System for recovering an aerial drone

Abstract

The invention relates to a system (100) for recovering an aerial drone (80), which aerial drone (80) is capable of landing on the surface of the water, the recovery system comprising: - a naval platform (1), which is in particular a ship, the naval platform (1) comprising a parking area (2) for the aerial drone (80), - an item of recovery equipment (3) which can be deployed on the surface of the water and is configured to capture the aerial drone (80) that lands on the surface of the water and tow it onto the naval platform (1), in particular into the parking area (2).

Description

[0001] DESCRIPTION

[0002] Title: Aerial Drone Recovery System

[0003] [1] The present invention relates to a system for recovering an aerial drone.

[0004] [2] The present invention relates in particular to the recovery operations of an aerial drone in connection with a naval platform, especially in degraded weather conditions and on small platforms.

[0005] [3] Existing solutions rely on complex devices such as acoustic or visual beacons, which the aerial drone itself detects, to realign the drone with the landing zone. However, these devices have many limitations in degraded marine environments: acoustic interference from ambient noise, sensitivity of the systems to sea spray and humidity, and inaccuracies caused by unpredictable platform movements.

[0006] Other difficulties may also arise, for example: the cleanliness of the optics for landing, the risk of obstruction of the markings on the deck, sensitivity to the effects of light.

[0007] [4] In addition, on small naval platforms, the risks of the aerial drone tipping over or overturning during transport, of collision with superstructures during takeoff and landing of the aerial drone, must also be managed, risks which can be aggravated by erratic relative movements of the naval platform or by the sensitivity of the aerial drone to ground effects (aerology).

[0008] [5] Generally speaking, in difficult weather conditions (strong winds for example), it becomes difficult for the aerial drone to target a narrow landing area on the naval platform.

[0009] [6] The invention aims in particular to address at least one of the aforementioned drawbacks.

[0010] [7] The invention thus relates to a recovery system for an aerial drone, which aerial drone is capable of landing on the surface of the water, this recovery system comprising:

[0011] a naval platform, which is in particular a vessel (for example an autonomous vessel of the naval surface drone type, in particular capable of operating independently, without direct human intervention, using intelligent onboard systems), this naval platform including a parking area for the aerial drone, a recovery equipment which is deployable on the surface of the water and which is configured to capture the aerial drone which lands on the surface of the water and tow it onto the naval platform, in particular into the parking area.

[0012] [8] The invention thus proposes to avoid directly targeting the naval platform, which can be relatively narrow (with risks of accidents), advocating a solution in which the aerial drone lands on the surface of the water. The aerial drone is recovered from the surface of the water by the recovery equipment.

[0013] [9] Thus, the invention enables safe recovery in difficult conditions by relocating the landing zone to the water's surface (for example, to the sea surface). The recovery equipment allows, in particular, the safe recovery of an aerial drone from the water's surface, regardless of sea state and wind conditions, within the operational limits for both the aerial drone and the naval platform.

[0014]

[0010] The invention is particularly advantageous for small naval platforms: by relocating the landing area in the water, the invention makes it possible to use small naval platforms without requiring complex gyro-stabilization, and with minimal piloting of the aerial drone, thus reducing costs and bulk.

[0015]

[0011] The invention can also make it possible to use large vertical take-off and landing (VTOL) aerial drones (wingspan of approximately 2 m, for example) on small naval platforms (for example, FRB or Fast Rescue Boat type, i.e., a fast rescue craft, for example, 7 m in length). These larger aerial drones offer significant operational advantages, including greater autonomy, increased range, and high maximum speeds. According to one aspect of the invention, the recovery system can also be used for transporting the aerial drone.

[0016]

[0012] According to one aspect of the invention, the naval platform includes a winch configured to deploy and retrieve the recovery equipment.

[0017]

[0013] According to one aspect of the invention, the retrieval equipment is configured to wrap around a drum of the winch.

[0018]

[0014] According to one aspect of the invention, the recovery equipment includes a floating structure configured to capture the aerial drone, in particular by hooking between the floating structure and the aerial drone.

[0019]

[0015] According to one aspect of the invention, the floating structure is windable / unwindable around a winch.

