GB2553604B - Aerodynamically fully actuated drone (Sauceron) and drone chassis aerodynamic supporting trusses (Lings) - Google Patents

Description

Aerodynamically Fully Actuated Drone (Sauceron) and Drone Chassis Aerodynamic Supporting Trusses (Lings)

FIELD

The present invention relates to an unmanned air vehicle. It also relates to roll dampening / pitch dampening and gyrostabilisation system using gyroscopes. This invention relates to Drone comprised of aerodynamic structural trusses.

1. BACKGROUND 1.1. Drones and similar remotely-operated devices are becoming increasingly popular in domestic or non-military settings. The cost of purchasing and operating these types of devices has fallen in recent years, and their reliability and functionality has increased. Drones are used both by private operators as a leisure activity, and by organizations or businesses as tools. For example filmmakers, architects, builders, and similar will use Saucerons to provide photographs or video footage. 1.2. Definitions: 1.2.1. The term Sauceron is derived for this invention. The term Sauceron combines the terms drone and flying saucer. The motive behind introducing a new term for this patent is to describe a fully actuated drone that exhibit a specific flying behaviour as outlined in this paper. Sauceron comprise _ of horizontal and vertical motion propulsion combined with aerodynamic structural members act as lift devices on a normal fixed wing aircraft. 1.2.2. HPAD - Horizontally Powered Air displacement Unit. VPAD - Vertically Powered Air Displacement } Unit. Lings - Linking wings. ) .2.3. In this specification where reference has been made to patent specifications, other external j documents, or other sources of information, this is generally for the purpose of providing a context for discussing the features of the invention. Unless specifically stated otherwise, reference to such external documents is not to be construed as an 5 admission that such documents, or such sources of information, in any jurisdiction, are prior art, or form part of the common general knowledge in the art. 2. Problem definition of the current state of the art solutions: 2.1.1. The main drawbacks of rotary drones: 2.1.1.1. Rotary drones (copters) are inherently unstable, rely totally on the performance of vertical motion rotors 2.1.1.2. Copter Drones require more energy to stay airborne. 2.1.1.3. Copter Drones main disadvantage is lateral stability against lateral gusts. This issue led the use of gyroscopically stabilized cameras with drones in especially in adverse weather condition. 2.1.1.4. Lateral ambient winds can cause copter drones to drift which require the Z plain rotors to operate against the drift away from hover position in order to preserve the hover location point. 2.1.1.5. Generally anti destabilization relies on the use of differential power feed to the lifting elements or rotors, which can be slow to react to drift due to ambient winds.. 2.1.1.6. Copter drones arms (Drone components) provide only structural support by linking the rotors and body of the drone and do not contribute towards the flight performance of the drone. Creating further form drag. The characterisation of rotary drones (copters) as under actuated robotic systems. An under actuated system involves the number of independent control inputs being fewer than the number of degrees of freedom to be controlled. Such design feature makes some spatial configurations impossible (e.g. hovering while maintaining a no horizontal orientation). This appears in the coupling between the roll angle and the displacement in y-direction, as well as between the pitch angle and the displacement in x-direction. :.1.2. The main drawbacks of fixed wing manned and unmanned air vehicles: :.1.2.1. Requirements for runways to perform take-off and landing manoeuvres. This limitation makes fixed wing air vehicles terrain dependent in terms of take-off and landing. :.1.2.2. Lack of compactness :.1.2.3. Fixed wing aircraft requires moving air over their flying surfaces. Therefore, they are unable to stay in hover state as copter drones. :.1.2.4. The other inherent disadvantage of fixed wings aircrafts is the wings themselves. Wings add a serious design issue structurally, the cantilever wing design experiences tip flex due to aerodynamic loading which causes a serious stress loading on the root of the wing joint on the fuselage. L1.3. General Air Vehicles' Flying Characteristics: :.1.3.1. Since rotor-copters rely only on horizontal plain rotors to perform