Precision crossing platform and precision crossing system comprising such a platform

Abstract

The invention relates to a remote-controlled rotary-wing precision crossing platform (1), comprising: - at least one arm (3) forming a hook; - a frame (2) comprising at least one housing (9) for a battery (8) and an attachment zone (7) on the frame (2) in order to attach an attachment device for a tool such as a cord; - at least one propulsion unit (4) mounted on the frame (2) and intended to be powered by the battery (8); - at least one remote control system (5) mounted on the frame (2); the platform (1) being characterized in that the frame (2) is free of connection elements passing all the way through.

Description

[0001] DESCRIPTION

[0002] Title: Precision crossing platform and precision crossing system comprising such a platform

[0003] FIELD OF INVENTION

[0004]

[0001] The present invention relates to the field of remotely piloted aerial platforms. More specifically, the invention relates to a precision rotary-wing bridging platform particularly designed to form an attachment point for a tool.

[0005] TECHNOLOGICAL BACKGROUND

[0006]

[0002] A remotely piloted aerial platform typically comprises a chassis, a power supply, and a propulsion system. A common propulsion method used on this type of platform is rotary-wing propulsion, which includes one or more propellers. Various pieces of equipment can be installed on the platform depending on the requirements, for example, a camera.

[0007]

[0003] Such a platform can be used, in particular, to facilitate access to elevated points in various fields. For this purpose, the platform can carry a so-called bridging tool, for example a rope or a ladder, to attach the tool to one or more elevated anchor points. The precision with which the anchor point is reached can be of great importance depending on the field of application, particularly for safety reasons, for example for workers, and / or for discretion.

[0008]

[0004] Thus, for example, it is known to equip a remotely piloted aerial platform with a hook and to guide the platform remotely to position the hook on a target object at height. Document WO2017212125 describes an example of such a platform, on which a cable is assembled to pull equipment such as a rescue ladder, a pulley system, or a guy wire.

[0009]

[0005] Document JP6673248 proposes a platform equipped with a carabiner-type hook and remotely controlled in order to set up the hook on a scaffold for example, and serve as an attachment point for workers at height.

[0010]

[0006] US patent 1111035 describes an aerial platform that carries a hooking device for a deployable ladder. The platform can be remotely piloted so that the hooking device engages with an attachment point. The platform then releases itself from the hooking device and can depart, leaving the hooking device in place.

[0007] One problem with this type of platform is its mass. Indeed, the greater the total mass to be lifted and moved, the greater the power required to operate the platform. This mass depends in particular on the chassis, the power source, and the equipment to be transported. However, the chassis is often complex. Although prior art chassis designs can take the mass problem into account, they must meet requirements, particularly regarding mechanical strength, and must be able to accommodate the other vehicle components, equipment, and tools to be transported.Therefore, reducing the mass of the chassis can only be achieved by taking these requirements into account.

[0011]

[0008] The invention thus aims in particular to provide a solution to the aforementioned drawbacks.

[0012] SUMMARY OF THE INVENTION

[0013]

[0009] Thus, according to a first aspect, the invention relates to a remotely piloted, rotary-wing precision crossing platform, comprising:

[0014] - a chassis including at least one housing for a battery and an attachment area on the chassis for attaching a tool attachment device such as a rope;

[0015] - at least one arm fixed to the chassis, the arm including an end forming a hook or suitable for supporting a hook;

[0016] - at least one propulsion unit mounted on the chassis and intended to be powered by the battery;

[0017] - at least one remote control system, mounted on the chassis.

[0018]

[0010] The platform is particularly distinctive in that the battery housing comprises at least three uprights forming a cage for the battery, at least one of the uprights including an opening for the battery housing. The uprights extend substantially along a central axis of the chassis, and the arm extends substantially transversely to the central axis. Finally, the chassis is devoid of any through-connecting elements, such as screws.

[0019]

[0011] The chassis, lacking additional connecting elements, is thus lighter, more robust against oxidation problems, and easier to maintain. The battery housing on the chassis, in the form of a cage, allows for a removable battery while maintaining a lightweight chassis.

[0020]

[0012] According to one embodiment, the platform may include a hinge for closing the battery compartment opening on one of the uprights. The hinge may take at least two positions: - a closed position, in which the hinge blocks the opening of the battery compartment, so that the battery is held in the compartment without being able to come out;

[0021] - an open position, in which the hinge releases the battery compartment opening so that the battery can be removed and / or installed.

[0022]

[0013] The closing hinge makes it possible to limit the added elements such as screws, to ensure good retention of the battery in the cage, and to maintain a removable character of the battery for replacement.

[0023]

[0014] Depending on different aspects, it is possible to foresee one and / or the other of the characteristics below taken alone or in combination.

[0024]

[0015] According to one embodiment, the chassis is a single piece, all of its constituent parts being made from a single piece of material; that is to say, the chassis is made from a single continuous block of material. One technique for manufacturing such a chassis is 3D printing.