[0016] According to one aspect of the invention, the winch is arranged on one side of the parking area so that the recovery equipment can pass into the parking area.

[0020]

[0017] In other words, the parking area is located between, on the one hand, an edge, in particular the rear, of the naval platform and, on the other hand, the winch.

[0021]

[0018] In this configuration, the aerial drone is recovered from the rear edge of the naval platform.

[0022]

[0019] According to one aspect of the invention, the floating structure includes bars, in particular made of rigid material, configured to be able to hook the aerial drone.

[0023]

[0020] According to one aspect of the invention, the bars are for example made of pultruded fiber, wood, carbon rush, etc...

[0024]

[0021] According to one aspect of the invention, the floating structure has a ladder-like shape with rungs configured to be able to hook the aerial drone.

[0025]

[0022] According to one aspect of the invention, the bars of the floating structure join, at their ends, two uprights which are in particular made of flexible cables.

[0026]

[0023] According to one aspect of the invention, the flexible cables are configured to be unfolded in a straight line in the free state.

[0027]

[0024] According to one aspect of the invention, at least some of the bars are straight.

[0028]

[0025] According to another aspect of the invention, at least some of the bars have a curved shape or a pointed (or V) shape, the shape advantageously exhibiting symmetry with respect to an axis that passes through the middle of the bar.

[0029]

[0026] This allows, when the aerial drone is being raised, for it to be centered relatively precisely with respect to the rail and therefore with respect to the naval platform. This allows the aerial drone to be referenced to the platform, particularly when it is positioned in the parking area.

[0030]

[0027] Proper referencing of the aerial drone allows it to be placed in the correct position for, for example, electrical recharging or for maintenance on the aerial drone.

[0031]

[0028] According to one aspect of the invention, the ladder can be one meter wide and the rungs can be spaced, for example, 40 or 50 or 60 cm apart.

[0032]

[0029] According to another aspect of the invention, the floating structure includes a net configured to be able to hook the aerial drone.

[0033]

[0030] Alternatively, the floating structure includes a cable configured to be able to attach the aerial drone.

[0031] According to one aspect of the invention, the floating structure includes one or more floating anchors configured to ensure the tension of the floating structure, in particular during its unwinding.

[0034]

[0032] A sea anchor, also called a parachute anchor, is in particular a device used at sea to stabilize a vessel / platform or reduce its drift without attaching it to the seabed. A sea anchor is, for example, made of robust fabric such as nylon, and has a parachute shape (in particular, substantially conical).

[0035]

[0033] According to one aspect of the invention, the naval platform includes a deployable loading ramp configured to allow the aerial drone to be hoisted onto the platform.

[0036]

[0034] According to one aspect of the invention, the deployable loading ramp is integrated under a deck of the naval platform.

[0037]

[0035] In the deployed position, the loading ramp extends towards the rear of the deck, sloping towards the water's surface. In the retracted position, the ramp is tucked away under the deck.

[0038]

[0036] According to one aspect of the invention, the deployable loading ramp is configured to drive one end of the floating structure into the water to submerge the floating anchor(s). These floating anchors will maintain the tension of the floating structure during its deployment.

[0039]

[0037] According to another aspect of the invention, the floating structure has sufficient rigidity to be deployed in the water by being pushed when this floating structure is unrolled.

[0040]

[0038] According to one aspect of the invention, the floating structure is integrated into a loading ramp, in particular with constant guidance of the floating structure in its travel.

[0041]

[0039] The floating structure will thus be guided in the water and along the axis of the naval platform at all times, without risk of the floating structure getting stuck on the side.

[0042]

[0040] According to one aspect of the invention, the naval platform includes guidance elements configured to guide the aerial drone which is towed by the recovery equipment, to bring it and hold it in position in the parking area.

[0043]

[0041] According to one aspect of the invention, the guidance elements, for example in the form of wedges, are arranged on a deck of the naval platform.

[0042] According to one aspect of the invention, the naval platform includes retractable locking elements configured to lock the holding of the aerial drone in the parking area.

