Drone

Abstract

According to the invention, in a drone (1) comprising a body (2) and a rotor unit (3), the body (2) has a substantially cylindrical outer lateral surface (4), and at least one energy storage element (5) of the drone (1) is arranged in the body (2). The rotor unit (3) is connected to a head side (6) of the body (2), and the rotor unit (3) comprises a first rotor (7) with first blades (8) and a second rotor (9) with second blades (10), wherein the first rotor (7) and the second rotor (9) are arranged coaxially to each other, the first rotor (7) is designed to rotate clockwise about a rotational axis (11), and the second rotor (9) is designed to rotate counterclockwise about the rotational axis (11). The first blades (8) and the second blades (10) are mounted such that they can be freely folded so that they rest against the body (2) in a rotation-free state.

Description

[0001] drone

[0002] The invention relates to a drone according to the preamble of patent claim 1.

[0003] Drones are unmanned aerial vehicles. Drones typically have multiple rotors, typically four to eight, and the majority of currently common drones also have at least one camera for motion picture recording or video. Such drones are capable of taking off autonomously, changing their position or geographical coordinates while flying based on their propulsion, and also hovering and essentially maintaining their position. Many people use such drones as toys or for hobby purposes. However, they are also used professionally for filming, for example, at sporting events.

[0004] Although such drones are technically suitable for filming, for example, at mass human events, their practical application is limited due to certain technical characteristics. These well-known drones fly autonomously to the area where they are to be filmed and, due to their spatial extent, are visible in the sky and stand out. These characteristics are completely irrelevant, for example, when filming a competition taking place during the Olympic Games, since everyone present is aware that they are being filmed. Therefore, the presence of the drone has virtually no influence on the behavior of the living beings present that one wishes to capture.

[0005] In other situations, however, the aforementioned characteristics of such a drone are detrimental and lead to the influence of objects and living beings and changes in their behavior. This is the case, for example, when a drone is used in the context of natural sciences to study wild animals. The incoming drone is detected, and the living beings have sufficient time to hide and / or change their behavior, for example, from hunting to flight. The same happens when such drones are used in the context of law enforcement measures. Criminals, such as smugglers and / or terrorists, can briefly refrain from their criminal activities and possibly go into hiding before the drone can capture any conclusive footage.However, this has a more detrimental effect in military applications, as there is a risk that the drone will be shot down before it can conduct reconnaissance. Furthermore, such known drones are only suitable for field use to a limited extent, meaning they can only be operated in an environment where cleanliness cannot be guaranteed and where vibrations, shocks, or impacts are possible. Due to their design and construction, such drones are neither practically usable in the military field, nor can their operational capability be guaranteed. Furthermore, the time between recognizing the benefits of aerial reconnaissance, launching the drone, its approach to the target object, and the actual reconnaissance is so long that such drones are hardly useful for tactical purposes.

[0006] The object of the invention is therefore to provide a drone of the type mentioned at the outset, with which the disadvantages mentioned can be avoided, which has a robust and stable basic structure, and which can be brought to a desired target area in a short time.

[0007] According to the invention, this is achieved by the features of patent claim 1.

[0008] Such a drone has a stable and compact basic structure. The rotors are coaxial and rotate around a single axis, making this drone significantly more compact than a conventional drone with four rotors arranged in a square configuration. The drone's blades are free-standing, meaning they are driveless and foldable, meaning they rest against the fuselage when not powered, making this drone even more compact. This also facilitates storage and transport.

[0009] This results in the further advantage that such a drone can be accelerated in a tubular container or part and, at the speed achieved, can reach or fly to a target area within a short period of time. The drone can be brought to the area to be observed so quickly that the time between its noticing or recognition and its physical presence and the recording of images or videos is too short for the target objects, i.e. animals and / or people, to change their behavior and / or position in the meantime. This means that within a short time of the decision to conduct reconnaissance, such reconnaissance can actually take place from the air. Animals or people cannot hide during this short time.If the people are criminals or enemy soldiers, the probability is very low that this time will be sufficient to shoot down the drone before it has conducted visual reconnaissance. Due to its bullet-like shape, this drone is also more difficult to detect or locate in the sky than conventional drones. Due to its smaller lateral extension compared to a quadcopter, a drone according to the invention is also more difficult to hit and kill with a missile.

[0010] Furthermore, the drone can be landed at a high enough speed to partially sink into the ground. This allows measurements to be taken on the ground or in the earth that require direct contact with the ground or earth. Such measurements include seismic measurements and / or chemical measurements and / or measurements of various environmental factors. This makes the use of the drone useful for agriculture. Furthermore, the drone can be helpful for rescue services in natural disasters and / or emergencies. Natural disasters and emergencies include, for example, fires, particularly forest fires and / or fires in fields or meadows, volcanic activity, floods, mudslides, avalanches, earthquakes, tsunamis, accidents in a factory and / or power plant and / or refinery.