[0025]

[0016] According to one embodiment, the chassis comprises at least two chassis parts assembled by interlocking, preferably by force and in a permanent or nearly permanent manner, with one another. In particular, the battery housing comprises at least four uprights spaced approximately at 90° intervals.

[0026]

[0017] By definitive assembly, we mean here an assembly of parts which cannot be undone without irreparably damaging one or both parts, or even destroying them.

[0027]

[0018] By assembly in a virtually definitive manner, we mean here an assembly of the parts which can be undone under conditions involving special precautions, in particular with the help of a dedicated tool, and which can leave at least one of the parts intact.

[0028]

[0019] More specifically, the two chassis parts can each be in the form of a flat plate, each comprising two of said uprights. Thus, a first part comprises two so-called continuous uprights, i.e., without an opening, and the second part comprises one so-called continuous upright and one so-called discontinuous upright, which includes the opening for the battery compartment. The chassis parts have complementary shapes, for example, notches and / or slots, adapted to provide a snap-fit ​​assembly. The chassis is thus assembled simply, without screws.

[0029]

[0020] According to one embodiment, at least one arm is part of the chassis, so that it is fixed flush to the chassis without additional through-connecting elements. This makes the platform even lighter. The mechanical strength of the platform is also improved.

[0021] According to one embodiment, the platform may comprise at least two arms and at least two propulsion units, each propulsion unit being mounted on one arm. This arrangement allows, in particular, for good balance of the platform in flight and for precise guidance of one of the arms to a target attachment point.

[0030]

[0022] According to one embodiment, the platform may comprise four arms arranged at approximately 90° angles to each other about a central axis, each arm forming a hook. The chassis may then include an intermediate reinforcement device fixed to the chassis so as to connect the arms around the central axis, each propulsion unit being mounted on the intermediate reinforcement device. The chassis's resistance, particularly to torsional stresses, is increased. The intermediate reinforcement device also limits, at least partially, the transmission of vibrations from the propulsion units to the chassis. The equipment mounted on the platform and attached to the chassis is thus protected from vibrations.

[0031]

[0023] According to one embodiment, the chassis may include a housing for a connection support and a housing for a computer system. The battery housing, the connection support housing, and the computer system housing can then be aligned with each other along a central axis of the platform. Thus, the weight exerted on the platform in flight is substantially aligned along axis A, which notably allows for good balance during flight, thus improving accuracy at the target attachment point.

[0032]

[0024] According to one embodiment, the platform may include a camera mounted on the chassis. Such a camera, for example a camera, may allow a pilot to obtain information about the platform's environment, possibly to correct its trajectory.

[0033]

[0025] According to a second aspect, the invention relates to a precision crossing system comprising at least one precision crossing platform as described above and a launching device for said platform. The launching device comprises at least one launch guidance shaft for said platform. The shaft functions as a launch ramp, allowing the platform's takeoff direction to be oriented.

[0034]

[0026] The barrel can preferably be handled manually by the pilot, and finds particular application when the platform has to take off from a ship.

[0035]

[0027] According to one embodiment, the launching device is portable, that is to say that the mass of the barrel is carried by the pilot to launch the platform at takeoff.

[0036]

[0028] According to another embodiment, the launching device can be placed on the ground by means of a frame. The barrel is then pivotally mounted on the chassis so that the pilot simply has to orient the barrel relative to the chassis to direct the takeoff direction of the platform.

[0037] BRIEF DESCRIPTION OF THE DRAWINGS

[0038]

[0030] Embodiments of the invention will be described below with reference to the drawings, briefly described below:

[0039]

[0031] [Fig. 1] represents a three-dimensional top view of a precision crossing platform according to one embodiment.

[0040]

[0032] [Fig. 2] represents a side view of the platform of figure 1.

[0041]

[0033] [Fig. 3] represents two parts of a platform chassis of figure 1, according to one embodiment.

[0042]

[0034] [Fig. 4a] and [Fig. 4b] each represent a detail of the chassis parts of figure 3 during assembly.

[0043]

[0035] [Fig. 5] shows a three-dimensional top view of the assembled chassis comprising the two parts of figure 3.

[0044]

[0036] [Fig. 6] is a top view of the platform of figure 1.

[0045]

[0037] [Fig.7] represents a precision crossing system comprising the platform of Figure 1, in an example of a situational application.

[0046]

[0038] [Fig.8] represents a three-dimensional side view of a precision crossing system according to one embodiment.

[0047]

[0039] [Fig.9] represents a three-dimensional side view of a precision crossing system according to another embodiment.

[0048]

[0040] [Fig.10] represents a three-dimensional rear view of the precision crossing system of Figure 9.

[0049]

[0041] In the drawings, identical references designate identical or similar objects.

[0050] DETAILED DESCRIPTION

[0051]

[0042] Figure 1 shows a precision crossing platform 1 according to an embodiment of the invention. The platform 1 includes, in particular, a chassis 2 and at least one arm 3 forming a hook, or serving as a support for a hook. The arm 3 is fixed to the chassis 2. As will be detailed later, the arm 3 may be integrated into the chassis 2, or attached to the chassis 2. The arm 3 may be fixed relative to the chassis, or articulated relative to the chassis 2 as described later.

