Propulsion device and associated method for controlling the landing of such a propulsion device

Abstract

The present invention relates to a propulsion device comprising: a platform; a propulsion unit; support means arranged to hold and support the propulsion unit, said support means cooperating integrally with the platform via one or more suitable mechanical connections; a protruding means cooperating integrally with the platform via suitable mechanical connections; a central leg passing through the inertia centre of the propulsion device and cooperating integrally with the platform via suitable mechanical connections at its proximal end. In order to enable the propulsion device to land on a receiving surface that is relatively small in size relative to the propulsion device and / or has a moving surface, the protruding means and the central leg are arranged relative to each other so that the central leg can provide a first contact between the device and the surface receiving the device.

Description

Technical Field

[0001] The present invention relates to the field of propulsion devices and / or systems (typically vertical propulsion), preferably, but not exclusively, adapted or arranged to provide for the movement of passengers or any cargo present on board the propulsion device, the transport of which is to be provided by the propulsion device. The invention relates in particular to improvements in such propulsion devices and / or systems, with a particular focus on facilitating the landing of such devices and / or systems on receiving surfaces of small dimensions that can additionally or independently be in motion, such as, for example, when such surfaces are present at sea. The invention is intended to be very simple to implement and easy to use for a maximum number of propulsion devices.

[0002] In the remainder of this document, the present invention will be described, preferably but not by way of limitation, as applied to a propulsion device specifically designed for aerial locomotion, also known as an aircraft or heavier-than-air vehicle, which is arranged to provide a substantially vertical takeoff and landing capability. As non-limiting examples, such a propulsion device may consist of a drone, a helicopter (an example embodiment of which is described in document US2011 / 204182A1), or a "Flyboard Air" (an example embodiment of which is described in document WO2017 / 174942A1). However, the present invention is not limited to these application examples and may instead be employed with respect to any type of propulsion device. Background Art

[0003] The idea of flying or soaring through the air is as old as humanity itself: early humans likely desired to emulate bird flight, and many researchers devoted themselves to designing flying devices. The most famous of these was Leonardo da Vinci, who conducted the first known study of bird flight around 1500 and attempted to design a mechanical imitation of this flight. He sketched and proposed several concepts for flying machines (similar to airplanes, helicopters, and parachutes). However, all of these ideas were based on using muscle energy to operate these flying machines, something that seemed unthinkable at the time. The first flight of a flying machine controlled by flight control surfaces was performed by the Wright brothers in the United States in the early 20th century. Around the same time, the development of the first motorized flying machines began, which later led to airplanes and helicopters. These motorized flying machines, now known as heavier-than-air aircraft, consist of an aircraft whose lift is typically generated by a device that generates aerodynamic forces and a wing system that is either fixed in the case of airplanes or rotating in the case of helicopters.

[0004] More specifically, the ability of a helicopter to take off and land on relatively confined and unprepared terrain, due to its configuration and operation, makes it particularly advantageous, and in some cases even essential, for carrying out certain missions and operations, despite its limited range and speed. A helicopter (an example of an embodiment of which is described in document US 2011 / 204182 A1) can generally include a limited number of subassemblies, such as:

[0005] - an airframe, which is usually composed of a fuselage and landing gear arranged to facilitate take-off and landing maneuvers. The fuselage consists of the cockpit or cabin of the helicopter, into which one or more passengers and / or a (co-)pilot can board. As for the landing gear (more particularly, adapted or arranged to provide contact between the receiving surface and the helicopter), it is in most cases fixed and usually comprises two landing gears or carriages, each of which cooperates integrally with the fuselage via suitable mechanical linkages;

[0006] - a wing system comprising one or more lift and / or anti-torque rotors;

[0007] a power train, generally consisting of a piston engine or one or more turbines, advantageously cooperating with the wing system and allowing the rotor included in the wing system to be driven;

[0008] - flight controls, which include levers and pedals arranged inside the cockpit. Such controls are most often duplicated so as to be accessible to the helicopter pilot and / or co-pilot;

[0009] - onboard services, comprising a set of devices or systems allowing the necessary supply for the operation of the helicopter and the comfort of the helicopter, such as fuel, electricity and air conditioning, for example;

[0010] - avionics, which consists of a set of electronic equipment present inside the helicopter, such as, for example, sensors, controllers, actuators and / or communication systems;

[0011] - Payload facilities, which are usually located on the sides of the helicopter, consist of anchors making it possible to attach and transport different accessories, such as missiles, observation pods or spare fuel tanks.

[0012] Humanity continues to push the boundaries of possibility: moving as freely as possible through space is a constant concern, or for some, an almost unattainable dream. Numerous machines have been designed (from the crudest to the most complex) in an effort to achieve this goal, with varying degrees of success. More specifically, a particularly effective device, known as the "Flyboard Air," has recently been developed. It is described in document WO 2017 / 174944 A1 and has been a resounding success. Therefore, Figure 1 and Figure 2 A perspective view and an exploded view, respectively, of a first non-limiting embodiment of such a propulsion device 10 are shown, some elements of which will be omitted from the description in the remainder of the document for the sake of simplicity.

[0013] This device 10 comprises a body 10a in the form of a platform 11 on which a passenger 1 can optionally board. Depending on the size of the platform 11 and the power of the propulsion unit 12 of the device 10, several passengers can optionally board the platform 11 simultaneously. To this end, the platform 11 has one or more areas 11a arranged to receive the feet or shoes of the passenger 1, in particular, such as Figure 2 As a variant or in addition, such a device 10 may be arranged to provide for the transport of goods.

[0014] refer to Figure 1 and Figure 2 The body 10 a of the depicted propulsion device 10 comprises a propulsion unit 12 cooperating with a platform 11 .

[0015] As described Figure 2 As indicated in FIG, as a non-limiting example, the propulsion unit 12 advantageously consists of a pair of propulsion subunits 12a and 12b, each of which comprises two propellers. Thus, the first propulsion subunit 12a comprises two propellers 12a1 and 12a2. The same is true for the propulsion subunit 12b, which comprises two propellers 12b1 and 12b2. As a variant, such a subunit may comprise more than two propellers. In order to provide optimal maneuverability conditions depending on the orientation of the passenger's body, according to reference Figure 1 and Figure 2 In the embodiment described, the propellers of the propulsion unit 12 are advantageously positioned as close as possible to the center of the body 10a of the device 10. Thus, preferably, as Figure 1 and Figure 2 As indicated in , the areas 11 a arranged on the platform 11 to receive the feet or shoes of the passenger 1 will advantageously be positioned on either side of said propulsion unit 12 .

[0016] In order to be able to pivot particularly easily, perform curvilinear maneuvers, and thus enhance the maneuvers that can be performed by the propulsion device 10, the propulsion unit 12 may advantageously include two auxiliary thrusters 19a and 19b for course correction, which are arranged offset relative to the transverse axis of the platform. As a variant or in addition, in order to dispense with the use of such auxiliary thrusters, the invention provides for adding orientable fluid outlets (e.g., of the orientable cone type of fluid outlets of a motorboat) to all or part of the thrusters of the propulsion subunit(s) 12a, 12b, which fluid outlets will cooperate with the gaseous stream injection nozzles of the thruster(s) in question along one or more suitable corresponding mechanical linkages (such as, for example, pivoting or fixed linkages).

[0017] The various propellers of the propulsion unit are held and supported by support devices 14. These devices 14 constitute the functional equivalent of the chassis supporting the platform 11. As mentioned above, this propulsion unit 12 comprises two propulsion subunits 12a and 12b, each comprising two propellers, referenced 12a1 and 12a2 for the first propeller, and 12b1 and 12b2 for the second propeller. These propellers are preferably comprised of jet turbine engines. Jet turbine engines are heat engines commonly used in aviation that, in conjunction with an oxidizer (in this case, ambient air drawn in through the fluid inlet of the body 10a), convert the potential energy contained in a fuel (e.g., kerosene or an equivalent) into kinetic energy. This kinetic energy generates a reaction force in an elastic medium in a direction opposite to the direction of the gaseous discharge. This results in the acceleration of a certain amount of air between the propeller's fluid inlet and its ejection nozzle, thereby generating thrust through expansion in the ejection nozzle. This propeller utilizes an air compressor with blades or rotors. Alternatively, any other type of fuel can be used instead of the kerosene mentioned above.

[0018] In order to associate the auxiliary thrusters 19a and 19b for course correction with the propulsion subunits 12a and 12b and thus allow for curved paths, the support means 14 of the device 10 according to the present invention can cooperate with auxiliary support means 15, which are arranged to cooperate with the auxiliary thrusters 19a and 19b for course correction and maintain them in a propulsion orientation substantially parallel to the longitudinal axis of the platform 11. Such auxiliary thrusters 19a and 19b for course correction particularly make it possible to increase the maneuverability of the propulsion device. As a variant, the arrangement of the thermal thrusters 19a and 19b for course correction can consist of turboprop engines, rather than individual electric turbines, oriented substantially parallel to the thrusters of the propulsion subunits 12a and 12b. To maintain high responsiveness, an orientable fluid outlet (of the type of orientable cone of the fluid outlet of the motorboat) can cooperate with the gas injection nozzles of the auxiliary thermal thrusters. By orienting the cone in the mid-plane of the platform 11, the results achieved are substantially similar to those achieved by using electric turbines.