[0011] The subclaims relate to further advantageous embodiments of the invention.

[0012] Express reference is hereby made to the wording of the patent claims, whereby the patent claims are incorporated into the description at this point by reference and are deemed to be reproduced verbatim. The invention is described in more detail with reference to the accompanying drawings, in which preferred embodiments are shown by way of example only. Herein:

[0013] Fig. 1 is a schematic representation of a preferred embodiment of a drone in question with unfolded rotors;

[0014] Fig. 2 is a schematic representation of the connection between the fuselage and the rotor unit of the embodiment according to Fig. 1;

[0015] Fig. 3 shows the first rotor of the embodiment according to Fig. 1 with a first blade in the unfolded position and a second blade in the hanging position; and

[0016] Fig. 4 is a view of part of a preferred embodiment of the fuselage.

[0017] 1 to 4 show a first preferred embodiment or parts of the first preferred embodiment of a drone 1 with a fuselage 2 and a rotor unit 3, wherein the fuselage 2 has a substantially cylindrical outer surface 4, wherein at least one energy storage element 5 of the drone 1 is arranged in the fuselage 2, wherein the rotor unit 3 is connected to a head side 6 of the fuselage 2, wherein the rotor unit 3 comprises a first rotor 7 with first blades 8 and a second rotor 9 with second blades 10, wherein the first rotor 7 and the second rotor 9 are arranged coaxially to one another, wherein the first rotor 7 is designed for rotation about a rotation axis 11 in a clockwise direction, and wherein the second rotor 9 is designed for rotation about the rotation axis 11 in a counterclockwise direction, wherein the first blades 8 and the second blades 10 are mounted so as to be freely foldable so as to rest against the fuselage 2 in the rotation-free state.

[0018] Such a drone 1 has a stable and compact basic structure. The rotors 7, 9 are coaxial and rotate around a single rotational axis 11, which is why this drone 1 is significantly more compact than a conventional drone with four rotors arranged in a square configuration. The blades 8, 10 of the drone 1 are free, thus without propulsion, and are arranged or attached in a foldable manner. Therefore, when not propelled, they rest against the fuselage 2, making this drone 1 even more compact. This also supports the storage and transport of the drone 1.

[0019] This results in the further advantage that such a drone 1 can be accelerated in a tubular container or part and, at the speed achieved, can reach or fly to a target area within a short time. The drone 1 can be brought to the area to be observed so quickly that the time between its noticing or recognition and its physical presence and the recording of images or videos is too short for the target objects, i.e. animals and / or people, to change their behavior and / or position in the meantime. This means that within a short time of the decision to conduct reconnaissance, such reconnaissance can actually be carried out from the air. Animals or people cannot hide during this short time.If the people are criminals or enemy soldiers, the probability is very low that this time will be sufficient to shoot down drone 1 before it has conducted visual reconnaissance. Due to its bullet-like shape, this drone 1 is also more difficult to detect or locate in the sky than conventional drones. Due to its smaller lateral extension compared to a so-called quadcopter, a drone 1 according to the invention is also more difficult to hit and kill with a missile.

[0020] Furthermore, the drone 1 can be landed at a sufficiently high speed for the drone 1 to partially sink into the ground. This allows measurements to be taken on the ground or in the earth that require direct contact with the ground or earth. Such measurements include, for example, seismic measurements and / or chemical measurements and / or measurements of various environmental factors. This makes the use of the drone 1 useful for agriculture. Furthermore, the drone 1 can be helpful for rescue services in natural disasters and / or emergencies. Natural disasters or emergencies include, for example, fires, in particular forest fires and / or fires in fields or meadows, volcanic activity, floods, mudslides, avalanches, earthquakes, tsunamis, accidents in a factory and / or a power plant and / or a refinery.

[0021] The present invention relates to an unmanned flying object capable of flight in a gaseous atmosphere on a planet, in particular Earth. This flight includes stationary hovering. Such a flying object is called a drone. Flying objects with similar basic characteristics were commonly referred to as model helicopters in the past.

[0022] The drone 1 has two basic parts, namely a fuselage 2 and a rotor unit 3.

[0023] The fuselage 2 has a substantially cylindrical outer surface 4 or side surface. The cylindrical shape supports longitudinal movement in a channel with parallel side surfaces. Cylindrical shapes encompass different cross-sections. The cross-section can be, for example, square, or comprise curves, straight lines, and corners. Preferably, the fuselage 2 has a substantially circular cross-section. This supports the use of common tubes to launch the drone 1. Such common tubes include, for example, so-called grenade launchers and / or artillery cannons and / or another barrel of a firearm. However, such a tube can also be a hollow shaft of a larger machine, for example, a ship's engine or a drive shaft of a truck.A suitable pipe can also be manufactured individually from a sufficiently large semi-finished product on a lathe, or from a sufficiently thick sheet metal by bending and riveting or welding.