[0052]

[0043] The chassis 2 extends along a central axis A, with the arm 3 extending substantially transversely to said central axis A, so as to present a free end 3a at a distance from the central axis A. When the arm 3 is articulated with respect to the chassis 2, the free end 3a of the arm is at a distance from the central axis A when the arm is in the deployed position, as will be described later.

[0044] The following describes an embodiment of the platform 1, which comprises four arms 3 arranged in an X. However, the number of arms 3 may depend on the applications and requirements. The platform 1, comprising four arms 3, described below, notably allows for balancing the chassis 1 and bringing the shape of the platform 1 closer to that of a crossing hook. Thus, depending on the number of arms 3, these are distributed uniformly around a central axis A of the chassis 2, so as to ensure the balance in flight of the platform 1.

[0053]

[0045] Each arm 3 can form a hook, meaning that each arm 3 has a curved end 3a, adapted to grip onto an attachment point, for example, a window sill, a balcony, or a ship's ledge. The hook shape of the arms 3 can be obtained directly by shaping each arm 3 into a hook, as illustrated in the figures. Alternatively, the hook shape can be obtained by attaching and fixing hook-shaped elements onto the arms 3.

[0054]

[0046] The arms 3 can be solid, or fitted with cutouts allowing to minimize the amount of material used in particular to reduce the total mass of the chassis 2, while optimizing their mechanical resistance to the expected stresses.

[0055]

[0047] According to the embodiment shown in the figures and described below, the arms 3 are fixed relative to the chassis 2 and are part of the chassis 2. However, the arms 3 can be attached to the chassis 2 by any means of attachment. Thus, according to another embodiment, not shown, the arms 3 can be articulated relative to the chassis 2 by means of a pivot joint. Each arm 3 can thus assume a deployed position in which its end 3a is away from the chassis, and a folded position in which the end 3a is brought substantially against the chassis 2, or as close as possible to the chassis 2 so as to minimize the footprint of the platform 1.

[0056]

[0048] According to the embodiment presented, the chassis 2 of the platform 1 has a substantially bi-symmetrical shape, that is to say, it comprises two planes of symmetry that intersect at approximately 90°, along a central axis A, each plane comprising two arms 3. In each plane, the two arms 3 can be substantially symmetrical to each other with respect to the axis A. The shape of the chassis 2 thus approximates the shape of a crossing hook, optimized to form an attachment point. The end 3a of each arm 3 is preferably equidistant from the central axis A in order to ensure balance.

[0057]

[0049] The platform 1 includes at least one propulsion block 4 mounted on the chassis 2. More precisely, according to the embodiment shown in the figures, the platform 1 includes four propulsion blocks 4 fixed to the arms 3. More precisely, each propulsion block 4 is mounted on an arm 3, and they are arranged equidistant from the axis A to provide optimal stability and balance. Each propulsion block 4 typically includes a propeller and a motor. Each propulsion block 4 is intended to be powered by a battery mounted on the platform 1, as will be explained later. The attachment point on the chassis 2 of each of the propulsion blocks 4 is preferably located in the same plane substantially perpendicular to the axis A, for the purpose of balancing the platform 1. The propulsion blocks 4 may, in particular, be of the propeller type, with the propeller axis being substantially parallel to the axis A.

[0058]

[0050] For the remainder of the description, for clarity, we define a so-called upper region and a so-called lower region separated from each other by an intermediate plane P, substantially perpendicular to the central axis A, and passing through the point(s) of attachment of the thruster blocks 4 on the arms 3. On the axis A, we define a so-called distal direction and a so-called proximal direction, with reference to the intermediate plane P: the distal direction is the direction which moves away from the intermediate plane P.

[0059]

[0051] The platform 1 is further equipped with a control system 5, mounted on the chassis 2, for controlling the trajectory of the platform 1 in flight. Such a system may, in particular, allow an operator remaining on the ground to control the trajectory of the platform from a takeoff point to a target docking point. Such a control system 5 may include, in particular, a device for receiving commands sent from a terminal by the operator, a device for distributing power to the various pieces of equipment on the platform 1, a device for managing the power of each engine block 3, a trajectory correction device, one or more sensors, a GPS, and / or a data transmission device. The control system 5 may also include a camera 6, for example, a camera, allowing the operator to visualize and identify the environment of the platform 1 to ensure guidance.The camera 6 is mounted on the chassis 2 to provide the widest possible field of view. For example, it is mounted in the upper region.

[0060]

[0052] The platform 1 finally includes a mounting zone 7 on the chassis 2 for attaching a tool attachment device, not shown in the figures. The attachment device may, for example, be of the swivel type. Preferably, the mounting zone 7 is located in the lower region and corresponds substantially to a distal end zone of the chassis 2 in the lower region, i.e., the zone furthest from the intermediate plane P. The mounting zone 7 may be centered on the axis A. Thus, when a tool is attached to the platform, the applied weight is substantially aligned with the axis A of the platform; the propulsion blocks 4 also work along the axis A: the balance and stability of the platform 1 in flight are maintained during the transport of the tool.