[0019] Furthermore, in order to facilitate take-off and landing of the propulsion device, the body 10a of such a device 10 comprises protruding means 17, which can also be similar to a landing gear, cooperating integrally with the platform 11 via suitable mechanical linkages and arranged so as to prevent any impact or direct contact between the ground or, more generally, the receiving surface and the propulsion unit 12 of the device during landing and / or take-off of the device 10. Finally, said protruding means 17 are arranged so as to provide contact between the receiving surface G and the propulsion device 10. Such means 17 may in particular comprise or consist of four legs of sufficient length so that when the device is on the ground or on Figure 1 and Figure 2 During takeoff from a non-illustrated landing area, the jet nozzle(s) of the propulsion unit 12 do not strike the ground and also provide some stability, allowing passengers to efficiently board the platform 11. Alternatively, depending on the nature of the ground or the support on which the device can land, this device 17 may consist of a pair of skids or any other suitable element for providing some stability. Alternatively or additionally, to prevent the propulsion device from striking obstacles during the flight phase, this device 17 may be partially or fully retractable, foldable, and / or telescopic.

[0020] As mentioned above, the propulsion unit(s) of the propulsion device according to the first embodiment are arranged so as to reduce the moment of inertia that the passengers have to overcome in order to modify the posture of the device 10 and thus move by using their bodies. As a result, the movements made by the passengers using their bodies will generate the path of the propulsion device. The various elements described above for optimizing the maneuverability of the propulsion device (such as auxiliary propellers or even directable fluid outlet(s)) do not allow for facilitating the maneuverability of a propulsion device whose propulsion unit(s) are relatively far from the center of gravity or whose purpose is not necessarily to transport one or more passengers, as will be seen with reference to Figure 3 As can be seen, the figure diagrammatically illustrates a second embodiment of the propulsion device 10. Figure 3 In the described non-limiting embodiment example, the propulsion device 10 comprises a platform 11 (advantageously central), four propulsion units 12, each of which comprises a deflector assembly provided with two deflector elements, such deflector elements being movably mounted below the exhaust outlet of the nozzle of the jet turbine engine (assuming a vertically oriented jet turbine engine), these deflector elements being actuable and positionable in the thrust exhaust and / or flow path. When said deflector elements are in the open configuration, the thrust caused by the jet turbine engine passes through the space free between these deflector elements, thus allowing the motor to operate at full power, thus providing vertical lift. The propulsion device 10 also comprises a support device 14 arranged to hold and support said propulsion unit 12. As in the solution described above, such device 14 constitutes the functional equivalent of the chassis supporting the platform 11. The support device 14 also cooperates integrally with said platform 11 via one or more suitable mechanical linkages. Preferably, but not restrictively, according to Figure 4 , such a mechanical linkage can advantageously consist of a fixed linkage.

[0021] In addition, as in reference Figure 1 and Figure 2 In the first embodiment described, in order to facilitate take-off and landing of the propulsion device, such device 10 comprises protruding means 17 which can also cooperate integrally with the platform 11 via suitable mechanical linkages, similar to the landing gear (optionally, as described with reference to Figure 3 As described above, via the supporting means 14), and arranged to prevent any impact or direct contact between the ground or, more generally, the surface for receiving the propulsion device and the propulsion unit 12 of the device 10. Finally, the protruding means 17 are arranged to provide contact between the receiving surface and the propulsion device 10. Such protruding means 17 may in particular comprise or consist of four legs of sufficient length so that when the device is on the ground or on Figure 1 and Figure 2When landing on a takeoff ground (also called a receiving surface) (not shown), the jet nozzle(s) of the propulsion unit 12 do not strike the ground and also provide some stability, allowing passengers to board the platform 11 efficiently. Alternatively, depending on the nature of the ground, the receiving surface, or the device support on which the device can land, this device 17 may consist of a pair of skids or any other suitable element for providing some stability. Alternatively or additionally, in order to prevent the propulsion device from striking obstacles during the flight phase, this device 17 may be partially or fully retractable, foldable, and / or telescopic.

[0022] As mentioned above, the propulsion device (such as, for example, Figure 1 and 2 or even Figure 3 The propulsion device described above can be advantageously arranged or configured to provide cargo delivery or even allow one or more passengers to move through space. Alternatively, such a propulsion device can consist of an aerial drone. An aerial drone (also known as an unmanned aerial vehicle (UAV) or unmanned aerial system (UAS)) is defined as any aircraft without passengers or a pilot on board, which is adapted to fly autonomously or be remotely controlled by a third person. Aerial drones can range in size from a few centimeters for miniature models to several meters for specialized drones, particularly for specific applications in surveillance, intelligence, combat, delivery, or leisure. For long-endurance drones, the flight range can range from a few minutes to dozens of hours.

[0023] As with helicopters, aerial drones can generally include an unlimited number of subcomponents, such as:

[0024] - Chassis consisting of the base or mechanical structure of the drone, in particular including the landing gear, more particularly adapted or arranged to provide contact between the receiving surface and the aerial drone. Generally, drones are distinguished by the number of arms that make up them;

[0025] - a propulsion system comprising, without limitation, one or more motors in the form of one or more jet turbine engines, or, as a variant or in addition, one or more rotors, one or more propellers ensuring the generation of thrust, one or more electronic speed controllers (ESC) arranged to control the respective speed, direction and / or rotation of the motors, one or more batteries arranged to supply the energy required by the other electrical components in order to operate;

[0026] - a flight controller arranged to receive and process command signals transmitted by a remote electronic object (such as, for example, a remote control or a radio control), in particular comprising a processing unit (possibly in the form of one or more microprocessors or microcontrollers) and communication means, in order to provide control of the drone from a remote site;

[0027] - Means for capturing images, arranged to allow immersion and aerial filming (optionally in real time), in particular comprising an on-board camera.

[0028] As mentioned above, the known propulsion devices described above (more particularly helicopters, FlyboardAir or even aerial drones) prove to be particularly advantageous since, in contrast to aircraft with fixed-wing systems, they are generally capable of adapting to take-off and landing on terrain not intended for such take-off and / or landing. However, the known propulsion devices have some limitations, in particular in some specific conditions and / or circumstances, such as, without limitation, landing and / or taking-off on a receiving surface that is small or even relatively limited in size relative to the propulsion device, such receiving surface being able to be in motion in addition or alone. As a non-limiting example, such a receiving surface may consist of a seagoing vessel, a ship or any other watercraft: in this case, it is referred to as a water landing of the propulsion device. Due to its presence on a lifting surface, such a vessel is subject to various movements, mainly about three axes, which are defined such that:

[0029] - the longitudinal axis is defined as the axis from the bow to the stern of the vessel,

[0030] - the vertical axis is defined as the axis from the bottom to the top of the vessel, and

[0031] - The transverse axis is defined as the axis running from starboard to port of the ship.

[0032] Thus, this movement of the ship can be distinguished among:

[0033] - roll, which consists of a rocking movement of the ship from port to starboard about its longitudinal axis: the ship tilts alternately to starboard and to port;

[0034] - surge, which consists of the translational movement of the ship along the longitudinal bow-stern axis: the ship moves alternately forward and backward;

[0035] - yaw, which consists of a rotational movement of the vessel itself around a vertical axis;

[0036] - heave, which consists of an up and down movement about a vertical axis: the ship performs an up and down movement;

[0037] - pitch, which consists of a periodic upward and downward tilting movement in the transverse axis of the ship: the ship swings alternately from bow to stern;

[0038] - Sway, which consists of a translational movement about a transverse axis towards port or starboard: the ship moves alternately to starboard and to port.

[0039] The movements that a ship undergoes are usually frequent and caused by meteorological conditions. In fact, during the action of the wind blowing on the ocean, part of the energy released is transferred to the sea, which then drives waves. The larger these waves are, the stronger and longer the wind blows. These waves may therefore cause hydrostatic and hydrodynamic stresses during their impact on the ship's hull, and these stresses are often unevenly distributed. The stability of the ship is then severely tested. This instability of the ship directly affects the takeoff and / or landing of the propulsion device that may wish to interact with the ship (or more generally, a receiving surface in motion), because the propulsion device must then compensate for the instability of the ship when it is in a relatively unstable position. In addition, the propulsion device is also subject to meteorological conditions, because wind, rain or any storm will directly affect the stability and movement of the propulsion device.

[0040] Furthermore, in addition to the movement of the vessel or receiving surface, the limited size of the vessel or receiving surface (if applicable) relative to the propulsion device also directly impacts the successful execution of landing and / or takeoff of such a propulsion device. Indeed, as a non-limiting example, during the landing of a propulsion device in the form of a helicopter, the helicopter pilot typically first positions a first carriage or lander in contact with the receiving surface, thereby placing the helicopter in a relatively unstable position, as the helicopter only has a single point of contact with the receiving surface. The pilot must then position a second carriage or lander in contact with the receiving surface. When the receiving surface is in motion and / or has limited size relative to the propulsion device, the pilot must then demonstrate expertise and skill to land safely. The pilot's abilities have a direct impact on the successful execution of a landing or water landing (which is often not reproducible) and on the pilot's ability to operate the helicopter (or, more generally, the propulsion device intended for landing or water landing), whether the pilot is aboard or remote from the device.