[0024] Particularly preferably, the fuselage 2 with a circular cross-section has an outer diameter of approximately 40 mm, 80 mm, 105 mm, 125 mm, and / or 155 mm. This makes it easy to launch the drone using known and widely used launch systems.

[0025] In addition to the hull surface 4, the fuselage 2 has a head area 6 and a

[0026] Underside 13. The head area is - viewed in flight position - an upper end area of ​​the fuselage 2. The underside 13 is - viewed in flight position - a lower end area of ​​the fuselage 2.

[0027] The primary load-bearing part of the fuselage 2 can be made of various materials, including, in particular, aluminum alloys, brass, bronze, steel, titanium alloys, plastic compounds, GRP, AFRP, CFRP, and wood. In principle, all variants known from the construction or design of aircraft and / or helicopters and / or spacecraft and / or satellites and / or projectiles can be used. Different materials allow adaptation to different applications and / or launch tubes.

[0028] Essential parts of the drone 1 are arranged in the fuselage 2. At least one energy storage element 5, in particular at least one battery or at least one rechargeable battery, of the drone 1 is arranged in the fuselage 2. The energy storage element 5 has a high density and a high mass compared to the other parts of the drone 1. Its positioning has a strong influence on the center of gravity of the drone 1 and is important for flight stability. By changing the position of the energy storage element 5, the flight characteristics of the drone 1 can be influenced.

[0029] The drone 1 preferably has a control and regulation unit 16, the functional purposes and properties of which will be discussed below. This control and regulation unit 16 is also preferably arranged in the fuselage 2 and comprises at least one pC or pP. Furthermore, the drone 1 preferably has a communication device 25, which is connected to the control and regulation unit 16 for signal transmission. The communication device 25 is preferably designed as part of a radio connection and, according to a first preferred embodiment, is arranged in the rotor unit 3. The communication device 25 comprises, in particular, at least parts of a GPS receiver and / or a magnetometer and / or an inertial measuring system.

[0030] According to a second preferred embodiment, the communication device 25 comprises at least one, in particular three or four, antenna arrays 29. The individual antenna arrays 29 are arranged on a side wall of the fuselage 2, as shown by way of example in Fig. 4. As also shown in Fig. 4, preferred recesses 28 for the individual rotor blades 21, 22 of the rotors 7, 9 are provided between the individual antenna arrays 29. An antenna array 29 has a plurality of, in particular at least four, preferably five, antennas 30, which together form a network. One of this plurality of antennas 30 is a passive antenna and the other is an active antenna. These antennas form a system which is used for communication, in particular with other drones in a swarm, for position determination as well as for attitude control and steering. In particular, this makes navigation and / or positioning possible even without GPS signals.This is done based on a connection to a ground vehicle and other drones in a swarm and the evaluation of the data received via the antenna arrays 29. This enables triangular positioning and determination of the flight altitude.

[0031] Preferably, the drone 1 is remotely controlled at least partially or in certain areas, and the control information is supplied to the drone 1 via the communication device 25. Furthermore, measurement data can be transmitted to the user or operator of the drone 1 via the communication device 25.

[0032] According to particularly preferred embodiments, the drone is designed to act as a data interface. In particular, it is provided that a plurality of appropriately designed drones 1 act together and each receive, record, amplify and retransmit data intended for another drone 1 or the user. In a preferred development of this preferred embodiment, the majority of drones 1 are each designed to act as a swarm. In this case, not only is data transmitted, but the flight movements of the group of drones 1 are also controlled jointly. For this purpose, the measurement signals determined by the individual drones are evaluated and the control or group activities of the group or pack of drones 1 are adapted to the measured environmental conditions. As already mentioned, the drone 1, in addition to the fuselage 2, also has a so-calledRotor unit 3, which consists of at least two rotatable sections. The rotor unit 3 is mechanically connected or attached to the head section 6 of the fuselage 2. During flight, the fuselage 2 hangs with its head section 6 from the rotor unit 3.

[0033] The rotor unit 3 comprises a first rotor 7 and a second rotor 9. According to further embodiments not shown, the rotor unit 3 can also have a larger number of rotors 7, 9, wherein both an even and an odd total number of rotors 7, 9 can be provided. The preferred total number of rotors 7, 9 is two, three, four, five, six, seven, eight, nine, ten, eleven, twelve or thirteen rotors 7, 9. According to the first preferred embodiment, however, the drone 1 only has two rotors 7, 9. This is pointed out because many people consider at least four rotors to be a mandatory feature of a drone 1. However, this is essentially an assessment by people who are not experts in the field of aviation.