[0053] The platform 1 is powered by at least one battery 8 on board the platform 1, i.e. any device enabling the power supply to the equipment of the platform 1. The battery is in particular of the removable type, in order to be able to replace it easily and ensure continuity in the use of the platform 1. The chassis 2 then includes a housing 9 for such a battery 8. The housing 9 for the battery 8 is located in the lower region, again for reasons of balance and stability.

[0061]

[0054] According to the invention, the chassis 2 is devoid of through-connecting elements, such as screws; that is, it constitutes a single, embedded assembly without additional elements dedicated to creating a connection. In particular, the chassis 2 does not comprise several parts assembled by means of screws. It may, however, comprise several embedded parts by interlocking. However, the number of parts assembled to form the chassis is preferably as small as possible, and in particular less than or equal to two. The interlocking assembly is preferably permanent and cannot be disassembled; that is, the parts can only be disassembled by carrying out destructive operations that damage the chassis 2, preventing subsequent reassembly in its current state. However, it may be possible to disassemble the parts, for example, using a specially designed tool, in particular to replace a damaged part.The chassis 2, lacking through-bolts, results in a particularly lightweight chassis. Eliminating these bolts from the chassis also reduces oxidation and wear issues. Finally, maintenance is simplified.

[0062]

[0055] In order to allow the removal and installation of the removable battery 8 on the chassis 2, the housing 9 for the battery 8 has been specially designed to limit the number of connecting elements passing through the chassis 2.

[0063]

[0056] Thus, the housing 9 for the battery 8 has a cage-like shape, comprising at least three uprights 10, extending substantially along the main axis A, in order to ensure that the battery 8 is retained in the housing 9. According to the embodiment shown in the figures, the housing 9 comprises four uprights 10, distributed substantially at 90° around the central axis A, following the bi-symmetry of the chassis 2. The uprights 10 extend mainly parallel to the axis A and may meet in the attachment zone 7. Thus, the housing 9 is substantially centered on the central axis A. In order to provide access to the housing, at least one of the uprights 10, and preferably only one upright 10, includes an opening 11 for inserting and removing the battery 8 from the housing 9.

[0057] The platform 1 then includes a hinge 12 for closing the opening 11.The hinge 12 is assembled on the chassis 2 so as to take two positions: a closed position, in which the hinge 12 blocks the opening 11 of the housing 9; an open position, in which the hinge 12 releases the opening 11 of the housing 9.

[0064]

[0058] According to one embodiment, the hinge 12 includes, for example, a pivot joint 13 about an axis perpendicular to axis A for a finger 14. The finger 14 substantially forms a post of the housing cage 9 when the hinge 12 is in the closed position. According to one embodiment, the hinge 12 includes a locking system 15 in the closed position that can alternately assume two positions: a locked position, in which the pivot joint is inactive and the hinge 12 is in the closed position, without the possibility of moving to the open position; and an unlocked position, in which the pivot joint is active and the hinge 12 can move from the closed position to the open position.

[0065]

[0059] The locking system 15 may for example include a ball pin and / or a screw which is inserted and locked into a hole in the finger 14 coaxial with a hole in the chassis 2.

[0066]

[0060] Thanks to the hinge 12 and the housing 9 for the battery 8, the battery 8 is held securely in the housing 9, while remaining removable.

[0067]

[0061] The battery 8 can be inserted into a protective case 16, which is also removable from the chassis 2. The case 16 can also be fixed, for example, by means of a screw or a ball pin to the chassis 2, for example to one of the uprights 10, in order to prevent any risk of the battery 8 being released under the effect of shocks and / or vibrations during the flight of the platform 1. Optionally, the case 16 can be waterproof to protect the battery 8 from water. The waterproofing is, for example, designed for immersion of the battery 8 in water to a depth of at least 2 m (meters). In the event of the platform falling into the water, for example when the platform is used to attach to a boat at sea, the battery 8 is thus protected.

[0068]

[0062] According to one embodiment, the platform 1 is equipped with an "on / off" type switch allowing the power-up of the propulsion unit 4 by the battery 8 to be controlled.

[0069]

[0063] According to one embodiment, the battery 8 can be rechargeable. For this purpose, it can be equipped with a port allowing connection to a power source, for example a LISB-C type port. The battery 8 can be recharged either when it is in place in the housing 9 of the platform 1, or when it is removed.

[0070]

[0064] The chassis 2 is made of a resistant metal or metal alloy. For example, it is made of aluminum or aluminum alloy of so-called aeronautical grade, titanium or titanium alloy, or composite materials. It can, for example, be made of a "bi-composite sandwich" of carbon / ULTEM.

[0071]

[0065] We will now describe two embodiments of chassis 2.

[0072]

[0066] According to a first embodiment, the chassis 2 is a single piece, its various parts being formed from a single material, without any prior assembly of parts. A preferred manufacturing process for the chassis 2 is then 3D printing from metal powder, or any other additive manufacturing technique.