[0041] To minimize the impact on pilots or operators during water landings of propulsion devices in the form of aerial drones on the decks of ships or vessels, researchers have sought to develop new solutions. For example, one proposed solution for water landings of aerial drones involves deploying a relatively large tensioned net on the vessel's deck, where the drone enters before being deactivated. This technology proves to be relatively complex, as the vessel is constantly in motion and subject to weather conditions. Consequently, the aerial drone must be controlled to achieve a minimum speed upon contact with the net, requiring expertise and skill from the pilot or operator of the aerial drone, even from a remote location. Furthermore, deploying a tensioned net on a vessel's deck requires a vessel of considerable size to deploy the net. Consequently, this net-like solution is unsuitable for vessels or receiving surfaces that are small relative to the projected surface area of the propulsion device on the vessel or receiving surface. Finally, utilizing a tensioned net to accommodate the propulsion device imposes limitations on its size and weight, as the material and structure of the net must be able to support and withstand such weight and size. To this end, currently used nets are designed to support propulsion devices with a maximum weight limit of thirty or forty kilograms. Furthermore, other solutions have been developed, specifically employing 3D recognition systems, such as those described in document US2017 / 0267334A1, to facilitate the landing of aerial drones on steep terrain. Such aerial drones employing this solution have a landing gear consisting of at least three arms. This arrangement requires finding an appropriate landing position to allow the at least three arms to deploy, which is necessary to maintain the drone's balance on the ground. Consequently, the drone cannot land in areas that are difficult to access or in motion. Summary of the Invention

[0042] The present invention makes it possible to meet all or part of the drawbacks caused by the known or above mentioned solutions.

[0043] Among the numerous advantages facilitated by the present invention, mention should be made of the fact that it makes it possible to:

[0044] - Proposing a propulsion device that is modular and in particular adaptable to be utilized with any type of propulsion device, regardless of the arrangement, type or structure of the propulsion units included therein;

[0045] - To provide a propulsion device whose landing on a receiving surface of small dimensions (such receiving surface being able additionally or solely to be in motion, such as, for example, when said surface is present at sea) is greatly facilitated and automated, regardless of the level of expertise of the user or operator of said propulsion device.

[0046] According to the first subject matter, a propulsion device is provided, comprising: a platform; a propulsion unit; a support member arranged to hold and support the propulsion unit, the support member being integrally coupled to the platform via one or more suitable mechanical linkages; a protruding member being integrally coupled to the platform via suitable mechanical linkages; and a central leg passing through the center of inertia of the propulsion device and being integrally coupled to the platform via suitable mechanical linkages at its proximal end. In order to allow the propulsion device to land on a receiving surface that is of relatively limited size relative to the propulsion device and / or is in motion, the protruding member and the central leg are mutually arranged such that the central leg is capable of providing a first contact between the device and a surface for receiving the device.

[0047] Advantageously, but not restrictively, in order to optimize and control the landing of the propulsion device according to the invention, the propulsion device may also comprise a proximity sensor arranged to deliver a measurement representative of the distance between said proximity sensor and the receiving surface.

[0048] Preferably, but not restrictively, with a view to improving the accuracy of the landing, the proximity sensors of the propulsion means according to the invention may cooperate integrally with the central leg via a suitable mechanical linkage.

[0049] In order to cater for a large number of applications, the platform of the propulsion device according to the invention may be arranged to accommodate one or more passengers.

[0050] Advantageously, but not restrictively, the propulsion units of the propulsion arrangement according to the invention may be arranged to supply a resultant thrust directed in a direction so as to provide a substantially vertical take-off and landing capability.

[0051] As a variant or in addition, the propulsion device according to the invention may comprise an actuator cooperating with the central leg: the central leg may then be retractable, said actuator being arranged to cause a translational movement of said central leg.

[0052] Still as a variant or in addition, in order to automate the landing of the propulsion device according to the invention, it may comprise actuators associated with the protruding means. The protruding means may then be retractable, each actuator being respectively arranged to jointly or individually cause a translational movement of said protruding means.

[0053] Still with a view to automating the landing process of the propulsion device according to the invention, the actuators respectively associated with the central leg or with the protruding means can be controlled by electrical commands, the propulsion device also comprising a processing unit designed to generate said electrical commands based on control set points and / or a reference system determined by one or more configuration parameters.

[0054] Alternatively, the actuators associated with the central leg or with the protruding means, respectively, may be controlled by electrical commands, the propulsion device further comprising a processing unit designed to generate said electrical commands on the basis of a representative measurement of the distance between the proximity sensor and the receiving surface, said measurement being delivered to said processing unit by the proximity sensor.

[0055] When interaction of a user or operator is necessary to control the propulsion device according to the invention or more particularly to land it, the propulsion device may comprise a human-machine input interface designed to convert the user's gesture symbols into actuation set points of the center leg and / or the protruding means or command means of the propulsion unit.

[0056] Preferably, but not restrictively, the protruding means may comprise four peripheral legs or two landing carriages, depending on the arrangement of the propulsion means or the nature of the application that the propulsion means must satisfy.

[0057] According to a second aspect, the present invention relates to a method for controlling the landing of a propulsion device according to the first aspect of the present invention. This method makes it possible to provide any user (whether novice or experienced) with automatic control assistance, particularly when the receiving surface has relatively limited dimensions relative to the propulsion device and / or is in motion; the method is implemented by a processing unit of the propulsion device according to the present invention. This method for controlling the landing comprises:

[0058] a. a step for collecting a first measurement of the distance between the proximity sensor and the receiving surface delivered by the proximity sensor and comparing it with a first predetermined threshold;

[0059] b. Steps for preparing and delivering commands that can be interpreted by actuators associated with the protruding means in order to cause joint or individual deployment of the protruding means.

[0060] Preferably, but not limitatively, depending on the arrangement of the propulsion device, the method for controlling the landing of the propulsion device may further comprise two steps before the step of collecting a first measurement value of the distance between the proximity sensor and the receiving surface delivered by the proximity sensor and comparing it with a first predetermined threshold value. These steps consist of:

[0061] a. a step for collecting a second measurement of the distance between the proximity sensor and the receiving surface delivered by the proximity sensor and comparing it with a second predetermined threshold value, the second predetermined threshold value being strictly higher than the first predetermined threshold value;

[0062] b. A step for preparing and delivering a command interpretable by an actuator associated with the center leg to cause deployment of said center leg when said second distance measurement reaches a second predetermined threshold.

[0063] In a mode where the protruding means are deployed individually, the steps for preparing and delivering a command interpretable by an actuator associated with the protruding means in order to cause the deployment of the protruding means may comprise three sub-steps. These sub-steps consist of:

[0064] a. a first sub-step for preparing and delivering a command that can be interpreted by an actuator associated with a first protruding means in order to cause deployment of said protruding means;

[0065] b. a second sub-step for preparing and delivering a command interpretable by an actuator associated with a second protruding means in order to cause deployment of said second protruding means;

[0066] c. A third sub-step for preparing and delivering a command interpretable by actuators associated with the third and fourth projecting means in order to cause deployment of said third and fourth projecting means.

[0067] In order to improve the control of the landing of the propulsion device according to the invention, by supplying a "vacuum cup" or suction effect, the device may also include command means cooperating with the propulsion unit, and the method for controlling the landing according to the invention may include, after or in conjunction with the step for preparing and delivering a command interpretable by an actuator associated with the protruding means when the first distance measurement reaches a first predetermined threshold, the following step: for preparing and delivering a command interpretable by the command means associated with the propulsion unit in order to generate a stable reverse thrust.

[0068] Preferably, but not limitatively, the method for controlling the landing of a propulsion device according to the invention may comprise, after the step for preparing and delivering a command interpretable by an actuator associated with the protruding means, the following step: for preparing and delivering a command interpretable by an actuator associated with the central leg when said first distance measurement reaches a first predetermined threshold value, so as to authorize the retraction of said central leg.

[0069] When landing has ended, preferably but not limitatively, the device may also include command means cooperating with the propulsion unit, and the method for controlling the landing of a propulsion device according to the invention may include, after the step for preparing and delivering a command that can be interpreted by an actuator associated with the protruding means, the following step: for preparing and delivering a command that can be interpreted by a command means associated with the propulsion unit in order to cause the cutting off of the propulsion unit.