[0034] The first rotor 7 has at least two first blades 8. The second rotor 9 also has at least two second blades 10. Preferably, all rotors 7, 9 have the same number of blades 8, 10. However, it can also be provided that the number of blades 8, 10 of different rotors 7, 9 differs.

[0035] The first rotor 7 and the second rotor 9 are arranged coaxially with one another. The two rotors 7, 9 are arranged at a predeterminable distance apart in the rotor unit 3. The first rotor 7 is arranged or fastened to a first rotor support body 23, and the second rotor 9 is arranged or fastened to a second rotor support body 24. The first and second rotor support bodies 23, 24 rotate together with the respective rotors 7, 9. The two rotors 7, 9 and the two rotor support bodies 23, 24 have the same rotation axis 11. The two rotor support bodies 23, 24 are each rotatably mounted and spaced apart from one another to enable different movements relative to one another. However, individual roller bearings, for example, can be arranged between the two rotor support bodies 23, 24 to support power transmission without negatively influencing the rotation of the individual rotor support bodies 23, 24.The first rotor 7 is designed for clockwise rotation around the rotation axis 11. This direction of rotation is referred to as "clockwise." The second rotor 9 is designed for counterclockwise rotation around the rotation axis 11. This direction of rotation is referred to as "anticlockwise" or "counterclockwise."

[0036] Although the lower rotor is shown as the first rotor 7 in the figures, this does not imply that the lower rotor is or must be designed for clockwise rotation. The two rotors 7, 9 could also be arranged in opposite directions.

[0037] If the drone 1 has more than two rotors 7, 9, with an even number of rotors 7, 9, it is preferably provided that half of these rotors 7, 9 rotate clockwise and the other half of the rotors 7, 9 rotate counterclockwise. Furthermore, however, the number of rotors 7, 9 for clockwise or counterclockwise rotation can be freely selected, although it must be ensured that the resulting rotational momentum is balanced or zero.

[0038] It should be noted that a rotor 7, 9—like a propeller—is designed for a specific direction of rotation and is constructed and manufactured accordingly. The direction of rotation, which generates lift or a lifting force or propulsion force, is easily identified on a rotor 7, 9. The blades have a profile. The term "profile" is to be interpreted in the sense of fluid mechanics. The profile of a blade 8, 10 of a rotor 7, 9 has a profile leading edge that points in the direction of movement or rotation. Furthermore, a profile trailing edge points opposite to the direction of rotation.

[0039] It is intended that the first blades 8 and the second blades 10 are mounted so that they can be freely folded. It is preferably provided that the blades 8, 10 rest against the fuselage 2 in the rest position or in the rotation-free state. Alternatively, it can be provided that the blades are pre-folded in the longitudinal direction of the drone 1 in a rest position. This position can be achieved, for example, by means of pre-tensioning, for which purpose at least one spring is optionally provided. The first blades 8 and the second blades 10 are fastened or mounted in such a way that they have the possibility or ability to react to a certain force application with a change in position. In the rotation-free state, i.e. when a rotor 7, 9 is not rotating, in the preferred embodiment shown in the figures, it is mainly gravity and air resistance that act on the blades 8, 10. The blades 8, 10 are mounted or mounted so that they can be folded, tilted, or pivoted.attached so that they can follow gravity and air resistance, and are aligned by these forces toward the lateral surface 4 of the fuselage 2 or the Earth. In such a rotation-free state, the angle between a blade 8, 10 and the rotation axis 11 is essentially zero degrees when the rotation axis 11 lies in the vertical direction.

[0040] As soon as a rotor 7, 9 reaches a certain speed, centrifugal forces are generated, which act on the blades 8, 10. If the centrifugal force becomes sufficiently large, the resultant of centrifugal force, gravity, air resistance, lift, and friction will "move" the blades 8, 10, and the blades 8, 10 will "fold open" away from the lateral surface 4.

[0041] The corresponding attachment of the blades 8, 10 to the rotors 7, 9 or the rotor support bodies 23, 24 is capable of allowing such a change in position, with a tilting capability in an angular range between 0 degrees and 20 degrees relative to the rotation axis 11 being provided. In terms of construction, the attachment essentially corresponds to a hinge. The rotor unit is preferably hinged at one end by means of a ball head.

[0042] In addition to the tilting capability described, there is a fixed or force-transmitting connection in the other directions of rotation. Fig. 3 shows the first rotor 7 with the two first blades 8. A first of the first blades 21 is shown in the position which the blades assume when the rotor 7 is not rotating. A second of the first blades 22 is shown in the position which the blades assume when the rotor 7 has sufficient rotation. The drone 1 preferably has at least one first drive motor and at least one second drive motor. The first rotor 7 is connected to the first drive motor and the second rotor 9 is connected to the second drive motor. The first and second drive motors are preferably each arranged in the rotor unit 3. In particular, the first drive motor is arranged in the first rotor support body 23 and the second drive motor in the second rotor support body 24.According to a further development, it is preferably provided that the drone has several motors per rotor 7, 9. The motors that drive the first rotor 7 are arranged in a common plane in the first rotor support body 23 and drive an internal gearing of the first rotor support body 23. The motors that drive the second rotor 9 are arranged correspondingly in the second rotor support body 24.