the desired displacement, it means that the full force of the rotors can only be practically exerted along the perpendicular axis to the horizontal plane. In order to achieve a horizontal displacement (x & y direction parallel to the ground), the rotor-copter has to tilt. The horizontal displacement velocity is directly proportionate to the tilt angle of the drone in the direction of desired displacement vector. This means that in order to utilise the full air displacement force, the rotary drone has to tilt 90 degrees against the horizontal axis (parallel to the ground). Such manoeuvre increases the total drag substantially to the extent of impracticality in terms of flight duration optimisation. Consequently, it can be assumed spatial orientations are not possible for traditional rotor copters, enabling the possibility to manage i obstacles that would generally hinder the motion of normal rotor copter. :.1.3.2. Furthermore, aircraft manoeuvres are always based on the three main attitudes: Pitch, Yaw and roll, the main problem of these manoeuvres is that they contribute substantially in G load. A design problem that has to be taken into consideration by aerospace engineers to study its effect on structure and passenger experience during banking and rolling. The conventional requirements of passenger or crew seating makes their head point towards the centre of rotation. This meant that during turns (the effect of pitch and roll) the pilot has to be careful with the rate of turn. As the sharper the turn is, the more stress the aircraft suffer structurally and the less pleasant the experience by the crew and passengers due to the effect of G force on the blood circulation of human body. :.1.3.3. For example, formula-1 drivers can experience up to SG acceleration during turns. However, due to the drivers seating position (i.e. the head is not pointing towards the centre of rotation) they don't feel the effect as abrupt as it would be if they had their head pointing towards centre of rotation. If human heads point towards the centre of rotation, the more G force is experienced, the more blood pressure drains from the head towards the feet, hence the experience of black out. Pitch-roll based turns means that cabin crew will always have the body centre line pointing towards the centre of turn which is then decomposed into two force components depending on banking angle the effect of the G Force experienced depends on the banking angle. Thus, the pleasantness of the journey depends on how much comfort passenger aircraft can be introduced during flight manoeuvres. 1. Inventive solution: LI. The invention is focused on solving the following problems: ».1.1. Drones stabilisation during adverse weather condition in hover, take off, landing and cruise flying maneuvers. >.1.2. G-force effect due to rotation based turning. >.1.3. Copter drones rotors structural arms add extra form drag. >.1.4. Rotor Copter drones under actuation limitations. >.1.5. Rotor copters Horizontal-Linear-Under-Propelled velocity. L2. Under-propelled-velocity meaning a directional velocity for which air displacement unit is not available to provide full force into the direction of motion due to its position relative to flight direction. 1.3. Inventive steps 1.3.1. Inventive steps summary: >.3.1.1. Propulsion system comprises of Minimum 2 linear axes propulsion devices and at least 2 vertical axis propulsion devices. The Propulsion devises can be fixed or rotatable around pivotal points. Optimizing the problem of under actuation. >.3.1.2. Lings - linking wings, structural trusses with aerodynamic profile. >.3.1.3. At least one on board gyroscopes. To provide dampening of roll and pitch oscillations. 1.3.2. Inventive Steps detailed description: >.3.2.1. Propulsion system comprises of 2 types of propellers: the linear axis (X,Y) on the horizontal plain propellers (HPAD) and The vertical axis(Z) on vertical plain propellers (VPAD). The arrangement of the VPAD and HPAD is in sequence (front and behind) on the same line of action. VPAD and HPAD can also be arranged in off line of action at any angle of misalignment. VPAD and HPAD operates under governance of a flight controller. The cowling of the HPAD and VPAD is rotatable around x,y,z axis via a an actuator allowing redirection of air exhaust. The cowling is rotated by pivoting points i attached to Drone of the Sauceron. There are at least 3 HPADs units and at least 2 VPADs units.

Propulsion can also be performed by rotor or jet propulsion of air displacement method.