[0044]

[0043] When the locking elements are retracted (opened), the aerial drone is ready to take off from the naval platform.

[0045]

[0044] According to one aspect of the invention, the aerial drone comprises a wing and the naval platform comprises cleats or guides configured to cooperate with the wing of the aerial drone for maintaining position in the parking area.

[0046]

[0045] According to one aspect of the invention, the naval platform is a vessel, for example a fast rescue boat, for example 7 m in length, or a semi-rigid vessel.

[0047]

[0046] According to one aspect of the invention, the naval platform includes a sensor, in particular a lidar, configured to locate the aerial drone at the time of its approach to the naval platform.

[0048]

[0047] Lidar, by acquiring a cloud of points representative of the aerial drone, makes it possible to avoid positioning discrepancies or deviations due to errors coming for example from a GPS system.

[0049]

[0048] In general, there is a need to reference / locate the aerial drone in relation to the naval platform.

[0050]

[0049] According to one aspect of the invention, the sensor, in particular a lidar, is configured to give the position of the aerial drone, and a control unit is configured to recalibrate the position of the aerial drone in case of drift, in order to land on the floating structure.

[0051]

[0050] According to one aspect of the invention, the aerial drone includes an on-board detection system configured to locate the recovery equipment, for example by image recognition, and to automatically guide the aerial drone to the recovery equipment.

[0052]

[0051] Thus, in one case, a sensor with a naval platform control system guides the aerial drone during its approach and landing on the recovery equipment. In another embodiment, the aerial drone is configured to guide itself during its approach and landing on the recovery equipment.

[0053]

[0052] For example, the aerial drone will provide the position and the naval platform will recalculate this position relative to itself and provide the aerial drone with the difference between the position known by the aerial drone and the correction sent by the platform.

[0053] This allows the aerial drone to be realigned to the correct landing position on the recovery equipment.

[0054]

[0054] We can thus speak of a recalibration system which uses, for example, a lidar, to avoid positioning errors at the time of the approach and landing of the aerial drone.

[0055]

[0055] In the case of use of image recognition by the aerial drone, the floating structure may have a color suitable for image recognition, allowing to have a strong contrast with the color of the sea surface for example.

[0056]

[0056] This color is, for example, yellow, orange, or red. The floating structure may exhibit phosphorescence (for example, provided by paint), particularly for night landings.

[0057]

[0057] According to one aspect of the invention, the naval platform includes a system for rinsing the aerial drone in the parking area position.

[0058]

[0058] This makes it possible to eliminate salt water which can damage certain parts of the aerial drone by corrosion.

[0059]

[0059] According to one aspect of the invention, the rinsing system comprises fixed nozzles or comprises a movable hoop for projecting water onto the aerial drone.

[0060]

[0060] According to one aspect of the invention, the aerial drone includes one or more hooks configured to hook the floating structure, in particular a bar of the floating structure.

[0061]

[0061] According to one aspect of the invention, the hook(s) are on the hull of the aerial drone.

[0062]

[0062] According to one aspect of the invention, the hook(s) are retractable. Thus, when the aerial drone is in flight, the hook(s) are retracted and the hook(s) are deployed during the recovery operation.

[0063]

[0063] According to one aspect of the invention, the aerial drone has several hooks placed at different locations on the underside of the hull of the aerial drone.

[0064]

[0064] According to one aspect of the invention, the aerial drone is configured to be able to float on the surface of the water; in particular, the aerial drone comprises one or more floats enabling it to float on the surface of the water. The drone can be of various types, preferably with at least the ability to fly in the air and to float on the surface of the water.

[0065]

[0065] According to one aspect of the invention, the aerial drone exhibits water tightness.

[0066] According to one aspect of the invention, the aerial drone is configured to be able to take off while on the surface of the water, in particular the aerial drone has one or more propellers configured to allow vertical takeoff and landing.

[0066]

[0067] The invention also relates to an assembly comprising a recovery system as above and an aerial drone as above.

[0067]

[0068] The invention also relates to a method for recovering an aerial drone from a naval platform, the method comprising the following steps:

[0068] landing the aerial drone on a recovery device on the water's surface, the recovery device being linked to the naval platform,

[0069] capture the aerial drone with the recovery equipment,

[0070] Once the aerial drone has been captured by the recovery equipment, tow the aerial drone aboard the naval platform.