[0070] The invention also relates to a propulsion device comprising a processing unit arranged to implement the control method according to said invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0071] Other features and advantages will become more clearly apparent upon reading the following description and studying the accompanying drawings, in which:

[0072] Described above Figure 1 A first embodiment of a known propulsion device is diagrammatically illustrated;

[0073] Described above Figure 2 An exploded view of a first embodiment of a known propulsion device is shown;

[0074] Described above Figure 3 shows a perspective view of a second embodiment of a known propulsion device;

[0075] Figure 4 Diagrammatically illustrates a non-limiting embodiment of a propulsion device according to the present invention;

[0076] Figure 5A shows a first front view of a non-limiting embodiment of a propulsion device according to the invention during the steps of implementing a method for controlling the landing of said propulsion device;

[0077] Figure 5B shows a second front view of a non-limiting embodiment of a propulsion device according to the invention during the implementation of subsequent steps of the method for controlling the landing of said propulsion device;

[0078] Figure 5C diagrammatically illustrates a third front view of a non-limiting embodiment of a propulsion device according to the invention during implementation of subsequent steps of the method for controlling the landing of said propulsion device;

[0079] Figure 5D diagrammatically illustrates a fourth front view of a non-limiting embodiment of a propulsion device according to the invention during implementation of subsequent steps of the method for controlling the landing of said propulsion device;

[0080] Figure 5E diagrammatically illustrates a fifth front view of a non-limiting embodiment of a propulsion device according to the invention during implementation of subsequent steps of the method for controlling the landing of said propulsion device;

[0081] Figure 6 A flow chart of a non-limiting embodiment of a method for controlling the landing of a propulsion device according to the invention is diagrammatically illustrated. DETAILED DESCRIPTION

[0082] In the remainder of this document, the propulsion device according to the present invention will be described in the context of an application having a propulsion device specifically designed for airborne locomotion (also known as an aircraft or heavier-than-air vehicle), arranged to provide substantially vertical takeoff and landing capabilities. Such a propulsion device may optionally be arranged to transport one or more passengers and / or cargo. As non-limiting examples, such a propulsion device may consist of a drone, a helicopter, or a "Flyboard Air." However, the present invention is not limited to these application examples and may instead be employed in connection with any type of propulsion device.

[0083] Figure 4 as well as Figure 5A and Figure 5E Different views of a non-limiting embodiment of a propulsion device according to the present invention are shown. More particularly, Figures 5A to 5E Diagrammatically illustrate different views of a non-limiting embodiment of a propulsion device according to the invention, respectively during different phases or steps of landing of said propulsion device, such landing being possible directly with the aid of a method for controlling the landing of such a propulsion device (a non-limiting example of which will be referred to hereinafter) Figure 6 Description) to implement.

[0084] according to Figure 4 as well as Figures 5A to 5E The propulsion device 10 comprises a body in the form of a platform 11 on which passengers can optionally board. Depending on the size of the platform 11 and the power of the propulsion unit 12 of the device 10, several passengers can optionally board the platform 11 at the same time. To this end, the platform 11 can have one or more areas 11a arranged to receive and / or hold the passenger(s) on the platform, for example by means of their feet or even shoes.

[0085] As a variant, depending on the type of propulsion device (such as, for example, a helicopter), the present invention provides for a platform that can include a fuselage consisting of a helicopter chassis or cabin, into which one or more passengers and / or a (co-)pilot can board. Alternatively or additionally, the platform can also be arranged or adapted to provide for the transport of goods or cargo, either jointly or separately with any passenger(s) who may board the platform. More generally, such a platform makes it possible to provide for the assembly and stability of all elements comprising the propulsion device. However, the present invention is not limited to these platform examples. Therefore, any device or object suitable for providing similar functionality, regardless of its form, size, composition, and / or arrangement, can be used to form the platform 11 of the propulsion device 10 according to the present invention.

[0086] The propulsion device comprises a propulsion unit 12. Within the meaning of the present invention and throughout this document, a "propulsion unit" (also referred to as a "propeller") is understood to mean any device or object arranged to generate a force known as "thrust," such thrust resulting from the acceleration of an air mass in a direction opposite to its movement. Depending on the configuration of the propulsion device, the propulsion unit can have various arrangements and forms. When the propulsion device according to the present invention comprises, for example, a helicopter, the propulsion unit of the helicopter can comprise a wing system comprising one or more lift-generating and / or anti-torque propellers or rotors. This wing system is controlled or actuated by a power train, typically consisting of a piston engine or one or more turbines, advantageously cooperating with the wing system and driving the rotors included therein. Alternatively, when the propulsion device comprises a "Flyboard Air," the propulsion unit of the Flyboard Air can comprise any propulsion device commonly used in aviation, which converts the potential energy contained in a fuel (e.g., kerosene or equivalent) into kinetic energy in conjunction with an oxidizer (in this case, ambient air drawn in via the body's fluid inlet). This kinetic energy generates a reaction force in an elastic medium in a direction opposite to the jet of gaseous discharge. This results in a certain amount of air between the fluid inlet of the propeller or propulsion unit and its injection nozzle being accelerated, thereby generating thrust through expansion in the injection nozzle. Such propulsion units typically use an air compressor with blades or rotors. Alternatively, any other type of fuel can be used instead of the kerosene mentioned above. As a variant or in addition, the propulsion unit of such a propulsion device can advantageously consist of a pair of propulsion subunits 12a and 12b, each including two propellers.

[0087] Preferably, but not limited to, according to reference Figure 4 as well as Figures 5A to 5E The embodiment described exemplifies that the propulsion device 10 according to the invention may comprise four propulsion units 12. Each of these propulsion units may optionally comprise a deflector assembly provided with two deflector elements, such deflector elements being movably mounted downstream of the exhaust gas outlet of the nozzle of the jet turbine engine (assuming a vertically oriented jet turbine engine), these deflector elements being actuatable and positionable in the thrust exhaust gas and / or flow path in order to control the thrust delivered by each of the propulsion units. Figure 4 as well as Figures 5A to 5EThe described example of configuration, although not limiting the invention, has certain positive features compared to other propulsion unit configurations. In fact, the device 10 could be moved using a propulsion unit limited to a single propeller (for example of the hot jet turbine type). However, such a configuration would have too large a space requirement to allow said propulsion device to be easily movable and controllable. In fact, in order for such a single propeller to be able to deliver a thrust sufficient to propel the device 10 and its passengers (if any) in the air, the length of such a single propeller would be of the order of one meter or even longer. Similarly, a propulsion device comprising two propulsion units does not prove to be truly satisfactory: the space requirement of each propulsion unit would indeed be limited, but the propulsion device would still retain major drawbacks in terms of safety, similar to the single-propeller configuration described above. In fact, if one of the two propulsion units fails, the total thrust of this unit would not be sufficient to keep the propulsion device in the air and maintain sufficient maneuverability. Unlike these two possible configurations, as shown in reference Figure 4 as well as Figures 5A to 5E The illustrated configuration, in which the propulsion device comprises four propulsion units, offers a particularly advantageous compromise. Thus, the space requirements imposed by four thrusters (e.g., reactors) remain fully compatible with the desired mode of use. Furthermore, even in the event of a failure of one of the thrusters, the propulsion device 10 remains ideally maneuverable. According to a preferred but non-limiting example embodiment of the propulsion device, the propulsion units of the propulsion device can be arranged to provide a combined thrust directed in one direction, thereby providing a substantially vertical takeoff and landing capability. However, the present invention is not limited to the number, type, or arrangement of the propulsion unit(s) present within the propulsion device.

[0088] For simplicity, Figure 4 as well as Figures 5A to 5E Most electronic components are not shown. For example, as will be seen in reference Figure 6As seen in the description of the propulsion unit 12, in order to allow operation of the propulsion unit(s) 12 present within the propulsion device 10, the propulsion device also includes a command device 12m cooperating with the propulsion unit(s) 12. This command device 12m may be particularly arranged to control the power of the propulsion unit(s). Furthermore, the command device may also cooperate with or include sensors (such as, without limitation, inclinometers, accelerometers, and / or gyroscopes) suitable for delivering information regarding the attitude or, more generally, the path of the propulsion device 10. Thus, the command device may be arranged to generate power or control commands for the propulsion unit 12 based on instructions from a passenger or a remote operator transmitted via a human-machine input interface 40 (also referred to in this description as a human-machine setpoint interface 40), such as a remote control including buttons or a touch screen, a microphone, or other technical means that make it possible to convert human gestures or voice commands into digital symbols or data items, and / or information or data generated by such sensors. Such command means may be provided in the form of one or more electronic cards advantageously positioned close to the centre of inertia of the propulsion device 10 , in particular if sensors are included in said electronic card(s).

[0089] according to Figure 4 as well as Figures 5A to 5E , the propulsion device according to the invention comprises a support means 14 arranged to hold and support said propulsion unit(s) 12. As in the solution described above, such means 14 constitute the functional equivalent of the chassis supporting the platform 11. The support means 14 cooperates integrally not only with said platform 11 via one or more suitable mechanical linkages, but also with the propulsion unit(s) present in said propulsion device 10. Preferably, but not restrictively, according to Figure 4 as well as Figures 5A to 5E , such a mechanical link can advantageously consist of a fixed link. As a preferred but non-limiting example, according to Figure 4 as well as Figures 5A to 5E The support means 14 of the propulsion device 10 according to the invention can advantageously consist of a tubular structure comprising a plurality of tubes and / or beams, which are advantageously hollow in order to reduce their weight. The purpose of said structure 14 is to constitute the skeleton or mechanical structure of the propulsion device 10. The material that can be used to constitute this structure 14 can be chosen from aluminum, stainless steel alloys, or even carbon fibers or any other suitable polymer, that is, more generally, any material having functional properties that are advantageous for low weight and strength.

[0090] Furthermore, in order to facilitate take-off and landing of the propulsion device, the device 10 according to the invention comprises protruding means 17 which can also be similar to a landing gear, cooperating integrally with the platform 11 via suitable mechanical linkages and arranged so as to facilitate take-off and landing of the propulsion device when the device 10 is positioned below the platform 11 (as particularly referred to). Figure 4 as well as Figures 5A to 5E Finally, said protruding means 17 are arranged to provide contact between the receiving surface G and the propulsion means 10.

