Drone

Abstract

exhibiting flying drone (100): - a fuselage (110) with a landing gear (115) for landing and parking the flying drone (100) on a surface (200); - a propulsion device (120) connected to the fuselage for generating lift and thrust for the flying drone (100); - at least one sensor device (130) in a housing (135); and - a support device (140) which is attached at one end to the fuselage (110) via a joint (4) and at its other free end carries the sensor device (130) at a distance d below the fuselage (110); characterized by that the joint (4) is designed in the form of a gimbal suspension with at least two axes; and that a position detection device (80) is provided for detecting the position of the sensor device (130) in relation to the flying drone (100) as a reference point, in particular in relation to the joint (4), especially during a flight of the flying drone (100).

Description

[0001] The invention relates to a flying drone with an attached sensor device for measuring earth surfaces and / or near-surface earth layers.

[0002] Such drones, which are unmanned aerial vehicles, are generally known in the prior art, for example from German utility model DE 20 2024 107 211 U1. The drone disclosed therein has all the features according to the preamble of claim 1. In particular, it has a sensor device which is attached to the drone's fuselage via a joint. The known sensor device is a magnetometer for measuring the Earth's surface and / or layers of soil above and below the Earth's surface.

[0003] To determine the location where a survey was conducted by the sensor device, it is necessary to precisely determine the sensor device's position in space at the time of the survey during the drone's flight. With currently known sensor device mountings on drones, this is only possible with considerable inaccuracy because the sensor device on traditional drones inevitably undergoes oscillations, for example, due to wind, changes in the drone's flight speed, or changes in the drone's direction during flight. These oscillations of the sensor device then lead to an insufficiently accurate determination of the sensor's position in space, and especially of its position relative to the drone's current position during flight. Tracking the sensor signals, i.e.,An assignment of the survey results represented by the sensor signals to the respective location where the survey took place is then only possible imprecisely.

[0004] The invention is therefore based on the objective of further developing a known flying drone in such a way that the relative position of the sensor device to its fuselage, and thus ultimately also the position of the sensor device during its flight while carrying out measurements in space, can be determined more precisely.

[0005] This problem is solved by the subject matter of claim 1. Accordingly, the drone according to the invention is characterized in that the joint is designed in the form of at least two-axis gimbal suspension and that a position detection device is provided for detecting the position of the sensor device in relation to the drone, in particular in relation to the joint, as a reference point, furthermore particularly during a flight of the drone.

[0006] A gimbal mount with at least two axes, also known as a two-axis gimbal, is a device that allows an object, in this case the sensor assembly, to be mounted so that it can move about two axes of rotation that are perpendicular to each other, thereby isolating it from the rotational movements of its surroundings. Unlike, for example, a simple hinge joint that is fixed to the underside of the drone's fuselage, the two-axis gimbal according to the invention also allows the sensor assembly to move relative to the drone in at least one additional degree of freedom. In particular, it is possible not only to pivot the sensor assembly in or against the direction of flight, but also to pivot it laterally relative to the drone's fuselage.In order to enable a more precise determination of the angular position of the sensor device in space relative to the flying drone, despite this increase in degrees of freedom for the movement of the sensor device, a position detection device is provided according to the invention.

[0007] According to a first embodiment of the invention, the gimbal suspension is designed in the form of a ball joint or a universal joint. Both variants enable the movement of the sensor device relative to the drone in the further degrees of freedom, as described above.

[0008] According to a first embodiment, the end of the support device, which is mounted in the gimbal suspension, has a marker. Using a deflection sensor, a deflection or lack thereof of the marker relative to a predefined reference point in space can then be detected, and this deflection can subsequently be converted by an evaluation device into two specific angular values ​​for the position of the sensor, preferably in spherical coordinates relative to the reference point. In this respect, the deflection of the marker, according to the invention, acts as a representation of the deflection of the sensor relative to the reference point, i.e., relative to the drone.

[0009] The marker can be either a passive marker, such as a colored dot, which does not emit light itself but can preferably be illuminated by a lighting element to improve detection of the marker and its deflection by the deflection sensor. Alternatively, an actively illuminating marker, such as a light-emitting diode (LED), can be used. In both cases, the deflection sensor is configured as an image recognition system to detect the marker and its deflection.