[0071]

[0069] According to one aspect of the invention, the method of recovering the aerial drone is done with a movement of the naval platform, this movement allowing the recovery equipment to be deployed and stretched.

[0072]

[0070] Thus, the recovery operation is carried out while the naval platform is moving on the surface of the water, for example at a speed of a few knots (for example, 2 or 3 knots). This also allows the aerial drone to be aligned with the recovery equipment.

[0073]

[0071] Other features, details and advantages of the invention will become clearer upon reading the following description on the one hand, and an example of an embodiment given by way of illustration and not limitation with reference to the accompanying schematic drawings on the other hand, in which:

[0074]

[0072] [Fig 1] Figure 1 is a schematic representation of an aerial drone recovery system according to an example of the invention;

[0075]

[0073] [Fig. 2] Figure 2 illustrates the recovery system of Figure 1, in side view and with takeoff of the aerial drone;

[0076]

[0074] [Fig. 3] Figure 3 illustrates a calm weather landing on the naval platform of Figure 1;

[0077]

[0075] [Fig. 4] Figure 4 illustrates a rough weather landing on the naval platform of Figure 1;

[0078]

[0076] [Fig. 5] Figure 5 illustrates the recovery system of Figure 1, in side view and with landing of the aerial drone;

[0079]

[0077] [Fig. 6] Figure 6 is a diagram of a variant of the floating structure.

[0078] The features, variants, and different embodiments of the invention can be combined in various ways, provided they are not incompatible or mutually exclusive. In particular, variants of the invention may be conceived comprising only a selection of features, described hereafter in isolation from the other described features, if this selection of features is sufficient to confer a technical advantage and / or to differentiate the invention from the prior art.

[0080]

[0079] Figure 1 shows a recovery system 100 for an aerial drone 80, which aerial drone 80 is capable of landing on the surface of the water, this recovery system 100 comprising:

[0081] a naval platform 1, which here is an autonomous vessel of the naval surface drone type capable of operating independently, without direct human intervention, using intelligent onboard systems, this naval platform 1 comprising a parking area 2 for the aerial drone 80,

[0082] a recovery equipment 3 which is deployable on the water surface S and which is configured to capture the aerial drone 80 which lands on the water surface S and tow it onto the naval platform 1, in the parking area 2.

[0083]

[0080] The naval platform 1 includes a winch 4 configured to deploy and retrieve the recovery equipment 3.

[0084]

[0081] The recovery equipment 3 includes a floating structure 5 configured to capture the aerial drone 80, by hooking between the floating structure 5 and the aerial drone 80.

[0085]

[0082] The floating structure 5 is configured to wrap around a drum 6 of the winch 4.

[0086]

[0083] The winch 4 is arranged on one side of the parking area 2 so that the recovery equipment 3 can pass into the parking area 2.

[0087]

[0084] In other words, the parking area 2 is located between, on the one hand, a rear edge 7 of the naval platform 1 and, on the other hand, the winch 4.

[0088]

[0085] The recovery of the aerial drone 80 is done via the rear edge 7 of the naval platform 1.

[0089]

[0086] The floating structure 5 here has a ladder-like shape with rungs 9 configured to be able to hook the aerial drone 80.

[0090]

[0087] The bars 9 of the floating structure 5 join, at their ends, two uprights 10 which are notably made of flexible cables.

[0088] The bars 9 are straight in the example described.

[0091]

[0089] Alternatively, as illustrated in Figure 6, the bars 9 have a pointed (or V-shaped) form, the form advantageously exhibiting symmetry with respect to an axis that passes through the middle of the bar 9.

[0092]

[0090] This allows, when the aerial drone 80 is raised, to be centered relatively precisely in relation to the bars 9 and therefore in relation to the naval platform 1.

[0093]

[0091] According to one aspect of the invention, the ladder can be one meter wide and the rungs 9 can be spaced for example 40 or 50 or 60 cm apart.