[0043] The drone 1 has a control and regulation unit 16, which is preferably arranged in the fuselage 2 and is preferably electrically connected to the energy storage element 5. The first and second drive motors, which are also electrically connected to the energy storage element 5 for power supply, are controlled and monitored by the control and regulation unit 16. In addition to controlling the two drive motors with the aim of ensuring that both drive motors have the same speed, a deliberate rotation of the drone 1 or the fuselage 2 can be achieved by deliberately different speeds of the first drive motor and the second drive motor.

[0044] For communication, in particular for controlling and reading sensor data, a hollow shaft is provided in the rotor unit, which surrounds the rotation axis 11. The connecting cables between the motors and / or the communication device 25 and the control and regulation unit 16 are arranged in the hollow shaft.

[0045] As already mentioned, the rotor unit 3 is mechanically connected to, or attached to, the front end 6 of the fuselage 2. The rotor unit 3 is hingedly attached at only one lateral position. This connection can be designed in different ways. However, it is preferably provided that this connection - unlike in a helicopter - does not have a swashplate or is designed without a swashplate. Therefore, the angles of attack of the rotor blades 8, 10 are not adjusted during one rotation. The bearings of the rotor blades 8, 10 are designed in such a way that a change in the angles of attack of the individual rotor blades 8, 10 is not possible. To control the attitude and direction of the drone 1, the entire rotor unit is pivoted as a whole, with the two rotors 7, 9 being connected to each other in such a way that their position relative to each other - apart from the different directions of rotation - is not shifted and / or tilted.The position of the rotor unit 3 and the position of the mass of the fuselage 2, which is largely based on the energy storage elements 5, control the direction of flight. The position of the rotor unit 3 relative to the rest of the drone 1 controls the active flight of the drone 1.

[0046] According to the preferred first embodiment of the drone 1, it is provided in particular that the rotor unit 3 is connected to the head side 6 by means of at least one first actuator 14 and one second actuator. The two actuators 14 are connected to the rotor unit 3 as a whole, but not separately to the individual rotors 7, 9. The positions of the two rotors 7, 9 relative to each other are not changed when the actuators 14 are adjusted.

[0047] Preferably, the drone 1 also has a third and / or a fourth actuator. Another term for an actuator is "actuator."

[0048] The connection in question between the actuators and the rotor unit is in each case a mechanical connection which is capable of transmitting forces. The actuators are in particular electrically operated mechanical actuating units and are comparable to so-called servos from the field of model aircraft. By means of the first and second actuator 14, the distance or the local spacing between the head side 6 of the fuselage 2 and the rotor unit 3 can be adjusted. The two actuators 14 are each arranged close to an edge region or close to the lateral surface 4 or at a distance from a center point of the head side 6 or the axis of rotation 11. A change in the local spacing by at least one of the two actuators 14 therefore causes a change in the angle between the fuselage 2 and the rotor unit 3. This changes the position of the center of gravity with respect to the rotor unit 3, which leads to a change in position or a so-calledThis leads to the entire drone 1 tilting. This allows the movement of drone 1 to be controlled precisely. This allows drone 1 to not only hover but also fly. This also allows for vibration compensation and stabilization.

[0049] Preferably, there is at least one third mechanical connection between the rotor unit 3 and the head part 6. Such a third connection can be formed, for example, by a third actuator. Particularly preferably, and as shown in Fig. 2, the rotor unit 3 is further mechanically connected to the head side 6 by means of at least one first spherical bearing 15. This spherical bearing 15 can be designed, for example, as a hinge and / or as a folding bearing. The spherical bearing 15 is also - like the first and second actuator 14 - spaced from the center point of the head side 6 or the rotation axis 11 and arranged close to the edge region or close to the lateral surface 4. The spherical bearing 15 does not restrict the angular change between the fuselage 2 and the rotor unit 3 by means of the actuators 14, but simplifies their control since there is a fixed distance at the spherical bearing 15.

[0050] The first actuator 14 and the second actuator are connected to the control and regulation unit 16 via circuitry, whereby they can be controlled and targeted. The control and regulation unit 16 is preferably designed to control the first actuator 14 and the second actuator for the predeterminable change and / or control of a position and / or an orientation and / or a direction of movement and / or a type of movement and / or a speed of the drone 1. The control comprises the adaptation or influencing of the actuators 14 for stabilization purposes or for control-related reasons. The type of movement includes at least rotation, longitudinal movement, and turning flight. This enables stable flight of the drone 1 even outdoors and under the influence of weather and air speed.