[0091] Such a device 17 may in particular comprise or consist of four legs. Each protruding device 17 has an end called "proximal", which denotes the portion of the leg closest to the platform 11, and an end called "distal", which denotes the portion of the leg furthest away from the platform 11 and closest to the receiving surface G. Throughout the rest of the present description, the distance between its proximal end and its distal end is called the length 17L of each protruding device 17. These protruding devices 17 in the form of legs have a respective length that is sufficient so that, when the device is positioned on the ground or more generally on a receiving surface such as a take-off field, the propulsion unit(s) 12 do not hit the ground and possibly damage the propulsion units, and also provide some stability. According to Figure 4 as well as Figures 5A to 5E When the platform has a substantially square or rectangular shape, the four legs may advantageously be positioned at the periphery, more particularly, but not exclusively, at the four corners of the platform. Alternatively, depending on the nature of the ground or the device support on which the device can be landed, the protruding means 17 may consist of a pair of skids or any other suitable element for providing some stability. Furthermore, depending on the type of propulsion device, the protruding means 17 may comprise two landing skids, such as those commonly employed today for helicopters.

[0092] As a variant or in addition, in order to avoid the propulsion means from hitting obstacles during the flight phase, such protruding means 17 may be partially or fully retractable, foldable and / or telescopic, thus making it possible to modify the dimensions of the protruding means 17, in particular but not limited to the length or height. Figure 4 as well as Figures 5A to 5E, the protruding means 17 in the form of four legs (optionally peripheral) may consist of four retractable columns. Regardless of the arrangement of the protruding means 17, when the protruding means are fully or partially retractable, foldable and / or retractable, in order to modify the size of the protruding means 17, the propulsion device 10 according to the invention may comprise an actuator 17a respectively cooperating with the protruding means 17, each actuator 17a being respectively arranged to jointly or individually cause a translational movement of said protruding means 17. As a non-limiting example, according to Figure 4 as well as Figures 5A to 5E , when the protruding means 17 consists of four peripheral legs in the form of telescopic columns, such an actuator 17a may consist of four cylinders or linear actuators.

[0093] As will be seen below, the actuator 17a may be controlled by the processing unit 30 (in Figure 4 and Figure 5A 10 , and more particularly its landing on a receiving surface G, which is in motion and / or which may be relatively limited or small in size, i.e., approximately the spatial requirement of the projection surface of the propulsion device 10 on the receiving surface G, also known as the "footprint." To this end, each actuator 17a, or more generally each protruding element 17, may be associated with a sensor (not shown in the figure), such as a proximity sensor, which is tasked with delivering to the processing unit 30 a digital or analog representation of the distance measurement between the proximity sensor cooperating with the actuator, or more generally, the protruding element, and the receiving surface G. Such a sensor may be based on optical detection, for example, by means of infrared, ultrasound, or even an inductive laser diode: the sensor is then advantageously contactless. By way of non-limiting example, such a sensor may include or consist of a Foucault current or ultrasonic sensor, a laser, a capacitive, an inductive, or a photoelectric sensor. As a variant, the present invention provides for such sensors to advantageously be based on contact detection: such sensors can then include or consist of strain gauges or strain gauges, pressure probes (such as load cells), or even end-of-stroke sensors. The choice of a particular type of sensor over another may depend primarily on the type, arrangement, or even size of the propulsion device 10 with which it is intended to be equipped. However, the present invention is not limited to these example sensors. Any device or object that enables distance or contact measurement between the sensor and the receiving surface may be employed. The present invention also provides for the use of multiple proximity sensors, depending on the structure of the propulsion device 10. Furthermore, such a processing unit 30 can also control the command device 12m of the propulsion unit(s) in order to regulate the thrust delivered by the propulsion unit(s) 12 present within the propulsion device.

[0094] In order to allow a controlled and optimized landing of the propulsion device 10 according to the invention, the propulsion device also comprises a proximity sensor 18s arranged to deliver measured values M18s1, M18s2 representative of the distance d between said proximity sensor 18s and a receiving surface G on which the propulsion device 10 according to the invention is intended to land, or possibly on water. The use of said proximity sensor 18s with respect to the propulsion device 10 according to the invention proves to be particularly advantageous, as it makes it possible to better assess (optionally in real time) the distance between the propulsion device 10 and the receiving surface G, in particular when such a receiving surface G is in motion and / or has small dimensions. As mentioned above, currently, when said receiving surface is in motion and / or has small dimensions, the pilot or, more generally, the operator of the propulsion device must then demonstrate expertise and skill in order to carry out a landing or water landing in a completely safe manner: the pilot's abilities have a direct impact on the successful execution of a landing or water landing (such landing or water landing is generally not reproducible) and on the pilot's functioning of the propulsion device for the desired landing or water landing, whether he is on board said device or away from it: the presence of such a sensor is intended to reduce the impact of the pilot's or operator's skills on the successful execution of a landing or water landing.

[0095] Such proximity sensors 18s can be based on optical detection, for example by means of infrared, ultrasound or even inductive laser diodes: the sensors are then advantageously contactless. As non-limiting examples, such proximity sensors 18s can comprise or consist of Foucault current or ultrasonic sensors, capacitive, inductive or photoelectric laser sensors. As a variant, the invention provides such proximity sensors 18s to be advantageously based on contact detection: such sensors can then comprise or consist of stress or strain gauges, pressure probes (such as pressure gauges) or even end-of-stroke sensors. The choice of a particular type of sensor over another can depend primarily on the type, arrangement or even size of the propulsion device 10 with which it is desired to be equipped. However, the invention is not limited to these example sensors. Any device or object that makes it possible to implement a distance or contact measurement between the sensor and the receiving surface can be used.

[0096] Typically, said proximity sensor 18s is already on board said propulsion device and therefore cooperates integrally with an element of the propulsion device 10, such as, for example, the platform 11, the support means 14 or the protruding means 17, via a suitable mechanical linkage. Preferably, but not restrictively, in order to provide as accurate a measurement as possible of the distance d between the proximity sensor 18s and the receiving surface G, the mechanical linkage between these two elements can advantageously consist of a fixed linkage: the proximity sensor 18s can thus be fixed to the propulsion device using any suitable fastening means. As a variant or in addition, the invention provides for the proximity sensor 18s to be positioned as close as possible to the centre of inertia or centre of gravity of the propulsion device 10, these two centres merging in the atmosphere. According to Figure 4 as well as Figures 5A to 5E , the proximity sensor 18s can advantageously cooperate with the underside of the platform 11.

[0097] As mentioned above, one of the objectives of the present invention is to provide a propulsion device that significantly facilitates and / or automates landings on a moving and / or small receiving surface G or on water. One of the main obstacles during such landings or on water is the difficulty in finding a good compromise between contact between the propulsion device and the receiving surface G and the stability required to maintain the propulsion device in equilibrium relative to the receiving surface G. To overcome this drawback, the propulsion device 10 according to the present invention may also include a central leg 18 that integrally cooperates with the platform 11 (more specifically, the lower surface) via a suitable mechanical linkage at its proximal end. Within the meaning of the present invention and throughout this document, a "central leg" is understood to mean a substantially longitudinal or longitudinally linear, rigid or flexible body, the longitudinal axis of which passes substantially through the center of inertia of the propulsion device. This central leg 18 has a "proximal" end, representing the portion of the central leg 18 closest to the platform 11, and a "distal" end, representing the portion of the central leg 18 furthest from the platform 11 and closest to the receiving surface G. Throughout the remainder of the present description, the distance between its proximal end and its distal end is referred to as the length 18L of the central leg 18. This length 18L of the central leg 18 is greater than the length 17L of each protruding means 17, or greater than the length of the propulsion unit(s) 12 when these protruding means are positioned below the platform 11. The use of such a central leg 18, the length 18L of which is greater than the lengths of the other elements of the propulsion device 10, proves to be particularly advantageous, since it allows it to provide a “first” contact between the propulsion device 10 and the receiving surface G on which this device is intended to land, thus making it possible to improve the control of the landing or water landing.

[0098] Alternatively or additionally, to mitigate the effects of impact or contact between the propulsion device 10 and the receiving surface during landing or water landing of the device 10, the center leg 18 may include a damper object or material (not shown in the figures for simplicity) at its distal end or integrally cooperate therewith. As a non-limiting example, such a damper may consist of a piece of flexible material (such as rubber or polyurethane) arranged to integrally cooperate with the distal end of the center leg 18 via a fixed linkage. Alternatively or additionally, such a damper may include a shock absorber, a hydraulic damper with a spring or blade, or even a pneumatic damper. The present invention is not limited by the type of damper cooperating with the center leg. Preferably, but not exclusively, the present invention provides that the center leg can also cooperate with the platform 11 via any suitable mechanical linkage: the type of mechanical linkage providing cooperation between the platform 11 and the center leg 18 will depend primarily on the arrangement and dimensions of the center leg 18.