[0073]

[0067] According to a second embodiment, the chassis 2 comprises two parts 20, 21 manufactured as separate pieces, then joined by interlocking, preferably permanently or almost permanently, without the addition of any further assembly elements for the connection. For this purpose, the two parts 20, 21 include complementary shapes that allow them to be fitted together. Optionally, the interlocking is achieved by force, that is, with an elastic deformation of the complementary shapes ensuring a fixed connection. More specifically, each part 20, 21 is in the form of a flat plate cut to correspond to a portion of the chassis 2 and to include the complementary shapes for interlocking.

[0074]

[0068] This second embodiment of the chassis 2 is particularly suited to the shape of the four-armed, bi-symmetrical chassis 2 shown in the figures. Thus, each part 20, 21 comprises two arms 3 and two uprights 10 of the housing 9 for the battery 8. One part 20, referred to as the first part, comprises two uprights 10 without an opening, and the other part 21, referred to as the second part, comprises one upright 10 with the opening 11 for the housing 9 and one upright 10 without an opening.

[0075]

[0069] We will describe the two parts 20, 21 of the chassis 2, retaining the references to the axis A and to the upper and lower regions and to the distal and proximal directions which have been defined above when the chassis 2 is assembled, and which are immediately transposed to parts 20, 21.

[0076]

[0070] The first part 20 is substantially symmetrical with respect to a median plane passing through axis A, and comprises a recessed area 22 between the two uprights. The recessed area 22 comprises two sections 22a, 22b, referred to as wide, separated by a section 22c, referred to as narrow. Thus, following axis A from a distal end, the recessed area 22 successively comprises a first widened area 22a, the narrowed area 22c, and the second widened area 22b. At a proximal end, the contour of the recessed area 22 includes, in particular, a first notch 23, approximately between the two arms 3, that is, on axis A, and in the second widened area 22c. At a distal end, the first part 20 comprises a keyhole-shaped opening 24, situated substantially on axis A.

[0077]

[0071] The second part 21 is also substantially symmetrical with respect to a median plane passing through axis A, except for the presence of the opening 11 on a post 10. On the post 10, which includes the opening 11, two free portions 10a and 10b are defined on either side of the opening 11, namely a free proximal portion 10a and a free distal portion 10b. It includes a recessed area 25 leading to the opening 11. Similar to the first plate 20, the recessed area 25 comprises, along axis A, successively from a distal end, a first enlarged section 23a, a narrowed section 23c, and a second enlarged section 23b. Outside the recessed area 25, approximately between the two arms 3, the second part 21 includes a second notch 26.Finally, the second part 21 includes a third notch 27, located on the contour of the hollowed-out area 25 in the first enlarged section 25a, between the two uprights 10, on the axis A.

[0078]

[0072] To assemble the two parts 20, 21 by interlocking, the distal free portion 10b of the second part 21 is inserted into the slot 24 until the third notch 27 is level with the slot 24. Simultaneously, the second part 20 is passed into the recess 23 of the first part 20 until the second notch 26 is opposite the first notch 23. Thanks to the lock-like shape of the slot 24, a movement along axis A of the first part 20 relative to the second part 21 allows the locking mechanism to be achieved by interlocking, preferably by force, the second notch 26 onto the first notch 23 and the third notch 27 into the slot 24. The forceful interlocking can be achieved, for example, using a mallet-type tool, or a press.

[0079]

[0073] When the two parts 20, 21 are joined, the opening 24 is partially released so as to be available for attaching a hanging device. The opening 24 then forms the hanging zone 7. The planes of symmetry of the two parts 20, 21 are approximately at 90° to each other.

[0080]

[0074] Once assembled, the two parts 20, 21 form the chassis 2, without any connecting elements between them. Disassembly without damaging either part 20, 21 is preferably impossible, providing adequate mechanical strength for use. However, it may be necessary to disassemble the two parts 20, 21, for example, if one of them is damaged. For this purpose, a dedicated tool may be provided to disassemble the parts 20, 21 without damaging them, or at least without damaging either of them. Maintenance is thus facilitated.

[0081]

[0075] According to one embodiment, any gaps that may exist between the complementary shapes for interlocking can be filled using an epoxy resin type adhesive or any other material.

[0082]

[0076] The recesses 23 and 25 of the two assembled plates 20, 21 combine to form in particular the housing 9 for the battery 8. More precisely, the first sections 23a and 25a of the recesses 23, 25 form the housing 9 for the battery.

[0083]

[0077] The two parts 20, 21 may have been cut from the same solid raw plate.

[0084]

[0078] The platform 1 may further include an intermediate reinforcement device 30 attached to the chassis 2, on which the propulsion blocks 4 are mounted. The reinforcement device 30 connects the arms 3 around the central axis A. As illustrated in the figures, the reinforcement device 30 has a square profile, such that one arm 3 is connected to the two arms adjacent to it around the central axis A. The reinforcement device 30 increases the rigidity of the chassis 2, i.e., its deformations under a predetermined maximum stress. In particular, the torsional rigidity of the chassis is thus increased. Furthermore, it limits or even eliminates the transmission of vibrations from the propulsion blocks 4 to the chassis 2, thereby reducing the risk of damage to equipment, particularly electronic equipment, attached to the chassis 2.