[0051] It may be provided that the drone 1 is designed and configured for a single, one-time use. However, according to the preferred first embodiment of a drone 1 in question, it is also configured for a controlled landing. For this purpose, the drone 1 preferably has at least a first leg 17, a second leg 18, and a third leg. Three legs 17, 18 have the advantage of a stable stand. However, four or five legs can also be provided.

[0052] The support legs 17, 18 can be attached to different parts or areas of the drone 1, whereby different types of attachment or mounting are also possible, in particular a rigid or fixed attachment. It is preferably provided that the first support leg 17, the second support leg 18 and the third support leg are each tiltably mounted in the area of ​​the underside 13 on the fuselage 2. This makes it possible to achieve stability on the ground. During flight, the support legs 17, 18 are angled in the direction of flight or “upwards”. For this arrangement, it is preferably provided that the lateral surface 4 has a first receiving opening 19 for receiving the first support leg 17, a second receiving opening 20 for receiving the second support leg 18 and a third receiving opening for receiving the third support leg. The first support leg 17 is tiltably mounted at an end section of the first receiving opening 19. This end area orthe corresponding bearings are arranged next to the underside 13 of the fuselage 2.

[0053] Accordingly, the second support leg 18 is pivotably mounted at an end portion of the second receiving opening 20 facing the underside 13. Furthermore, the third support leg is also pivotably mounted at an end portion of the third receiving opening facing the underside 13. This type of arrangement allows both to keep air resistance low during flight and to effectively utilize the length of the support legs 17, 18.

[0054] The preferred type of positioning of the support legs 17, 18 described above further supports their deployment during flight. This preferably does not require the opening of attitude flaps or the like. Instead, it is preferably provided that the control and regulation unit 16—for deploying the support legs 17, 18 folded into the receiving openings—is designed to control the first rotor 7 and the second rotor 9 such that the fuselage 2 performs a predeterminable rotation. By varying the speed of the two rotors 7, 9, the fuselage 2 or the drone 1 can be caused to rotate in a controlled manner. The resulting centrifugal forces release the support legs 17, 18 from their pre-tensioned position in the receiving openings 19, 20.As soon as these have partially released from the receiving openings 19, 20, the rotation of the drone 1 can be reduced again to enable or support the lowering of the support legs 17, 18 under the influence of gravity. Preferably, the connecting elements between the support legs 17, 18 and the fuselage have locking bolts which engage in corresponding receiving openings on the support legs 17, 18 as soon as they have lowered sufficiently. Preferably, the support legs 17, 18 fixed in position in this way can only be tilted or relocated back into the receiving openings 19, 20 by manually releasing the lock. The drone therefore preferably does not have a motor-driven retraction device or pivoting device for the support legs 17, 18.

[0055] The main purposes of the drone in question are to take aerial photographs of selected areas or for reconnaissance, as well as to carry out measurements of chemical and / or physical and / or biological factors or variables. The preferred embodiments of the drone 1 therefore have at least one sensor.

[0056] According to the first preferred embodiment, the at least one sensor is designed as an optical detection device 12, in particular as a moving image camera or video camera. In a preferred development of the first preferred embodiment, the drone 1 has a predeterminable plurality of video cameras. In particular, two, three, four, five, six, seven, or eight video cameras are provided, which can be attached to partially different positions on the drone or integrated into the drone and can have different viewing directions.

[0057] According to a second preferred embodiment, the at least one sensor is designed as a seismic sensor. Such a sensor can become active when the drone penetrates the ground during landing. This allows the drone to be used in areas for scientific measurements. However, it can also be used to monitor movements of objects or bodies that generate vibrations in the ground, in particular heavy off-road vehicles such as armored transport vehicles or battle tanks. According to a third preferred embodiment, the at least one sensor is designed as an acoustic sensor. Many different living beings and natural processes generate pressure differences in the air, which are perceived as noise or sound. Acoustic recordings can be helpful for researching or monitoring these.

[0058] According to a fourth preferred embodiment, the at least one sensor is designed as an infrared sensor. Measuring or detecting heat-emitting areas can be helpful in many different applications, such as nature observation or even searching for and locating a leak in a factory.

[0059] According to a fifth preferred embodiment, the at least one sensor is designed as a chemical sensor. This allows, for example, soil or agriculturally used earth to be tested.

[0060] According to a sixth preferred embodiment, the at least one sensor is designed as an environmental sensor. This includes all types of sensors for measuring environmental factors, in particular temperature, air pressure, and / or pH.

