
2. Drone (10) selon la revendication 1 , dans lequel le capteur à ultrasons (16) est relié au châssis (12) via une perche (20) et une rotule (22). 2. Drone (10) according to claim 1, wherein the ultrasonic sensor (16) is connected to the frame (12) via a pole (20) and a ball (22).
3. Drone (10) selon la revendication 2, dans lequel le dispositif de réduction de vibrations mécaniques (18) comporte un amortisseur (52) selon une direction d’extension de la perche (20) et/ou un soufflet (54) pour la rotule (22). 3. Drone (10) according to claim 2, wherein the mechanical vibration reduction device (18) comprises a damper (52) in an extension direction of the pole (20) and / or a bellows (54) for the ball joint (22).
4. Drone (10) selon la revendication 2 ou 3, dans lequel la perche (20) est mobile en rotation par rapport au châssis (12) autour d’un axe de rotation (56), 4. Drone (10) according to claim 2 or 3, wherein the pole (20) is rotatable relative to the frame (12) about an axis of rotation (56),
l'axe de rotation (56) s’étendant de préférence transversalement par rapport au châssis (12). the axis of rotation (56) preferably extending transversely to the frame (12).
5. Drone (10) selon l’une quelconque des revendications 2 à 4, dans lequel le drone (10) comprend en outre un ensemble (24) de batterie(s) (26) relié mécaniquement à la perche (20). 5. Drone (10) according to any one of claims 2 to 4, wherein the drone (10) further comprises a set (24) of battery (s) (26) mechanically connected to the pole (20).
6. Drone (10) selon la revendication 5, dans lequel le drone (10) comprend en outre un dispositif de déplacement (28) configuré pour déplacer l’ensemble (24) de batterie(s) (26) le long de la perche (20). 6. A drone (10) according to claim 5, wherein the drone (10) further comprises a movement device (28) configured to move the assembly (24) of battery (s) (26) along the pole. (20).
7. Drone (10) selon les revendications 4 et 6, dans lequel le dispositif de déplacement (28) est configuré en outre pour asservir un déplacement de l’ensemble (24) de batterie(s) (26) en fonction d’une inclinaison de la perche (20) autour de l’axe de rotation (56). 7. Drone (10) according to claims 4 and 6, wherein the displacement device (28) is further configured to control a displacement of the assembly (24) of battery (s) (26) according to a inclination of the pole (20) around the axis of rotation (56).
8. Drone (10) selon l’une quelconque des revendications précédentes, dans lequel le système de propulsion (14) comporte un groupe de rotor(s) (46), et au moins un rotor (46), de préférence au moins un rotor avant, est monté sur un pivot (50) par rapport au châssis (12). 8. Drone (10) according to any one of the preceding claims, wherein the propulsion system (14) comprises a group of rotor (s) (46), and at least one rotor (46), preferably at least one. front rotor, is mounted on a pivot (50) relative to the frame (12).
9. Drone (10) selon l’une quelconque des revendications précédentes, dans lequel le drone (10) comprend en outre un réservoir (30) de stockage d’un fluide et un circuit (32) de circulation du fluide entre le réservoir de stockage (30) et le capteur à ultrasons (16). 9. A drone (10) according to any one of the preceding claims, wherein the drone (10) further comprises a reservoir (30) for storing a fluid and a circuit (32) for circulating the fluid between the reservoir. storage (30) and the ultrasonic sensor (16).
10. Drone (10) selon la revendication 9, dans lequel le drone (10) comprend en outre un dispositif de déclenchement (34) configuré pour, si le capteur à ultrasons (16) est en contact avec une paroi respective, déclencher une circulation du fluide depuis le réservoir de stockage (30) jusqu’à une zone de contact entre la paroi et le capteur à ultrasons (16). 10. The drone (10) of claim 9, wherein the drone (10) further comprises a trigger device (34) configured to, if the ultrasonic sensor (16) is in contact with a respective wall, trigger a circulation. fluid from the storage tank (30) to a contact area between the wall and the ultrasonic sensor (16).
11. Drone (10) selon l’une quelconque des revendications précédentes, dans lequel le drone (10) comprend en outre un dispositif de maintien (36) configuré pour, si le capteur à ultrasons (16) est en contact avec une paroi respective, maintenir le capteur à ultrasons (16) en contact avec la paroi, 11. A drone (10) according to any preceding claim, wherein the drone (10) further comprises a holding device (36) configured for, if the ultrasonic sensor (16) is in contact with a respective wall. , keep the ultrasonic sensor (16) in contact with the wall,
le dispositif de maintien (36) comportant de préférence au moins une roue aimantée (64) lorsque le capteur à ultrasons (16) est de type B-scan, the holding device (36) preferably comprising at least one magnetic wheel (64) when the ultrasonic sensor (16) is of the B-scan type,
le dispositif de maintien (36) comportant de préférence au moins un électroaimant (74) lorsque le capteur à ultrasons (16) est de type C-scan. the holding device (36) preferably comprising at least one electromagnet (74) when the ultrasonic sensor (16) is of the C-scan type.
12. Drone (10) selon l’une quelconque des revendications précédentes, dans lequel, lorsque le capteur à ultrasons (16) est de type B-scan, le drone (10) comprend en outre un dispositif de mesure (38) configuré pour, si le capteur à ultrasons (16) est en contact avec une paroi respective, mesurer un déplacement du capteur à ultrasons (16) le long de la paroi, 12. Drone (10) according to any one of the preceding claims, wherein, when the ultrasonic sensor (16) is of the B-scan type, the drone (10) further comprises a measuring device (38) configured for , if the ultrasonic sensor (16) is in contact with a respective wall, measuring a displacement of the ultrasonic sensor (16) along the wall,
le dispositif de mesure (38) comportant de préférence une roue codeuse (78). the measuring device (38) preferably comprising an encoder wheel (78).
EP20733800.5A 2019-06-18 2020-06-18 Drone equipped with an ultrasonic sensor Withdrawn EP3986785A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1906561A FR3097528B1 (en) 2019-06-18 2019-06-18 Drone equipped with an ultrasonic sensor
PCT/EP2020/067018 WO2020254526A1 (en) 2019-06-18 2020-06-18 Drone equipped with an ultrasonic sensor