I >.3.2.2. Lings - linking wings are aero foiled structural trusses forms integrated parts of aircraft Drone attached to HPADs and VPADs cowling of the drone Drone . L3.2.3. Anti-roll and anti-pitch gyroscopes where the outer frame of the gyroscopes is attached to the main body of the drone. At least one axis. The rotor of the gyroscope is operated using a dedicated motor. The dampening performance level is controlled by varying the gyroscopic rotor rotational speed. At least one gyroscope is included. The at least one gyroscope comprises a pair of gyroscopes. I. Terms LI. The term "comprising" as used in this specification and indicative independent claims means "consisting at least in part of. When interpreting each statement in this specification and indicative independent claims that includes the term "comprising", Features other than that or those prefaced by the term may also be present. Related terms such as "comprise" and "comprises" are to be interpreted in the same manner. L2. The Z plain is the horizontal plain to the ground and through which Z axis is perpendicular. "Different levels" refers to a stack of plains with a distance in between any consecutive plain. L3. As used herein the term "and/or" means "and" or "or", or both. L4. As used herein "(s)" following a noun means the plural and/or singular forms of the noun accordingly, in an aspect the present invention may broadly be said to consist in. L5. With respect to the above description then, it is to be realised that the optimum dimensional relationships for the parts of the invention, to include variations in size, materials, shape, form, function and manner of operation, assembly and use, are deemed readily apparent and obvious to one skilled in the art, and all equivalent relationships to those illustrated in the drawings and described in the specification are intended to be encompassed by the present invention. L6. This invention may also be said broadly to consist in the parts, elements and features referred to or indicated in the specification of the application, individually or collectively, and any or all combinations of any two or more said parts, elements or features, and where specific integers are mentioned herein which have known

I. BRIEF DESCRIPTION OF THE FIGURES 1.1. Further aspects of the invention will become apparent from the following description which is given by way of example only and with reference to the accompanying drawings which show an embodiment of the device by way of example, and in which:

I 1.2. Figures la, lb, lc, and Id show perspective, front, side and top/plan views of a Sauceron according to a first embodiment of the present invention, the Sauceron having a main body frame to which lift i rotors (VPADs) are mounted to provide lift, and sideways-facing rotors (HPADs) to prevent drift, provide horizontal motion. Furthermore, a pair of gyroscopes mounted internally to stabilize the drone, and multiple cameras mounted to the frame to provide streaming footage to a control station. Aerodynamic Structural Trusses (Lings) to provide structural support and support flight performance. 1.3. Figures 2a, 2b, 2c, and 2d show perspective, front, side and top/plan views of a Sauceron according to a first embodiment of the present invention, the Sauceron having a main body frame to which lift rotors (VPADs) are mounted to provide lift, and sideways-facing rotors (HPADs) to prevent drift, provide horizontal motion. Furthermore, a pair of gyroscopes mounted internally to stabilize the drone, and multiple cameras mounted to the frame to provide streaming footage to a control station. Aerodynamic Structural Trusses (Lings) to provide structural support and support flight performance. 1.4. Figures 3a, 3b, 3c, and 3d show perspective, front, side and top/plan views of a Sauceron according to a first embodiment of the present invention, the Sauceron having a main body frame to which lift rotors (VPADs) are mounted to provide lift, and sideways-facing rotors (HPADs) to prevent drift, provide horizontal motion. 1.5. Furthermore, a pair of gyroscopes mounted internally to stabilize the drone, and multiple cameras mounted to the frame to provide streaming footage to a control station. Aerodynamic Structural Trusses (Lings) to provide structural support and support flight performance.