[0010] Alternatively, the deflection sensor device can be designed as a two-dimensional angle encoder to determine the two angle values ​​for the position of the sensor device relative to the predefined reference point or the drone, preferably in spherical coordinates. This has the advantage that the marker, the deflection sensor device for the marker, and the associated evaluation device are then unnecessary.

[0011] According to a further embodiment, the position detection device knows the position of the sensor device relative to the drone in spherical coordinates, i.e. in the form of the two determined angle values ​​and the known distance between the joint on the fuselage of the drone and the sensor device attached to it.

[0012] According to another embodiment, a data transmission device can be provided for wirelessly transmitting the position of the sensor device relative to the reference point, e.g. in the form of spherical coordinates, to a receiver, e.g. a control device for the drone.

[0013] According to the invention, the support structure connecting the sensor device to the drone is formed from a first and at least one second connecting rod, which are connected to each other via a further joint. This further joint is designed as a locking joint, which, after the drone is launched, locks into a predefined angle between the two connecting rods of the support structure, an angle that is maintained constantly throughout the drone's flight. Upon landing, the locking joint is triggered to release the fixed angle between the two connecting rods, so that the support structure is folded up during and after landing. By fixing the angle between the two connecting rods during the drone's flight, the drone and the sensor device are in a defined spatial relationship to each other.The signals from the sensor device can then be advantageously and more accurately assigned to the respective reference point, i.e., the respective position of the drone in space, which is preferably determined using the Global Position System (GPS).

[0014] A more precise determination of the sensor's position in space during drone flight is further enhanced by the fact that the gimbal mount and / or locking joint each incorporate a damping element. These damping elements reduce the sensor's vibrations during flight, thus enabling more accurate position determination.

[0015] In addition to the first sensor device, which is attached to the drone via the support structure and is therefore located at a fixed distance d from the drone, a second sensor device can optionally be attached to the drone or its fuselage at a shorter distance. According to the invention, a sensor data evaluation device is then provided to receive and process the sensor data from both sensor devices, e.g., in the form of a differential signal analysis. This differential analysis advantageously enables a more precise evaluation of the measurement data acquired by the sensor devices.

[0016] The drone advantageously has its own position detection device for determining its current position in space, particularly during flight. The data transmission device is further configured to transmit the drone's current position data, along with the position data determined by the position detection device for the sensor device relative to the drone, to, for example, the drone's control unit. Alternatively or additionally, a calculation device can be provided to determine or calculate the position data of the sensor device in space from the drone's current position data and the position data of the sensor device relative to the drone. The data transmission device can then transmit the position data of the sensor device thus determined in space to the control unit.

[0017] Further advantageous embodiments of the drone according to the invention are the subject of the dependent claims.

[0018] The description includes a total of 5 figures, whereby Fig. 1 the drone according to the invention during a flight; Fig. 2 the drone according to the invention in its take-off and landing position; Fig. 3a the gimbal joint in a perspective overall view; Fig. 3b the cardan joint in the open state with a position detection device in a first angular position with the damping element removed; Fig. 3c the open gimbal joint in a second angular position; Fig. 4 the schematic structure of the position detection device; and Fig. 5a Figures 5c show the inventive grid joint in different angular positions between the two link rods.

[0019] The invention is described in detail below with reference to the figures mentioned, in the form of exemplary embodiments. In all figures, identical technical elements are designated by the same reference numerals.

[0020] Fig. Figure 1 shows a drone 100 according to the invention. It consists of a fuselage 110 with a landing gear 115 for landing and parking the drone on a surface 200; see Figure 1. Fig. 2.

[0021] In the Fig. 1 and Fig. Figure 2 shows that the drone also has a propulsion unit 120 connected to the fuselage 110 for generating lift and thrust for the drone 100 during its flight. A sensor unit 130 in a housing 135 is attached to the fuselage 110 via a support structure 140. The support structure 140 is attached to the fuselage 110 of the drone by means of a joint 4, which is preferably located below the drone, preferably at its center of gravity. Fig. 1. The support device 140 is formed from a first and at least one second link rod 5, 7, wherein the two link rods are pivotally connected to each other via a further joint 6. The first link rod 5 is attached to the joint 4 at its free end facing away from the further joint 6. The sensor device 130, preferably in its housing 135, is arranged on the end of the second link rod 7 facing away from the further joint 6.