[0085]

[0079] The reinforcement device 30 is preferably made of the same material as the frame 2. It can be obtained by cutting a solid raw plate, which can be the same as that of the parts 20 and 21 of the frame 2 of the second embodiment.

[0086]

[0080] Preferably, the electronic equipment onboard the platform 1 is located substantially along the central axis A. Furthermore, the electronic equipment is preferably located primarily in the lower region, so that the majority of the mass of the electronic equipment is in the lower region. To this end, in addition to the housing 9 for the battery 8, the chassis 2 may include a housing 31 for a connection support 32 and a housing 33 for a computer system 34, both of which are centered on the central axis A. Thus, the housings 9, 31, and 33 follow each other substantially along the axis A, in the lower region.

[0087]

[0081] In the two-part embodiment 20, 21, the housing 31 for the connection support 32 is, for example, formed by combining the narrowed sections 23c and 25c of the hollowed-out areas 23, 25. Similarly, the housing 33 for the computer system 34 is, for example, formed by combining the second narrowed sections 23b and 23c of the hollowed-out areas 23, 25. Thus, along axis A, and starting from a distal end in the lower region, the chassis 2 successively forms the housing 9 for the battery, the housing 31 for the connector 32, and the housing 33 for the computer system 34.

[0088]

[0082] The computer system 34 can be in the form of an electronic card, supporting various functions, including the electronic speed control function (acronym ESC for Electronic Speed ​​Control) of the motors of the propulsion blocks 4 and also part of the functions of the remote control system, in particular the management of the distribution of energy to the various equipment of the platform 1. The successive position of the housings 9, 31 and 33 allows the battery 8 to be connected to the connection support 32, and the computer system 34 to the connection support 32, ensuring the power supply of the computer system 34.

[0089]

[0083] The connection bracket 32 ​​and the computer system 34 can also be attached to the chassis 2 using screws, for example, in order to limit their sensitivity to vibrations and to ensure they remain in position on the chassis 2 during flight of the platform 1. More specifically, the computer system 34 can be housed in a support frame 35 attached to the chassis, for example, using screws. Waterproof cases can also be provided to protect each electronic component, including for immersion in water to a depth of at least 2 m.

[0090]

[0084] Since the majority of the mass of the electronic equipment, possibly increased by the mass of the attachment device and the tool, is primarily located in the lower region along the central axis A, the weight exerted on the chassis 2 when the platform 1 is in flight is naturally directed downwards, i.e., towards the ground, and is substantially parallel to the central axis A. The propulsion blocks 4 also operate in a direction substantially parallel to the axis A, but upwards, opposite to the weight. This results in high stability of the platform 1 during flight, allowing the arms 3 to be directed onto a target attachment point with high precision.

[0091]

[0085] In order to limit damage to the chassis 2 during the use of the platform, in particular damage caused by falls and / or impacts, the platform 1 may include reinforcing parts 36 attached to the chassis 2. These reinforcing parts 36 are fixed, for example by screws, to all or part of the protruding areas of the chassis 2, and in particular to a portion of the arms 3 that is directed upwards when the platform 1 is in flight and / or to a portion of the arms 3 furthest from the central axis A, which may come into contact with an obstacle. A reinforcing part 36 may also be fixed to the distal end in the lower region of the chassis 2, in order to protect the chassis 2 in the event of a fall. The reinforcing parts 36 are preferably made of shock-absorbing material.

[0092]

[0086] Finally, at least one arm 3 can be equipped with a claw 37, fixed to the free end of the arm. In practice, each arm 3 includes such a claw 37. The claw 37 allows, for example, the platform 1 to be anchored at the attachment point, to improve the grip at the attachment point. Each claw 37 is mounted on a tab 37a which is fixed to the arm 3 by means of screws, allowing for easy removal and replacement of a claw 37, for example, in case of wear. The claws 37 are, for example, made of titanium and are, for example, produced by 3D printing. They can be integral parts of the arms 3, or even of the chassis 2, particularly when the arms 3, possibly with the chassis 2, are manufactured by 3D printing, or they can be added and fixed to the arms 3, for example, by means of screws, so that they can be removed and replaced in case of wear.

[0093]

[0087] Platform 1 is used, for example, from a launch base, which can be fixed or mobile. The launch base can serve as a pilot's control terminal for platform 1. The pilot initiates a platform startup step from the terminal. Sensor initialization can then take place. If the launch base is mobile and moving, sensor initialization compensates for this situation.

[0094]

[0088] Once platform 1 and the piloting terminal are operational, the propulsion units 4 can be armed and platform 1 can take off. The trajectory of platform 1 during flight can be monitored, for example, using a terminal screen displaying images from the camera 6. The trajectory of platform 1 can be guided by the pilot via commands on the terminal, particularly when the position of the target docking point cannot be identified in advance, and / or unforeseen and / or unidentified obstacles are likely to occur during flight. Alternatively, when the target docking point can be known in advance, without the risk of unforeseen obstacles, the trajectory of platform 1 can be configured and recorded in the onboard computer system 34 of platform 1, to provide so-called automatic flight.Finally, the trajectory of platform 1 can be adjusted to follow the launch base, even if it is moving.