i. DETAILED DESCRIPTION 1.1. Three different configurations of Sauceron according to embodiments of the present invention are shown in figures 1 to 3. The Sauceron of each embodiment have certain features in common with the others. Equivalent numbering is used 1.2. to indicate the same or similar features in each embodiment, for example 101, 201, 301 indicate the Saucerons shown in each of figures 1, 2 and 3 respectively, and 102, 202, 302, etc. indicates the lift rotors VPADs for each of the Saucerons of these figures. For the sake of simplicity, the features on figure 1 only (101,102,103, etc.) will be described in detail. 1.3. A Sauceron 101 is shown in figure 1. The Sauceron 101 has a number of lift rotors VPADs 102 located on a structural or body frame and connected via Lings 103, the lift rotors 102 aligned to provide vertical lift to the Sauceron 101. At least one gyroscope of at least one axis 104 is located substantially centrally within the frame 103. The gyroscopes 104 are configured to dampen pitch and/or roll oscillations and/or provide anti roll and pitch when the Sauceron is in flight, and stabilise the Sauceron in roll and pitch. VPADs may be aligned on the same plain of action and spaced as in equal angles. VPADs 102 may also be arranged in any shape or form with any spatial angle among the rotors.

I 1.4. A number of drift rotors 105 HPADs are mounted on the body frame and connected via Lings 103. The rotors 105 are generally aligned horizontally, and are configured to counter sideways drift caused by ambient wind conditions and provide movement and ( steering. In these embodiments, the drift rotors 105 comprise of at least three rotors 105a, 105b, 105c, spaced and aligned 1.5. depending on the number of rotors. HPADs may also be arranged aligned with equal spatial angles or different degrees of angles. 1.6. The lift rotors 102 are generally aligned so as to provide vertical lift. That is, having a vertically oriented axis of rotation. However, the lift rotors 102 can also be rotated around the horizontal axis in order to provide fine adjustment. Similarly, the drift rotors are aligned so as to rotate around a generally horizontally aligned axis, but can be rotated around the vertical axis for fine adjustment. 1.7. A number of cameras 106 are mounted on the body frame. In the embodiment of figure 6, these comprise a forward camera 106a, a rear camera 106b, and a downwards-facing camera 106c. The cameras are configured to stream video footage. 1.8. The Sauceron has a solar cell skin that partly or wholly covers the exterior of the drone body, to supply additional power. 1.9. Other forms of propulsive power could also be used, such as for example rockets or any other suitable type of propulsion. i. 10. The Sauceron rotors comprise a variable pitch control system, the variable pitch achieved by swash plates and actuators that allow the pitch angle of the blades to vary during rotation. The angle of all the blades are altered simultaneously, using a push-rod and mechanical pitch actuator. 6.11.

Claims (3)

Claims

1. A Drone where in at least 2 or more side facing rotors or Jet based propulsion Horizontally Powered Air displacement Units combined with at least 2 - Vertically Powered Air Displacement Unit, in form of rotors or a Jet based propulsion; a. wherein the Horizontally Powered Air displacement Units enclosure, as in the whole unit in its entirety can also be rotated around a pivotal point, via and actuator mean, attached to the drone chassis around the vertical axis in order to provide fine directional adjustment Similarly, the Vertically Powered Air Displacement Units enclosure, as in the whole unit in its entirety can also be rotated around a horizontal pivotal point, via and actuator mean, attached to the drone chassis around the horizontal axis in order to provide fine thrust direction adjustment, b. The drone further comprises, comprising at least one stabilising means configured to dampen pitch and/or roll when the drone is in flight, The stabilising means comprises at least one gyroscope, The at least one gyroscope comprises a pair of gyroscopes configured to stabilise the drone in roll and pitch,

2. A Drone of claim one where in drone is further comprised of: a. Lings, linking wings, are aero foiled structural trusses form integrated parts of drone, at least part of the air flow displaced by the air displacement means flows over the flap (ling), the flap (ling) adjustable around a substantially horizontal axis b. The drone further comprises of a number of cameras.

3. the drone of claim one further comprises, the rotors, only in case of rotors, can be comprised a variable pitch control system, the variable pitch achieved by swash plates and actuators that allow the pitch angle of the blades to vary during rotation, The angle of all the blades are altered simultaneously, using a push-rod and mechanical pitch actuator,