[0061] Depending on their design, the sensor(s) can be arranged in different areas of the drone 1. Particularly preferably, the sensor is arranged in the area of ​​an underside 13 of the fuselage 2 and / or the outer surface 4.

[0062] It is preferably provided that the drone 1 does not have any complicated and expensive multi-dimensional adjustment mechanisms. Instead, it is provided in particular that the position of the sensor, in particular of the optical detection device 12, is primarily controlled by means of the rotor unit 3. Lateral rotations or lateral changes in the orientation of the sensor are preferably carried out via a predeterminable, short-term difference in the rotational speeds of the two rotors 7, 9. The upward or downward movements are preferably carried out in a first step by pivoting the rotor unit 3 relative to the fuselage 2. This makes the sensor and the drone 1 easy to control. Especially with the preferred embodiment of the sensor as at least one video camera 12, it is possible to control only this video camera 12, wherein the control of the drone results from the desired viewing direction of the video camera 12.This allows the video camera to detect the horizon, and the resulting horizon position can be used for attitude control and / or stabilization. This allows for "optical" control or attitude control without the need for a GPS receiver, an inertial navigation system (INS), or a laser gyroscope.

[0063] This flight control and / or attitude control requires significantly fewer sensors and controllers than the state of the art in this segment. Current drones have multiple controllers for this purpose, each of which separately controls the drone's position and movement in each degree of freedom. In addition, there is separate control of the camera orientation.

[0064] This control of the sensor or drone is further supported in particular by the fact that the sensor is mounted on the fuselage 2 so that it can pivot through an angle, preferably through only one angle, in particular an angle of more than 90 degrees. To adjust this angle, an actuator (not shown in the figures) is preferably provided, which is connected to the control and monitoring unit. The restriction to exactly one and only one adjustable angle is advantageous because it simplifies the mounting of the sensor. This has proven particularly advantageous when designing the at least one sensor as the optical detection device 12. Further adjustment, for example lateral adjustment, is not necessary because the drone 1 itself can be rotated for this purpose.

[0065] In addition to passive reconnaissance, drone 1 can also be used for active activities. For these preferred active activities, the drone is intended to carry a load. Such transport of goods can also be referred to as "cargo."

[0066] A first preferred active activity of the drone is the transport of at least one object or substance mixture from one location to a destination or target area, with the drone being appropriately configured for such transports. The objects to be transported preferably include medical products, such as medications, and / or storage media. The substance mixtures preferably include fire extinguishers, fertilizers, and / or pesticides.

[0067] A second preferred active activity of the drones is the targeted generation of radar reflections to suggest a significantly larger flying object. For this purpose, the drone provided for this purpose carries at least one radar reflector, which is stored in the drone in a packed or folded state and can be unfolded or deployed in a predetermined manner. The radar reflector preferably comprises a plastic film with an aluminum coating. In particular, by deliberately forming a swarm of several drones 1, a flying object determined by the radar signal can be imitated. In this embodiment, it can further be provided that the at least one radar reflector can be repelled from the drone 1 or retracted back into the drone 1.

[0068] A third preferred active activity of the drone is its direct use in combat. In a further development of the invention, it is therefore further preferably provided that the drone 1 comprises at least one weapon system. The control and regulation unit 16 for activating and / or triggering the weapon system is preferably connected to the system for control purposes. Alternatively, however, the weapon system can also be equipped with a purely mechanical ignition unit, such as an impact fuse.

[0069] Very different types of weapon systems can be used in the present development. The two particularly preferred types of weapon systems are listed below. Preferably, the weapon system comprises a shaped charge or shaped charge grenade, and preferably the shaped charge is arranged in the area of ​​the underside 13. This allows the drone 1 to actively combat armored vehicles. Even heavy battle tanks have only very light armor on their rear upper side. In a targeted attack on these areas from above, even a heavy battle tank can be sufficiently damaged by a relatively small projectile that it is no longer combat-capable, at least temporarily.

[0070] A further preferred embodiment of the weapon system is that it comprises a fragmentation grenade, which is preferably arranged in the area of ​​the lateral surface 4. This allows for targeted engagement of unarmored targets. It is also possible to detonate such a fragmentation grenade if the drone 1 crashes under fire. This embodiment of the weapon system is also advantageous if the drone 1 is shot into a building and flies through the individual sections there with the aid of the rotors 7, 9. In particular, it allows for targeted engagement of weapon systems that are located in cover and are therefore difficult to locate and cannot be hit by targeted direct fire.

[0071] The following are principles for understanding and interpreting the disclosure in question.

[0072] Characteristics are usually introduced with an indefinite article, "ein, eine, eines, einer." Therefore, unless the context indicates otherwise, "ein, eine, eines, einer" is not to be understood as a number.

[0073] The conjunction "or" is to be interpreted as inclusive and not exclusive. Unless the context indicates otherwise, "A or B" also includes "A and B," where "A" and "B" represent any characteristics.