[0095]

[0089] Once the target attachment point is in sight, the platform 1 can be positioned relative to the target attachment point by deactivating the propulsion units. The platform 1 falls back onto the target attachment point and remains in place thanks to the hook shape of the arms 3. The weight distribution of the platform and any accessories, as described above, allows for more precise control of the descent. Thus, once the platform 1 is in position, no further attention is required, particularly regarding finding a landing site. The platform 1 can remain in position, for example, while planned operations are carried out, and then relaunch with the tool to reach its final destination.

[0096]

[0090] A tool carried by the platform, for example a ladder or a rope, is then available.

[0097]

[0091] The invention also relates to a precision crossing system 100, comprising a platform associated with a launching device 101 for said platform, enabling the platform's takeoff to be guided. Such a system

[0098] The 100 crossing system is particularly well-suited for enabling the takeoff of platform 1 as described above, but not necessarily. Specifically, the platform of the 100 crossing system is independent of chassis 2. In the examples shown below, the platform is platform 1 as described above.

[0099]

[0092] The launch device 101 may include a launch guidance ramp for the platform. More specifically, the device 101 may include a launch guidance shaft 102, manually oriented by a pilot 103, into which the platform 1 is at least partially inserted. The shaft 102 has two open ends. More specifically, the lower region of the platform 1 is partially inserted, with the arms 3, when not hinged to the chassis 2, protruding from the shaft 102 at one upper end, so that a tool attached to the platform 1 attachment zone 7 can emerge from the shaft 102 at the lower end. The interior of the shaft 102 acts as a guidance ramp along which the platform 1 moves during a takeoff phase.The pilot can orient the barrel in a predetermined direction, typically that of the target attachment point. The platform 1 can then be launched in a favorable direction to reach the target attachment point. The tool can pass through the barrel and emerge from the top without obstruction. Such a launching system 100 finds particular application when the platform 1 must be launched from a boat 104 in the water towards a vessel 105 containing the target attachment point. Indeed, the hand-held barrel 102 can be oriented by the pilot 103 to maintain a launch direction for the platform 1 despite water movements causing the boat 104 to move.

[0100]

[0093] According to an embodiment illustrated in Figure 8, the shaft 102 of the device

[0101] The launch device 101 is portable, held by the pilot 103, for example, using at least one handle 106 attached to the outside of the shaft 102. Preferably, two handles 106 can be attached to the shaft 102, diametrically opposed to the shaft 102 for a two-handed grip by the pilot 103. Optionally, the launch device 101 forms the launch base and may be equipped with an interface 107, including, for example, a screen and / or control buttons, attached to the outside of the shaft 102. The interface 107 is arranged so that when the pilot holds the shaft 102 by the handles 106 with the upper end 108 pointing substantially upwards, it is visible and / or accessible to the pilot 103. The interface 107 includes, in particular, means for controlling the platform.The upper end 108a of the shaft 102 is funnel-shaped to facilitate the insertion of the lower section of the platform (not shown in Figure 8) through said upper end 108a. The tool 109, which is a rope as exemplified in Figure 8, has been previously attached to the attachment point 7 of the platform 1. The tool 109 emerges from the shaft 102 through a slot 110 (not visible in Figure 8, visible in Figure 10) extending from the upper end 108 to the lower end 108b, without reaching the lower end 108b. Before the platform 1 takes off, the tool 109 may partially rest on the ground in a folded position; then, as the platform 1 takes off and is in flight, the tool 109 gradually unfolds. The deployment of tool 109 is therefore not hindered by the launch device 101.

[0102]

[0094] According to another embodiment, the launching device 101 is placed on the ground, so that the pilot 103 does not have to bear its weight when holding it by the handles 106. For example, the launching device 101 may comprise a frame resting on the ground, on which the shaft 102 is pivotally mounted to allow it to be oriented. The term "ground" should be understood here in a broad sense, as referring both to the geological ground as part of the Earth's crust, and to the floor of a fixed or mobile building, such as, in particular, the bottom of a ship.