[0022] This sensor device 130 is typically configured as a magnetometer in the inventive drone 100 for measuring the Earth's surface and / or near-surface layers of the Earth. Generally speaking, a magnetometer measures magnetic fields by detecting the effect of these fields on electric charges or magnetic materials. Depending on the type of magnetometer used, it reacts to changes in the Earth's magnetic field or in artificially generated magnetic fields in order to determine the strength and / or direction of the magnetic field.

[0023] Fig. Figure 1 shows the drone according to the invention during a flight and Fig. Figure 2 shows the drone according to the invention in a landing position. The two positions differ essentially in that the two connecting rods 5, 7 of the support device 140 are spread at a larger angle β during flight of the drone than in the landing position.

[0024] According to the invention, the joint 4, via which the first link rod 5 is articulated to the fuselage 110 of the drone 100, is designed in the form of a gimbal suspension with at least two axes. Such a gimbal suspension is also referred to as a two-axis gimbal; a definition for this was given above. This gimbal suspension advantageously enables movement of the sensor device 130 relative to the drone 100 in several degrees of freedom, in particular in the direction of flight, but also laterally to the direction of flight. Furthermore, the drone 100 according to the invention comprises a position detection device 80 for detecting the position of the sensor device 130 with respect to the drone as a reference point, in particular during flight.In principle, the drone can be considered a reference point; however, preferably the joint 4 serves as the reference point, in which the sensor device 130 is suspended via the support device 140. The distance between the joint 4 and the sensor device 130 is designated by the reference symbol d. A vibration damper 190 can be arranged between the fuselage 110 and the joint 4.

[0025] The Fig. 3a, Fig. 3b and Fig. Figure 3c shows an embodiment of joint 4 as a two-axis cardan suspension, specifically as a universal joint. Fig. Figure 3a shows joint 4 in a closed / encapsulated state. Fig. 3b and Fig. Figures 3c show joint 4 in the open position. In all figures, the first link rod 5 of the support device 140 can be seen on the underside of joint 4; it is gimbal-mounted in joint 4 and in the Fig. 3a - 3c is shown in different angular positions.

[0026] Fig. Figure 3b shows a marker 82 at the upper end of the first connecting rod 5 within the gimbal suspension. The marker 82 can be, for example, passively designed as a colored dot or actively designed as a point light source, e.g., an LED. In the case of a passive, i.e., non-illuminating, marker, it is recommended to arrange a lighting element 85, e.g., in the form of a light-emitting diode, to illuminate the marker 82 so that it is more easily detectable by a deflection sensor 84. This is an image recognition system, e.g., a camera, for detecting the marker 82 and, if applicable, its displacement or deflection A. The lighting element is preferably equipped with its own power supply, e.g., a button cell.The deflection sensor device 84 is part of a position detection device 80 according to the invention and serves there to detect a deflection A or a lack of deflection of the marker 82 relative to the predefined reference point, i.e., preferably the drone 100 or the joint 4. See the detailed view at the bottom left in . Fig. Figure 3b shows the deflection A of the marker 82 from a starting or reference position (shown with a dashed line) to a new position (shown with a solid line). Furthermore, the position detection device 80 has an evaluation device 86, which is configured to convert the deflection of the marker detected by the deflection sensor device 84, and thus the deflection A of the sensor device 130 attached to the support device 140, into two specific angle values ​​as two of three spherical coordinates for the position of the sensor device 130 relative to the reference point.

[0027] Alternatively, the deflection sensor device 84 within the position detection device 80 can also be designed as an angle encoder with at least two, preferably three dimensions, for determining the two angle values ​​as two of three spherical coordinates for the position of the sensor device 130, suspended from the suspension and the support device 140, relative to the predefined reference point. The angle encoder can, for example, be a multi-axis potentiometer. The required power supply and angle signal acquisition can be provided via a cable connection to an electrical power source 180 in the fuselage of the drone. Using the angle encoder as the deflection sensor device 84 should be less expensive and simpler than providing the marker and sensing its deflection.In particular, when the angle encoder is provided, no evaluation device 86 is required because the angle encoder directly supplies the angle information to the sensor device 130.