[0099] As mentioned above, in order to allow a controlled, optimized landing of the propulsion device 10 according to the invention, the propulsion device may also include a proximity sensor 18s, which is arranged to deliver measured values M18s1, M18s2 representing the distance d between the proximity sensor 18s and the receiving surface G on which the propulsion device 10 according to the invention is intended to land or possibly land on water. As also mentioned above, when the receiving surface G provided for landing or landing on water is in motion or has small dimensions, one of the difficulties consists in correctly aiming at the receiving surface G when providing a controlled landing or landing on water, that is, in particular, without causing any lateral displacement of the propulsion device 10, which could then "miss" or slip from the receiving surface or impact a third-party object or infrastructure. To this end, the proximity sensor 18s may cooperate integrally with the central leg 18 via a suitable mechanical linkage (preferably, but not exclusively, a fixed linkage, optionally reversible). The cooperation between the proximity sensor 18s and the central leg 18 proves particularly advantageous since the sensor makes it possible to measure accurately and in real time the distance between the receiving surface G and the central leg providing the first contact therewith.

[0100] Furthermore, the position of the proximity sensor 18s relative to the central leg 18 depends on different factors, more particularly:

[0101] - the arrangement and / or type of sensors 18 employed: for example, when using end-of-stroke sensors, strain gauges or pressure gauges, contact detection requires positioning a proximity sensor 18 in conjunction with the distal end of the central leg 18, such distal end being intended to provide the "first" contact between the receiving surface G and the central leg. Conversely, the use of contactless sensors, such as laser sensors, with a wide detection range extending up to several meters, makes it possible to position said sensors throughout the length of the central leg. As a variant, since capacitive or inductive sensors generally have a shorter range, such sensors can be positioned around the distal end;

[0102] - The structure and composition of the central leg 18, which can have a relatively rigid or relatively flexible structure. As a non-limiting example, according to Figure 4 as well as Figures 5A to 5E Since the central leg consists of a telescopic column and therefore has a relatively rigid structure, proximity sensors 18s (in the advantageous but non-limiting form of laser sensors) can cooperate around the proximal end of the central leg 18 and with the underside of the platform 11.

[0103] As a variant or in addition, in order to avoid the propulsion means from hitting obstacles during a flight phase, such a central leg 18 may be partially or fully retractable, foldable and / or telescopic, thus making it possible to modify the dimensions of said central leg, in particular but not limited to the length or height. Figure 4 as well as Figures 5A to 5E , such a central leg 18 may advantageously consist of a telescopic column. Regardless of the arrangement of the central leg 18, when the central leg is fully or partially retractable, foldable and / or telescopic, in order to modify the size of the central leg, the propulsion device 10 according to the invention may comprise an actuator 18a cooperating with the central leg, the actuator 18a being arranged to cause a translational movement of said central leg 18 (or, in general, to cause an extension of the central leg 18). As a non-limiting example, according to Figure 4 as well as Figures 5A to 5E When the central leg 18 is composed of a telescopic column, the actuator 18a may be composed of a cylinder or a linear actuator.

[0104] Like the actuator 17a of the protruding device 17, as will be seen below, the actuator 18a can be controlled by a processing unit 30 of the propulsion device 10 according to the invention, which processing unit is tasked with providing comprehensive control of the attitude and path of the propulsion device 10, and more particularly comprehensive control of the landing of the propulsion device on a receiving surface G that is in motion and / or has small dimensions, by jointly utilizing control set points, via the use of a human-machine input interface 40 and measurements originating from sensors.

[0105] More particularly, as will be seen below, the actuator 18a associated with the central leg 18 or the actuator 17a associated with the protruding means 17, respectively, can be controlled by means of electrical commands C17a, C18, C18a', the processing unit 30 of the propulsion device 10 being designed to generate said electrical commands C17a, C18, C18a' based on control setpoints and / or reference systems MS1, MS2 determined by one or more configuration parameters. Such configuration parameters can be determined beforehand upstream of the propulsion device.

[0106] As a variant or in addition, in order to allow the passenger 1 to interact with the propulsion unit 12 or any other component of the propulsion device 10 when the propulsion device 10 according to the invention is intended to provide transportation for one or more passengers, or more generally, the operator of the device, the device may include or cooperate with a human-machine setpoint interface 40 (e.g., of the remote control type), the primary function of which is to convert the gestures of the passenger 1 or the operator into defined setpoints. More specifically, this human-machine setpoint interface 40 may be specifically designed to convert the user's gestures into actuation setpoints for the central leg 18 and / or the protruding means 17, or even for controlling the propulsion unit(s) 12. This human-machine setpoint interface 40, in the form of a remote control, may be arranged to be held in the hand of the passenger 1, or more generally, the operator or user: the remote control may advantageously be at a distance. As a non-limiting example, the interface 40 can resemble a gun-style remote control, specifically including a trigger whose stroke can be interpreted as a command to increase the power of the propulsion unit 12 when the trigger is actuated by the passenger 1 or the operator, and to decrease the power when the trigger is gradually released by the user. This interface 40 can also include other components (such as one or more buttons, for example, push-buttons) for optionally establishing set points for turning the propulsion unit 12 on or off, for actuating the center leg 18 and / or the protruding member 17, or even for activating an assisted landing procedure. Thus, activating such an assisted landing procedure via such push-buttons when the propulsion unit 10 is substantially positioned above the receiving surface G can consist of initiating an automatic landing procedure, wherein the propulsion unit 10 automatically implements various steps to ensure its landing. To interpret such gestures by its user, the interface 40 can include electronic processing means for processing the various information items collected by the trigger and other buttons to generate set points, which can be interpreted by means for processing such set points (more specifically, the processing unit 30 onboard the propulsion unit 10). In order to route said setpoints to these latter processing means, the human-machine input interface 40 and the processing unit 30 of the device 10 may cooperate via wired or advantageous wireless communication means 41, for example via a radio channel. In order that the propulsion device 10 may optionally and advantageously deliver particularly innovative assistance to its user (although optionally capable of being disengaged as required or with specific authorization, whether this user is a passenger or an operator), reference will now be made to the system provided by Figure 6The illustrated non-limiting example serves to study the functional architecture according to which the different set points and / or operating control components of the propulsion device make it possible to implement a control method (also called assistance method) for landing or landing on water of the propulsion device 10 on a receiving surface G that is movable or has small dimensions, thus assisting or even controlling the path, attitude and altitude in response to set points coming from the user or from configuration parameters. According to an embodiment of such a propulsion device 10 according to the invention, the set points or configuration parameters are filtered relative to a customizable operating context so as to retain only those set points and parameters that the processing unit 30 of the propulsion device 10 considers relevant and converts them into rules or commands.

[0107] refer to Figures 5A to 5E as well as Figure 6 This propulsion device 10, which develops automatic assistance for its users, comprises a processing unit 30 in the form of one or more microcontrollers or processors or even a digital-to-analog signal converter. This processing unit 30 is tasked in particular with delivering control commands C17a, C18, C18a' for the actuators 17a and 18a (these control commands provide for the deployment, or more particularly the translational movement, of the protruding means 17 and the central leg 18, respectively, associated with these actuators 17a and 18a), as well as power or control commands C12m, C12m' for the command means 12m of the propulsion unit(s) 12 (these power or control commands control the power of these propulsion unit(s) 12). In order to deliver these control commands C17a, C18, C18a', C12m, C12m', these control commands must be generated by implementing the method for controlling the landing of a propulsion device according to the invention. This method (whose main steps S10, S20, S30, S41, S42, S50 and S60 are in Figure 6The processing unit 30 (illustrated in FIG) can advantageously be caused by interpreting or executing instructions of a computer program product P, the instructions of which have been pre-loaded or written into a program memory 30MP, which cooperates with the processing unit 30 via a wired communication bus or through a connection. This processing unit 30 may also include or cooperate with a data memory 30DM, like the program memory 30MP, intended to collect data delivered by other components (e.g., from sensors such as proximity sensor 18s and / or human-machine setpoint interface 40) before or after processing by the processing unit 30. This data memory 30DM may also record one or more configuration parameters that limit the degrees of freedom desired to be allowed to a user or operator relative to the receiving surface G. As a non-limiting example, such configuration parameters may determine a reference system, for example in the form of reference distance measurements between the proximity sensor 18s and the receiving surface G, these reference distance measurements corresponding to predetermined threshold values.