[0094]

[0092] The floating structure 5 includes two floating anchors 11, fixed to the free end of the uprights 10, configured to ensure the tension of the floating structure 5, in particular during its unrolling.

[0095]

[0093] A sea anchor 11, also called a parachute anchor, is notably a device used at sea to stabilize a ship / platform or reduce its drift without attaching it to the seabed. A sea anchor is, for example, made of robust fabric such as nylon, and has a parachute (cone) shape.

[0096]

[0094] The naval platform 1 includes a deployable loading ramp 14 configured to allow the aerial drone 80 to be hoisted / towed onto the platform.

[0097]

[0095] The deployable loading ramp 14 is integrated under a deck 15 of the naval platform 1.

[0098]

[0096] In the deployed position, the loading ramp 14 extends towards the rear of the deck 15, sloping towards the water's surface. In the retracted position, the loading ramp 14 is tucked away under the deck 15.

[0099]

[0097] The deployable loading ramp 14 is configured to drive one end of the floating structure 5 into the water to immerse the floating anchors 11. These floating anchors 11 will ensure the tension of the floating structure 5 during its unrolling.

[0100]

[0098] The naval platform 1 includes guidance elements 16 configured to guide the aerial drone 80 which is towed by the recovery equipment 3, to bring it and hold it in position in parking area 2.

[0101]

[0099] The guidance elements 16, for example in the form of wedges, are arranged on the deck 15 of the naval platform 1.

[0100] The naval platform 1 includes retractable locking elements 17 configured to lock the holding of the aerial drone 80 in the parking area 2.

[0102]

[0101] When the locking elements 17 are retracted (opened), the aerial drone 80 is ready to take off from parking area 2 on naval platform 1, as can be seen in Figure 2.

[0103]

[0102] The aerial drone 80 includes a wing 81 and the naval platform 1 includes cleats (namely retractable locking elements 17) or guides configured to cooperate with the wing of the aerial drone 80 for holding in position in the parking area 2.

[0104]

[0103] The naval platform 1 includes a sensor, here a lidar 20, configured to locate the aerial drone 80 at the time of its approach to the naval platform 1, as illustrated in Figure 4.

[0105]

[0104] The lidar 20, by acquiring a cloud of points representative of the aerial drone 80, makes it possible to avoid positioning discrepancies or deviations due to errors coming for example from a GPS system.

[0106]

[0105] In general, there is a need to reference / locate the aerial drone in relation to the naval platform 1.

[0107]

[0106] The lidar 20 is configured to give the position of the aerial drone 80, and a control unit 21 is configured to recalibrate the position of the aerial drone 80 in case of drift, in order to land on the floating structure 5.

[0108]

[0107] According to one aspect of the invention, the aerial drone 80 includes an on-board detection system configured to locate the recovery equipment 3, for example by image recognition, and to automatically guide the aerial drone 80 to the recovery equipment 3.

[0109]

[0108] Thus, in one case, it is a sensor with a naval platform control system 1 that allows the aerial drone 80 to be guided during the approach and landing on the recovery equipment 3. In another embodiment, the aerial drone 80 is configured to guide itself during the approach and landing on the recovery equipment 3.

[0110]

[0109] For example, the aerial drone 80 will provide the position and the naval platform 1 will recalculate this position relative to itself and provide the aerial drone 80 with the difference between the position known by the aerial drone 80 and the correction sent by the

[0111] platform.

[0110] This allows the aerial drone 80 to be realigned to the correct landing position on the recovery equipment 3.

[0112]

[0111] We can thus speak of a recalibration system which uses for example a lidar 20, to avoid positioning errors at the time of the approach and landing of the aerial drone 80.

[0113]

[0112] The aerial drone 80 includes a hook 82 configured to hook the floating structure 5, in particular a bar 9 of the floating structure 5.

[0114]

[0113] The hook is on the hull 84 of the aerial drone 80.

[0115]

[0114] The hook 82 is retractable. Thus, when the aerial drone 80 is in flight, the hook 82 is retracted and this hook 82 is deployed during the recovery operation.

[0116]

[0115] The aerial drone 80 is configured to be able to float on the surface of the water, and has water tightness.