[0028] As mentioned, the sensor evaluation unit 84 provides the two angle values ​​as two of three spherical coordinates that describe the position of the sensor unit 130 relative to the reference point, in particular the drone. To accurately describe the position of the sensor unit relative to the drone, i.e., in particular in the form of three spherical coordinates, the distance d between the suspension, i.e., the joint 4, and the sensor unit 130 attached to it is also required. The distance d is fixed and known, particularly when the locking joint 6 is engaged. With this distance d and the two angle values, the position detection unit 80 preferably has the exact position P of the sensor unit 130 relative to the reference point, i.e., in particular relative to the drone, in spherical coordinates at all times during the drone's flight.

[0029] The joint 4 in the form of the gimbal suspension can be a damping element 46, see Fig. 3b. This advantageously dampens the pendulum motion of the support device 140 with the attached sensor device 130 relative to the drone 100 during flight, thereby enabling more precise position determination of the sensor device 130 relative to the drone. Advantageously, the damping characteristic, i.e., the degree of damping of the damping element, is adjustable. Specifically, the damping in the gimbal can be achieved by adjusting the damping properties of individual pivot bearings within the gimbal using different dilatant damping fluids. The degree of damping can be adjusted depending on wind and gust conditions and depending on acceleration and / or changes in direction of the drone, insofar as this is predictable.The damping element 46 in a pivot bearing of the gimbal suspension is preferably designed as a passive system, i.e., without electrical activation. It can generally be adjusted manually before the drone begins flight. However, remotely adjustable damping is also conceivable, in which a sensor detects small or rapid movements and / or vibrations of the drone during flight. Depending on the magnitude of the detected changes in flight behavior or vibrations, the damping behavior of the pivot bearings can then be remotely adjusted. Thus, rapid and jerky changes in the vibrations of the sensor device 130 may require high damping in the gimbal suspension, while large or prolonged vibrations of the support structure 140 or the sensor device 130 require only lower damping.

[0030] Fig. Figure 3c shows joint 4 with a different deflection of the first connecting rod 5 than in Fig. 3b.

[0031] Fig. Figure 4 illustrates the structure of the position detection device 80. Its deflection sensor device 84 can, as previously described, be designed either as an image recognition system, e.g., a camera, to detect the marker and its displacement. In this case, a downstream evaluation device 86 is required to convert the detected deflection of the marker into two specific angle values ​​α. s to convert the position of the control unit 130 in relation to the drone. Alternatively, the deflection sensor unit 84 can also be configured as an angle encoder; in that case, the evaluation unit 86 is not required to calculate the two specific angle values ​​α. sto determine two of the three spherical coordinates for the position P of the control unit 130. With the known distance d, the three spherical coordinates for determining the position P of the control unit 130 are then complete. This position P or individual coordinates thereof can then be transmitted wirelessly to an external control unit for the drone or another receiver using a data transmission device 89.

[0032] In addition to the described design of the deflection sensor device 84 according to the invention and the provision of the damping element 46 in the gimbal suspension, the design of the further joint 6 within the support device 140 as a locking joint also contributes significantly to a better position determination of the sensor device 130 relative to the flying drone, see Fig. 5a-5c. The locking joint has, firstly, a locking mechanism which, upon response to a locking trigger, in particular the gravity-induced attainment of a predetermined limit angle β between the two connecting rods 5, 7 after the drone 100 has lifted off the surface 200, enables the further joint 6 to lock automatically into the preset limit angle β between the two connecting rods. The limit angle is preferably set before the drone is launched. It then adjusts itself automatically during the drone's flight due to the force of gravity between the two connecting rods 5, 7 and is then maintained constantly. In addition to the locking mechanism, the locking joint also has a release mechanism which is triggered by a release trigger, in particular when the drone 100 touches down on the surface 200 during landing.Upon contact with the ground 200, the connecting rods 5, 7 of the support device 140 are automatically "pressed together", which triggers the release mechanism and automatically releases the previously fixed limit angle β between the two connecting rods 5, 7 during flight.