[0108] As specifically referenced above Figure 4 as well as Figures 5A to 5EAs mentioned, the user of the propulsion device 10 can, for example, indicate to the processing unit 30 via specific hand gestures the actuation setpoints for the center leg 18 and / or the protruding member 17, or even control of the propulsion unit(s) 12, particularly in the event of a failure in the automated closed-loop control of the landing process of the propulsion device 10. To this end, as mentioned above, the propulsion device 10 according to the present invention can include or cooperate with a human-machine setpoint interface 40, which can be similar to a gun-style remote control, specifically including a trigger and other components (such as buttons). The travel of each component (such as the pressure on a dedicated push button) can be measured by a suitable sensor, such as an inductive sensor (advantageously a Hall effect sensor), which is particularly accurate due to its ability to amplify the measurement signal, thereby limiting any noise caused by the environment. For example, a first button and a first associated sensor can advantageously cooperate with a first actuator 18a associated with the center leg 18. The first signal C18a delivered by this first sensor can be considered as the setpoint for converting the actuation of the center leg 18, thereby causing its deployment. The second signal C18a', still delivered by this first sensor, can be considered as a switch to a setpoint for actuating the center leg 18, so as to cause its retraction. Furthermore, as a variant or in addition, a second push button and a second associated sensor can advantageously cooperate with a second actuator 17a associated with the protruding means 17. The first signal C17a delivered by this second sensor can be considered as a switch to a setpoint for actuating the protruding means 17, so as to cause their joint or individual deployment. However, the present invention is not limited to these exemplary components. As mentioned above, the human-machine setpoint interface 40 of the propulsion device 10 according to the present invention can also include a trigger and / or a third push button that cooperates with the propulsion unit(s) 12, each associated with a dedicated sensor that delivers signals C12m, C12m'. These signals C12m, C12m' can be considered as switches to control commands for the units, so as to generate stable reverse thrust and allow or cause the propulsion unit(s) 12 to be deactivated, respectively. As a variant and / or in addition, other sensors may be associated with other machine-machine setpoint interfaces. Such interfaces themselves may directly deliver data or signals representative of the instructions from the user of the propulsion device 10 .

[0109] In order to automate the landing or water landing of the propulsion device 10 according to the invention on a given receiving surface G, the processing unit 30 advantageously collaborates, wired or wirelessly, with the proximity sensor 18s (optionally a group of sensors), as described above, making it possible to deliver at each moment a measurement value M18s1, M18s2 representative of the distance d between said proximity sensor 18s and the receiving surface G. Knowing the distance d between said proximity sensor 18s and the receiving surface G, the processing unit 30 can implement a method according to the invention for controlling the landing of the propulsion device 10, a non-limiting example of which is given in Figure 6 Middle picture.

[0110] According to this example, the propulsion device 10 optionally comprises a central leg 18 associated with an actuator 18a, which can be controlled by a processing unit 30 in order to fold or unfold said leg. The processing unit 30 of such a device 10 can implement the following steps S10: for collecting a first measurement value M18sl of the distance d between the proximity sensor 18s and the receiving surface G delivered by the proximity sensor 18s and comparing it with a first predetermined threshold value MS1. When the first measurement value M18sl of the distance d between the proximity sensor 18s and the receiving surface G delivered by the proximity sensor 18s is substantially equal to the first predetermined threshold value MS1 (given by the first predetermined threshold value MS1), the first measurement value M18sl of the distance d between the proximity sensor 18s and the receiving surface G delivered by the proximity sensor 18s is substantially equal to the first predetermined threshold value MS1 (given by the first predetermined threshold value MS1). Figure 6 y in FIG), the processing unit 30 may implement the following step S20: for preparing and delivering a command C18a that can be interpreted by the first actuator 18a associated with the central leg 18 in order to allow or cause the deployment of said central leg 18. Figure 5A To illustrate this step S20. Figure 6 ), the processing unit 30 reiterates the step S10 for collecting the first measurement value M18s1 of the distance d between the proximity sensor 18s and the receiving surface G and comparing it with the first predetermined threshold value MS1 until the first measurement value M18s1 of the distance d between the proximity sensor 18s and the receiving surface G delivered by the proximity sensor 18s is substantially equal to the first predetermined threshold value MS1. Depending on the respective structures and dimensions of the propulsion device 10 and the receiving surface G and also on the surrounding environmental conditions of the landing, the first threshold value MS1 may vary from a few centimeters to one meter. Figures 5A to 5E and Figure 6When the central leg 18 comprises a telescopic column, its deployment can be stopped once the column's travel has been fully extended. Alternatively or in addition, the deployment of the central leg 18 can optionally be stopped by means of a setpoint component of the human-machine input interface component 40, as described above. According to a variant embodiment of the method for controlling the landing of a propulsion device 10 according to the present invention, when the propulsion device comprises a preferably flexible and permanently deployable central leg 18, the previously described steps S10 and S20 of the method are not implemented or provided.

[0111] Regardless of the configuration of the central leg 18 and whether it may be commanded to deploy, the processing unit 30 may implement a step S30 for collecting a second measurement M18s2 delivered by the proximity sensor 18s of the distance between the proximity sensor 18s and the receiving surface G and comparing it with a second predetermined threshold MS2.

[0112] When a second measurement value M18s2 of the distance d between the proximity sensor 18s and the receiving surface G, delivered by the proximity sensor 18s, is substantially equal to a second predetermined threshold value MS2, the processing unit 30 may implement a step S50 for preparing and delivering a command C17a, interpretable by the second actuator 17a associated with the protruding means 17, to permit or cause joint or individual deployment of the protruding means 17. This step S50 may optionally be implemented after the central leg 18 has been fully retracted (if permitted by the central leg). Optionally, triggering step S50 may be implemented when a third measurement value of the distance between the proximity sensor 18s and the receiving surface G, delivered by the proximity sensor 18s, is substantially equal to a third predetermined threshold value MS2. As a variant or in addition, the present invention provides that each protruding means 17 may include a respective proximity sensor arranged to deliver a measurement value representative of the distance between the proximity sensor associated with the protruding means 17 and the receiving surface. The processing unit 30 may then implement a sub-step S50a for collecting these measurements and comparing them with a predetermined threshold value.

[0113] As a variant or in addition, the invention provides that the processing unit 30 can implement individual deployment of the protruding means 17. As mentioned above, landing the propulsion device on a receiving surface that is in motion can prove to be relatively tricky, for example, because the pilot or operator must demonstrate a certain degree of dexterity to be able to place each of the protruding means 17 on the receiving surface while maintaining the balance and stability of the propulsion device 10. The invention provides automated assistance to solve this difficulty by proposing individual deployment of the protruding means 17. As a non-limiting example, according to reference Figure 4 as well as Figures 5A to 5EIn the preferred embodiment described, the four peripheral legs 17 can be deployed individually and sequentially, each associated with a second actuator 17a. Once the central leg 18 contacts the receiving surface G, the processing unit 30 may implement a first sub-step (S51) of preparing and delivering a command interpretable by the second actuator associated with the first peripheral leg 17 to permit deployment of the first peripheral leg 17. Once the first peripheral leg contacts the receiving surface G, the processing unit 30 may implement a second sub-step (S52) of preparing and delivering a command interpretable by the second actuator associated with the second peripheral leg 17 to permit deployment of the second peripheral leg. The deployment of the central leg 18 (whether commanded or constant) and the deployment of the first and second peripheral legs 17 create three points of contact, thereby securing and stabilizing the propulsion device 10 on the receiving surface G. The processing unit 30 may then implement a third sub-step (S53) of preparing and delivering commands interpretable by the actuators associated with the third and fourth peripheral legs 17 to permit deployment of the third and fourth peripheral legs, respectively.

[0114] When the second distance measurement value M18s2 reaches the second predetermined threshold value MS2, the processing unit 30 may, after or even in conjunction with the step S50 for preparing and delivering a command C17a interpretable by the second actuator 17a associated with the protruding means 17, carry out a step S41 for preparing and delivering a command C12m′ interpretable by the command means 12m associated with the propulsion unit 12 in order to generate a stable reverse thrust (also called "reverse thrust"). This generation of reverse thrust proves to be particularly advantageous, as it allows the creation of a "vacuum cup" effect and thus allows the propulsion device to adhere to the receiving surface. Thus, the reverse thrust makes it possible to overcome meteorological conditions that could directly affect the propulsion device 10 during the landing phase.

[0115] When the second measurement value M18s2 of the distance d between the proximity sensor 18s and the receiving surface G delivered by the proximity sensor 18s is substantially equal to the second predetermined threshold MS2 and the protruding means 17 is therefore deployed, after step S50 or in conjunction with step S50, the processing unit 30 can implement a step S42 for preparing and delivering a command C18a' that can be interpreted by the first actuator 18a associated with the central leg 18 in order to allow the withdrawal of said central leg 18: such withdrawal can be called active withdrawal. The withdrawal is generally advantageously initiated after the deployment of the protruding means 17 (represented by step S50) and therefore in particular when the second threshold is substantially zero and the central leg 18 comes into contact with the receiving surface G. Reference Figure 5CConversely, the processing unit 30 may reiterate the step S30 for collecting the second measurement value M18s2 of the distance d between the proximity sensor 18s and the receiving surface G delivered by the proximity sensor 18s and comparing it with the second predetermined threshold value MS2 until the second measurement value M18s2 of the distance d between the proximity sensor 18s and the receiving surface G delivered by the proximity sensor 18s is substantially equal to the second predetermined threshold value MS2, and thus step S50 may be implemented.

[0116] As a variant, the invention provides for the retraction of said central leg 18 to be carried out passively: in fact, due to its structure, when the central leg 18 consists, for example, of a telescopic column equipped with one or more springs or return members, or even when the central leg 18 consists mainly of a flexible material, it can be Figures 5A to 5E and Figure 6 When the central leg 18 is composed of a telescopic column, its deployment can be stopped once the travel of the telescopic column has been fully extended. As a variant or in addition, the deployment of the central leg 18 can optionally be stopped by means of a set point component of the human-machine input component interface 40, as described above.