Publications (1)

Publication Number Publication Date
EP3986785A1 true EP3986785A1 (en) 2022-04-27

Family

ID=68210995

Family Applications (1)

Application Number Title Priority Date Filing Date
EP20733800.5A Withdrawn EP3986785A1 (en) 2019-06-18 2020-06-18 Drone equipped with an ultrasonic sensor

Country Status (3)

Country Link
EP (1) EP3986785A1 (en)
FR (1) FR3097528B1 (en)
WO (1) WO2020254526A1 (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11505330B2 (en) * 2016-08-20 2022-11-22 Modern Technology Solutions, Inc. Refueling system and systems with end effectors
CN112623205A (en) * 2020-12-30 2021-04-09 河南正大航空工业股份有限公司 Unmanned aerial vehicle safety device

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2963431B1 (en) * 2010-07-27 2013-04-12 Cofice DEVICE FOR NON-DESTRUCTIVE CONTROL OF STRUCTURES AND COMPRISING A DRONE AND AN EMBEDDED MEASUREMENT SENSOR
FR3036381B1 (en) * 2015-05-19 2017-05-12 Airbus Operations Sas FLYING DRONE
GB201716839D0 (en) * 2017-10-13 2017-11-29 Alti Velo Industrial Uav Rental Ltd Non-destructive testing apparatus and method of use

Also Published As

Publication number Publication date
FR3097528B1 (en) 2022-02-11
FR3097528A1 (en) 2020-12-25
WO2020254526A1 (en) 2020-12-24

Similar Documents

Publication Publication Date Title
EP3210659B1 (en) Drone provided with a battery unit which has a stiffening function
EP2624686B1 (en) Agricultural spraying machine and method for spraying a phytosanitary liquid over cultivated land by means of such a machine
FR3043337A1 (en) DRONE HAVING A TORQUE PROPULSION SUPPORT.
EP0099809B1 (en) Remotely controlled device for the positioning of a movable support
EP2798314B1 (en) Stabilised platform
EP3986785A1 (en) Drone equipped with an ultrasonic sensor
EP1165369B1 (en) Helicopter with highly stable and highly manoeuvrable pendular piloting system
FR3030451A1 (en) ACCESSORY TO MAKE AN AMPHIBIOUS DRONE
FR2903658A1 (en) FLY CONTROL AND FLY CONTROL SYSTEM FOR AIRCRAFT.
EP3031504A1 (en) Sliding mobile, in particular a hydrofoil, propelled by a rotary-wing drone
WO2012130856A1 (en) Remotely controlled micro/nanoscale aerial vehicle comprising a system for traveling on the ground, vertical takeoff, and landing
EP0808768A1 (en) Vertical takeoff and landing aircraft
FR2765550A1 (en) Device for locking pitch of rotary aircraft main rotor blades
EP4061587A1 (en) Autonomous robot
EP3956219B1 (en) Propulsion device for rotorcraft with vertical take-off and landing, and a rotorcraft comprising at least one such propulsion device
FR2964946A1 (en) SMALL FLYING ENGINE WITHOUT PILOT
FR2903660A1 (en) Electrical flight control system for aircraft, has handle integrated to armrest of pilot seat and comprising brake lever, and hydraulic jack connected to linkage system and to another hydraulic jack and double effect oleo-pneumatic jack
FR2980117A1 (en) Contrarotative rotor integrated vertical takeoff and landing flying machine e.g. reduced helicopter module, has orientation module mounted on frame and comprising orientation unit to pivot contrarotative motor around pitch and rolling axes
EP3772916B1 (en) Movable assembly for autonomously aerating a litter covering the ground of an enclosed space
FR2584648A1 (en) GUIDING DEVICE PARTICULARLY FOR ROBOT TYPE ENGINE
FR2903659A1 (en) Aircraft flight and brake control system i.e. stick controller, has sensors generating steering control, from movement of handle, acting on aerodynamic surfaces, and spring associated to brake lever to act on brake system of landing gear
WO2024110172A1 (en) Mobile robot having a spherical wheel and comprising an articulated trunk
WO2012101363A1 (en) Method and system for piloting a flying craft with rear propulsion unit
EP0089910A1 (en) Automotive cross-country vehicle with variable geometrical frame
FR2915174A1 (en) FLYING OBJECT WITH ROTORS IN TANDEM

Legal Events

Date Code Title Description
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: UNKNOWN

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE

PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20211216

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

DAV Request for validation of the european patent (deleted)
DAX Request for extension of the european patent (deleted)
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: EXAMINATION IS IN PROGRESS

17Q First examination report despatched

Effective date: 20230613

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE APPLICATION IS DEEMED TO BE WITHDRAWN

18D Application deemed to be withdrawn

Effective date: 20231024