[0033] In other words: The starting position according to Fig. 2 is characterized, for example, by a fully folded position with β=0°, of the link rods 5 and 6, as shown in Fig. 5a is shown. When the drone then lifts off from its starting position, the angle β between the first and second connecting rods 5, 7 initially increases, see Fig. 5b, until the preset limit angle β is reached; see Fig. 5c. Fig.Figure 5b shows an intermediate state with the connecting rods 5 and 7 partially open. Upon reaching the critical angle β, the additional joint 6 locks into place for further flight. The entire support structure 140, with the two connecting rods 5 and 7 and the connecting joint 6, swings freely downwards in the gimbal suspension, reaching a rest position due to gravity. This rest position is characterized in particular by the locked critical angle β between the two connecting rods 5 and 7 and the resulting constant distance d between the drone and the sensor unit 130. This rest position corresponds to the position P, which can be determined using spherical coordinates, as described above. If the drone attempts a substantially vertical landing after a flight, the sensor unit 130, or rather its housing 135, first touches down on the surface 200. Further lowering triggers the release mechanism of the locking joint, i.e.,The connecting rods 5 and 7 are released from their grid and the angle β between them can be closed again down to 0°. This continues until the drone makes complete contact with the ground.

[0034] The locking joint 6 can have a further damping element to dampen a movement of the two link rods 5, 7 relative to each other, in particular as long as the two link rods 5, 7 have not yet been set to the fixed limit angle β relative to each other by the locking joint 6 after the drone has taken off.

[0035] In addition to the first sensor device 130, which is attached to the free end of the support structure spaced apart from the fuselage of the drone 110, at least one second sensor device 170 can be arranged at a vertical distance of preferably 0.5 m to 2 m from the first sensor device 130 on the support structure or in or on the fuselage 110 of the drone 100. A sensor data evaluation device 190 is preferably provided to receive the sensor data from both the first sensor device 130 and the second sensor device 170 and to evaluate them, for example, by calculating the difference between the two. This increases the quality and significance of the measurements taken by the two sensor devices.

[0036] At least some elements of the gimbal suspension, in the form of joint 4, are made of a lightweight material such as carbon fiber, plastic, or aluminum. For example, they can be manufactured using 3D printing.

[0037] The aforementioned electrical power source 180 in or on the fuselage 110 of the drone 100 can, in principle, serve to supply all electrical consumers of the drone. These include, in addition to the two sensor devices 130 and 170, the position detection device 80 with its individual components and / or the data transmission device 89. The power transmission can, in principle, preferably be detachable via cable or inductively. Alternatively, the power supply for the sensor devices 130 and / or 170 can also be housed independently in the respective sensor enclosures, possibly together with the respective signal acquisition elements of the sensor devices.

[0038] The position P of the sensor device 130 is preferably determined with respect to the reference point, i.e., in particular, the drone. However, the drone 100 can also have its own position detection device, which is based, for example, on Global Positioning System (GPS) technology. This position detection device serves to determine the current position data of the drone in space, particularly during flight. The data transmission device 89 can then be further configured to transmit the current position data of the drone, together with the position data for the sensor device 130 transmitted by the position detection device, to a receiver, for example, the drone's control unit.

[0039] Alternatively, a calculation device can be provided to calculate the position data of the sensor device in space from the position data of the flying drone in space and the position data of the sensor device 130 relative to the flying drone. The data transmission device 89 can then be further configured to transmit the position data of the sensor device in space to the receiver. Reference symbol list 4 joint 5 first articulated rod 6. Further joint, in particular ratchet joint 7 second articulated staff 46 Damping element in gimbal suspension 80 Position Detection Device 82 Mark 84 Deflection sensor device 85 lighting element 86 Evaluation unit 89 Data transmission device 90 Sensor data evaluation unit 100 flying drones 110 hull 115 Landing gear 120 Drive unit 130 Sensor device 135 cases 140 Support device 170 second sensor device 180 Energy source 200 underground A deflection of the marking α s Spatial angle of the sensor device relative to the reference position β Angle between the connecting rods 5 and 7 d distance between underside of fuselage and sensor assembly P Position of the sensor device in space QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] DE 20 2024 107 211 U1

[0002]

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