[0117] Finally, once the protruding means 17 are deployed and stabilized on the receiving surface G, the processing unit can implement, after the step S50 for preparing and delivering a command C17a interpretable by the second actuator 17a associated with the protruding means 17, the following step S60 for preparing and delivering a command C12m' interpretable by the command means 12m associated with the propulsion unit 12, in order to allow or cause the shutdown of said propulsion unit 12. Once the propulsion device 10 has landed and is completely and safely stabilized, the propulsion unit(s) 12 can be completely shut down.

[0118] According to an advantageous embodiment for facilitating the landing phase of the propulsion device 10, the invention also provides that such a method can comprise, upon imminent contact between the receiving surface G and the distal portion of said central leg 18, a step S21 for preparing and delivering a command C12m″ interpretable by the command means 12m associated with the propulsion unit 12, in order to control the power of the propulsion unit 12 and generate a stable thrust. This stable thrust promotes a “soft” contact of the central leg 18, and more generally of the propulsion device 10, with the receiving surface G.

[0119] The example method thus described for controlling the landing of the propulsion device 10 may comprise other intermediate steps in order to take into account other measurements (such as, for example, the power of the propulsion unit(s) 12 of said propulsion device 10) or other set points or additional data (such as, for example, measurements relating to the movements undergone by the receiving surface G or even the dimensions of said receiving surface G).

[0120] It should be noted that the method for automatically implementing a controlled landing of a propulsion device, in the absence of any user control or actuator commands, makes it possible to implement an automatic landing on a given receiving surface, thus providing a control assistance that is currently unparalleled for the passengers or operators of such a propulsion device. Furthermore, this method for controlling the landing of a propulsion device according to the invention notably makes it possible to optimize the area of the receiving surface required to implement such a landing and reduce collisions with foreign objects.

[0121] Furthermore, the processing unit 30 may comprise or cooperate with one or more power supply sources 30PS tasked with supplying power to the active elements of the propulsion device 10 according to the invention, to the processing unit itself and / or to the sensors or actuators.

[0122] Finally, the present invention provides for the processing unit 30 to record a history of control and / or actuation commands and / or instructions generated, or even distance data that may be delivered by proximity sensors 18s or any other onboard sensors within the propulsion unit, for the purpose of monitoring or supervising the use of the propulsion unit 10 according to the present invention. This history can be stored in a data memory 30DM and accessed for consultation from a communicating electronic device (e.g., a personal computer, smartphone, or interactive tablet). This communication also makes it possible to modify the program P written to the program memory 30PM and / or certain configuration parameters stored in said data memory 30DM, in order to modify the behavior of the propulsion unit 10 and the automatic assistance delivered by it as needed during landing. Thus, it is possible to modify all or part of the command and / or parameter data utilized by the program product P, thereby causing the processing unit 30 to implement the control method.

Claims

1. A method for controlling the landing of a propulsion device (10), the propulsion device comprising: - platform (11), - a propulsion unit (12), - support means (14) arranged to hold and support said propulsion unit (12), said support means cooperating integrally with said platform (11) via one or more suitable mechanical linkages, - retractable protruding means (17) cooperating integrally with said platform (11) via suitable mechanical linkages, - second actuators (17a) associated with said protruding means (17) and controlled by electrical commands, each second actuator (17a) being respectively arranged to jointly or individually cause a translational movement of said protruding means (17), a central leg (18) passing through the centre of inertia of the propulsion device (10) and cooperating integrally with the platform (11) via a suitable mechanical linkage at its proximal end, the protruding means (17) and the central leg (18) being arranged relative to each other so that the central leg (18) provides a first contact between the propulsion device (10) and a receiving surface (G) for receiving the propulsion device (10), a proximity sensor (18s) arranged to deliver a measurement value (M18s1, M18s2) representative of the distance (d) between the proximity sensor (18s) and the receiving surface (G), a processing unit (30) designed to generate said electrical commands based on a control set point and / or a reference system determined by one or more configuration parameters, The method is implemented by the processing unit (30) of the propulsion device (10) and is characterized in that the method comprises: a. a step (S30) for collecting a second measurement value (M18s2) delivered by the proximity sensor (18s) of the distance between the proximity sensor (18s) and the receiving surface (G) and comparing it with a second predetermined threshold value (MS2); b. A step (S50) for preparing and delivering a command interpretable by said second actuator (17a) associated with said protruding means (17) in order to cause the joint or individual deployment of said protruding means (17).

2. Method according to claim 1 , wherein said step (S50) for preparing and delivering an electrical command interpretable by said second actuator (17a) associated with said protruding means (17) in order to cause a joint or individual deployment of said protruding means (17) can comprise three sub-steps, which in the case of individual deployment of said protruding means (17) consist of: a. a first sub-step (S51) for preparing and delivering an electrical command interpretable by said actuator associated with a first protruding means in order to cause deployment of said first protruding means; b. a second sub-step (S52) for preparing and delivering an electrical command interpretable by said actuator associated with a second protruding means in order to cause deployment of said second protruding means; c. A third sub-step ( S53 ) of preparing and delivering an electrical command interpretable by said actuators associated with the third and fourth projecting means in order to cause deployment of said third and fourth projecting means.

3. Method according to claim 1 or 2, comprising, after or in conjunction with a step (S50) for preparing and delivering an electrical command capable of being interpreted by the second actuator (17a) associated with the protruding means (17) when the second measurement value (M18s2) reaches the second predetermined threshold (MS2), the following step (S41) for preparing and delivering a command for controlling the power of the unit (12) in order to generate a stable reverse thrust.

4. The method according to the preceding claim, comprising: When the protruding device (17) is deployed and stably in contact with the receiving surface (G), the step (S50) for preparing and delivering an electrical command that can be interpreted by the second actuator (17a) associated with the protruding device is followed by the following step (S60): for preparing and delivering a command to control the power of the unit (12) so as to cause the propulsion unit (12) to be turned off.

5. Method according to claim 1 or 2, when the propulsion device (10) of which the processing unit (30) implements the method comprises a first actuator (18a) cooperating with the central leg (18), the central leg (18) being retractable for the propulsion device and the first actuator (18a) being arranged to cause a translational movement of the central leg (18), the method further comprising two steps before the step (S30) of collecting a second measurement value (M18s2) delivered by the proximity sensor (18s) of the distance between the proximity sensor (18s) and the receiving surface (G) and comparing it with a second predetermined threshold value (MS2): a. a step (S10) for collecting a first measurement value (M18s1) delivered by the proximity sensor (18s) of the distance (d) between the proximity sensor (18s) and the receiving surface (G) and comparing it with a first predetermined threshold value (MS1), the first predetermined threshold value being strictly greater than the second predetermined threshold value (MS2); b. A step (S20) for preparing and delivering an electrical command interpretable by the first actuator (18a) associated with the center leg (18) in order to cause deployment of the center leg (18) when the first measurement value (M18s1) reaches the first predetermined threshold (MS1).

6. The method according to claim 5 comprises the following step after step (S50) when the protruding device (17) is unfolded and stably in contact with the receiving surface (G): for preparing and delivering an electrical command that can be interpreted by the first actuator (18a) associated with the central leg (18) so as to allow the withdrawal of the central leg (18).

7. A propulsion device (10), comprising: - platform (11), - a propulsion unit (12), - support means (14) arranged to hold and support said propulsion unit (12), said support means cooperating integrally with said platform (11) via one or more suitable mechanical linkages, - retractable protruding means (17) cooperating integrally with said platform (11) via suitable mechanical linkages, - second actuators (17a) associated with said protruding means (17) and controlled by electrical commands, each second actuator (17a) being respectively arranged to jointly or individually cause a translational movement of said protruding means (17), - a central leg (18) passing through the centre of inertia of the propulsion device (10) and cooperating integrally with the platform (11) via a suitable mechanical linkage at its proximal end, a proximity sensor (18s) arranged to deliver a measurement value (M18s1, M18s2) representative of the distance (d) between the proximity sensor (18s) and the receiving surface (G), a processing unit (30) designed to generate said electrical commands based on a control set point and / or a reference system determined by one or more configuration parameters, The propulsion device (10) is characterized in that the protruding means (17) and the central leg (18) are arranged with respect to each other so that the central leg (18) provides a first contact between the propulsion device (10) and a receiving surface (G) for receiving the propulsion device (10), and wherein the processing unit (30) is arranged to implement the method according to any one of claims 1 to 4.

8. A propulsion device (10) according to the preceding claim, comprising a first actuator (18a) cooperating with the central leg (18), wherein the central leg (18) is retractable for the propulsion device, the first actuator (18a) being arranged to cause a translational movement of the central leg (18), and wherein the processing unit (30) generates electrical commands for the first actuator associated with the central leg according to the method for controlling landing according to claim 5 or 6.

9. The propulsion device (10) according to the preceding claim comprises a human-machine input interface (40) designed to convert a user's gesture symbols into an actuation set point of the central leg (18) and / or the protruding device (17) or a control set point of the propulsion unit (12).

10. Propulsion device (10) according to claim 7 or 8, wherein the platform (11) is arranged to receive one or more passengers.

11. A propulsion arrangement (10) according to claim 7 or 8, wherein the propulsion unit (12) is arranged to supply a resultant thrust directed in a direction so as to provide a substantially vertical take-off and landing capability.

12. Propulsion device (10) according to claim 7 or 8, for which the protruding means (17) comprise four peripheral legs or two landing carriages.

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