[0074] By means of an ordering number, for example, "first," "second," or "third," a feature X or an object Y is distinguished in particular in multiple embodiments, unless otherwise defined by the disclosure of the invention. In particular, a feature X or object Y with an ordering number in a claim does not mean that an embodiment of the invention covered by this claim must have a further feature X or another object Y.

[0075] A "substantially" in connection with a numerical value includes a tolerance of ± 10% around the specified numerical value, unless the context indicates otherwise. For ranges of values, the endpoints are included, unless the context indicates otherwise.

Claims

PATENT CLAIMS 1. Drone (1) with a fuselage (2) and a rotor unit (3), wherein the fuselage (2) has a substantially cylindrical outer surface (4), wherein at least one energy storage element (5) of the drone (1) is arranged in the fuselage (2), wherein the rotor unit (3) is connected to a head side (6) of the fuselage (2), wherein the rotor unit (3) comprises a first rotor (7) with first blades (8) and a second rotor (9) with second blades (10), wherein the first rotor (7) and the second rotor (9) are arranged coaxially to each other, wherein the first rotor (7) is designed for rotation about an axis of rotation (11) in a clockwise direction, and wherein the second rotor (9) is designed for rotation about the axis of rotation (11) in a counterclockwise direction, wherein the first blades (8) and the second blades (10) are mounted to be freely hinged to rest against the fuselage (2) in the non-rotating state.

2. Drone (1) according to claim 1, characterized in that the fuselage (2) has a substantially circular cross-section.

3. Drone (1 ) according to claim 1 or 2, characterized in that the drone (1 ) has at least one sensor, in particular an optical detection device (12) and / or a seismic sensor and / or an acoustic sensor and / or an infrared sensor and / or a chemical sensor, and that the sensor is preferably arranged in the area of ​​an underside (13) of the fuselage (2) and / or the outer hull surface (4).

4. Drone (1 ) according to claim 3, characterized in that the sensor, in particular the optical detection device (12), is pivotably mounted on the fuselage (2) by an angle, preferably only by one angle.

5. Drone (1) according to one of claims 1 to 4, characterized in that the connection of the rotor unit (3), in particular the first rotor (7) and the second rotor (9), with the head side (6) of the fuselage (2) being designed without swashplates.

6. Drone (1 ) according to one of claims 1 to 5, characterized in that the rotor unit (3) is connected to the head side (6) by means of at least one first actuator (14) and a second actuator.

7. Drone (1 ) according to claim 6, characterized in that the rotor unit (3) is further mechanically connected to the head side (6) by means of at least one first articulated bearing (15).

8. Drone (1 ) according to claim 6 or 7, characterized in that the drone (1 ) has a control and regulation unit (16) in which the first actuator (14) and the second actuator are connected to the control and regulation unit (16) via a circuit.

9. Drone (1 ) according to claim 8, characterized in that the control and regulation unit (16) controls the first actuator (14) and the second actuator for predefinable change and / or control of a position and / or an orientation and / or a direction of movement and / or a type of movement and / or a speed of the drone (1 ).

10. Drone (1 ) according to one of claims 1 to 9, characterized in that the drone (1 ) has at least a first support leg (17), a second support leg (18) and a third support leg.

11. Drone (1 ) according to claim 10, characterized in that the first support leg (17), the second support leg (18) and the third support leg are each tiltably mounted on the fuselage (2) in the area of ​​the underside (13).

12. Drone (1) according to claim 10, characterized in that the lateral surface (4) has a first receiving opening (19) for receiving the first support leg (17), a second receiving opening (20) for receiving the second support leg (18), and a third receiving opening for receiving the third support leg, and that the first support leg (17) is tiltably mounted on an end section of the first receiving opening (19) facing the underside (13). that the second support leg (18) is tiltably mounted on an end section of the second receiving opening (20) facing the underside (13), and that the third support leg is tiltably mounted on an end section of the third receiving opening facing the underside (13).

13. Drone (1 ) according to claim 11 or 12, characterized in that the control and regulation unit (16) - for unfolding the legs (17, 18) - is designed to control the first rotor (7) and the second rotor (9) in such a way that the fuselage (2) performs a predetermined rotation.

14. Drone (1 ) according to one of claims 1 to 13, characterized in that the drone (1 ) comprises at least one weapon system, and preferably the control and regulation unit (16) is connected to the weapon system for activation and / or triggering.

15. Drone (1 ) according to claim 14, characterized in that the weapon system comprises a shaped charge, and preferably the shaped charge is arranged in the area of ​​the underside (13).

16. Drone (1 ) according to claim 14 or 15, characterized in that the weapon system comprises a fragmentation grenade, and preferably the fragmentation grenade is arranged in the area of ​​the outer surface (4).

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