[0117]

[0116] According to one aspect of the invention, the aerial drone 80 is configured to be able to take off while on the surface of the water, in particular the aerial drone 80 has several propellers 85 configured to allow vertical takeoff and landing.

[0118]

[0117] In rough weather and / or rough seas (see figure 5), the procedure for recovering the aerial drone 80 on the naval platform 1 comprises the following steps:

[0119] land the aerial drone 80 on a recovery device 3 on the water's surface S, the recovery device 3 being linked to the naval platform 1, capture the aerial drone 80 with the recovery device 3,

[0120] once the aerial drone 80 has been captured by the recovery equipment 3, tow the aerial drone 80 aboard the naval platform 1.

[0121]

[0118] According to one aspect of the invention, the method of recovering the aerial drone 80 is done with a movement of the naval platform 1, this movement allowing the recovery equipment 3 to be deployed and stretched.

[0122]

[0119] Thus, the recovery operation is carried out while the naval platform 1 is moving on the surface of the water, for example at a speed of a few knots (for example, 2 or 3 knots). This also allows the aerial drone 80 to be aligned with the recovery equipment 3.

[0123]

[0120] In calm weather and calm sea, the aerial drone 80 can land directly on parking area 2, as illustrated in Figure 3, without having to deploy recovery equipment 3.

Claims

DEMANDS

1. A system (100) for recovering an aerial drone (80), said aerial drone (80) being capable of landing on the surface of water, said recovery system comprising: a naval platform (1), which is in particular a ship, this naval platform (1) comprising a parking area (2) for the aerial drone (80), a recovery device (3) which is deployable on the surface of the water and which is configured to capture the aerial drone (80) which lands on the surface of the water and tow it onto the naval platform (1), including in the parking area (2).

2. System according to the preceding claim, wherein the recovery equipment (3) comprises a floating structure (5) configured to capture the aerial drone (80), in particular by hooking between the floating structure (5) and the aerial drone (80).

3. System according to the preceding claim, wherein the floating structure (5) is windable / unwindable around a winch (4).

4. System according to any one of claims 2 and 3, wherein the floating structure (5) comprises bars (9), in particular made of rigid material, configured to be able to hook the aerial drone (80).

5. System according to the preceding claim, wherein the floating structure (5) has a ladder-like shape with rungs configured to be able to hook the aerial drone (80), and the rungs of the floating structure (5) join, at their ends, two uprights (10) which are in particular made of flexible cables, in particular at least some of the rungs have a curved shape or a pointed shape.

6. System according to any one of claims 2 to 5, wherein the floating structure (5) comprises one or more floating anchors (11) configured to ensure the tension of the floating structure (5), in particular during its unwinding.

7. System according to any one of the preceding claims, wherein the naval platform (1) includes a deployable loading ramp (14) configured to allow the aerial drone (80) to be hoisted onto the platform.

8. System according to any one of the preceding claims, wherein the naval platform (1) includes guidance elements (16) configured to guide the aerial drone (80) which is towed by the recovery equipment (3), to bring it and hold it in position in parking area (2).

9. System according to any one of the preceding claims, wherein the naval platform (1) includes a sensor, in particular a lidar (20), configured to locate the aerial drone (80) at the time of its approach to the naval platform (1).

10. System according to claim 2 and optionally according to any one of claims 3 to 9, wherein the aerial drone (80) comprises one or more hooks (82) configured to hook the floating structure (5), in particular a bar of the floating structure (5), the hook(s) being retractable.

11. A method for recovering an aerial drone (80) from a naval platform (1), the method comprising the following steps: land the aerial drone (80) on a recovery device (3) on the surface of the water, the recovery device (3) being linked to the naval platform (1), capture the aerial drone (80) with the recovery device (3), once the aerial drone (80) has been captured by the recovery equipment (3), tow the aerial drone (80) aboard the naval platform (1).

12. Method according to the preceding claim, wherein the method of recovering the aerial drone (80) is carried out with a displacement of the naval platform (1), this displacement enabling the deployment and tensioning of the recovery equipment (3).

Images