[0103]

[0095] Another embodiment of a system 100 illustrated in Figures 9 and 10 will be described. The elements common to those described with reference to Figure 8 bear the same reference numerals and are not described again. The device 101 comprises a frame 111 including a portion 112 forming a seat, referred to as the seat portion, and a bar 113 connecting the seat portion 112 to the shaft 102. More precisely, the seat portion 112 includes a seat block 114 on which the pilot 103 can sit, for example, astride. A cushion 115 can be placed above the seat block 114 for the comfort of the pilot 103. The seat portion 112 can include a hoop 116 so that the pilot 103, straddling the seat block 114, can hold onto the hoop 116. A cushion 117 attached to the hoop 116 can also be fitted for the comfort of the pilot 103. A terminal 118, similar to the terminal 107 described previously, can be attached to the frame 111.The launch device 101 again forms a launch base. Terminal 118, for example, is attached to bar 113 by means of a support so that terminal 118 is visible and / or accessible to the pilot on seat section 112. Bar 113 rises from seat block 112 in a direction substantially orthogonal to the ground plane on which seat block 114 rests. At its free end 119, the bar 113 includes a pivoting connection device 120 for the shaft 102. The pivoting connection device 120 allows at least one pivot in a direction substantially transverse to the bar 113. A handle 121 can be formed between the bar 113 and the shaft 102 so that the pilot 102 can orient the shaft 102 relative to the frame 111. The orientation of the shaft 102 relative to the frame 111 can also occur naturally under the weight of the shaft 102 and the platform 1 inserted into it. The device 101 may further include a support 122 for the tool 109.The support 122 for tool 109 is fixed to the frame 111. The launch system 100 facilitates the takeoff of platform 1 for operator 103, particularly when platform 1 needs to be launched from a boat. Indeed, thanks to the seat portion 112, the pilot can stabilize himself relative to the shaft 102 and orient it optimally to launch platform 1.

[0104]

[0096] Such a launch system 100 also makes it possible to position the platform 1 at a distance from the ground, even before takeoff. It is then unnecessary to land it on the ground, and consequently, it is not necessary to clear a space on the ground to place the platform 1 on it.

Claims

1. DEMANDS

1. A remotely piloted, rotary-wing precision crossing platform (1), comprising: - a chassis (2) comprising at least one housing (9) for a battery (8) and an attachment area (7) on the chassis (2) for attaching a tool attachment device such as a rope; - at least one arm (3) fixed to the chassis (2), the arm (3) comprising an end (3a) forming a hook or capable of supporting a hook; - at least one propulsion unit (4) mounted on the chassis (2) and intended to be powered by the battery (8); - at least one remote control system (5), mounted on the chassis (2); The platform (1) being characterized in that the housing (9) for the battery (8) comprises at least three uprights (10) forming a cage for the battery (8), in that the uprights (10) extend substantially along a central axis (A) of the chassis (2), in that the arm (3) extends substantially transversely to the central axis (A), and in that the chassis (2) is devoid of through-connecting elements, such as screws.

2. Precision crossing platform (1) according to claim 1, wherein at least one of the uprights (10) of the housing (9) for the battery (8) includes an opening (11) in the housing (9) for the battery (8), and wherein the platform (1) includes a hinge (12) for closing the opening (11) in the housing (9) for the battery (8) which can take at least two positions: - a closed position, in which the hinge (12) blocks the opening (11) of the housing (9) of the battery (8); - an open position, in which the hinge (12) releases the opening (11) of the housing (9) of the battery (8).

3. Precision crossing platform (1) according to claim 1 or claim 2, wherein the chassis (2) is monobloc.

4. Precision crossing platform (1) according to claim 1 or claim 2, wherein the housing (9) for the battery (8) comprises at least four uprights (10) distributed substantially at 90°, and wherein the chassis (2) comprises at least two chassis parts (20,21) assembled by interlocking with each other.

5. Precision crossing platform (1) according to the preceding claim, wherein the two chassis parts (20,21) are each in the form of a flat plate each comprising two of said uprights (10), a first part (20) comprising two uprights (10) said to be continuous and the second part (21) comprising one upright (10) said to be continuous and one upright (10) said to be discontinuous which includes the opening (11) of the housing (9) for the battery (8), the chassis parts (20,21) having complementary shapes (23, 24, 26) adapted to provide an assembly by interlocking.

6. Precision crossing platform (1) according to any one of the preceding claims, wherein at least one arm (3) is part of the chassis (2).

7. Precision crossing platform (1) according to any one of the preceding claims, comprising at least two arms (3) and at least two propulsion blocks (4), each propulsion block (4) being mounted on an arm (3).

8. Precision crossing platform (1) according to the preceding claim, comprising four arms (3) arranged substantially at 90° to each other about a central axis (A), each arm (3) forming a hook.

9. Precision crossing platform (1) according to the preceding claim, wherein the chassis (2) includes an intermediate reinforcement device (30) fixed to the chassis (2) so as to connect the arms (3) around the central axis (A), each propulsion block (4) being mounted on the intermediate reinforcement device (30).

10. Precision crossing platform (1) according to any one of the preceding claims, wherein the chassis (2) includes a housing (31) for a connection support (32) and a housing (33) for a computer system (34), the housing (9) for the battery (8), the housing (31) for a connection support (32) and the housing (33) for a computer system (34) being aligned with each other along a central axis (A) of the platform (1).

11. Precision crossing platform (1) according to any one of the preceding claims, comprising a shooting device (6) fixed to the chassis (2).

12. Precision crossing system (100) comprising at least one precision crossing platform (1) according to any one of the preceding claims and a launching device (101) for said platform, the launching device (101) comprising at least one launch guidance shaft (102) for said platform (1).

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