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DE-102024133227-A1 - Unmanned aerial vehicle with effector

DE102024133227A1DE 102024133227 A1DE102024133227 A1DE 102024133227A1DE-102024133227-A1

Abstract

The invention relates to an unmanned aerial vehicle with a frame for supporting an effector, which is mounted on the frame so as to be tiltable about a tilting axis horizontal in the hovering position of the aircraft, and whose effector axis is perpendicular to the tilting axis such that the tilting axis and the effector axis pass at least approximately through the center of gravity of the aircraft. According to the invention, it is proposed that the effector is additionally pivotable about a vertical pivoting axis that also passes at least approximately through the center of gravity of the aircraft.

Inventors

  • Tobias de Taillez
  • Patrick Oetken
  • Sebastian Felix Meyer
  • Raphael Boomgaarden
  • Tido Jan Wienbeuker
  • Martin Klewer

Assignees

  • WARGdrones GmbH

Dates

Publication Date
20260513
Application Date
20241113

Claims (13)

  1. Unmanned aircraft with a frame (11) for carrying an effector (20) which is tiltable about a tilting axis (Z) horizontal in the hovering position of the aircraft (10) and whose effector axis (X) runs perpendicular to the tilting axis (Z) such that the tilting axis (Z) and the effector axis (X) pass at least approximately through the center of gravity (22) of the aircraft (10), characterized in that the effector (20) is additionally pivotable about a vertical pivoting axis (Y) which passes at least approximately through the center of gravity (22) of the aircraft.
  2. Unmanned aircraft with a frame (11) for supporting an effector (20) having a center of gravity, which is mounted on the frame (11) so as to be tiltable about a tilting axis (Z) horizontal in the hovering position of the aircraft (10) and whose effector axis (X) is perpendicular to the tilting axis (Z), characterized in that the effector (20) is additionally pivotable about a vertical pivoting axis (Y), that the tilting axis (Z) and the pivoting axis (Y) intersect at least approximately at the center of gravity (22) of the aircraft (10), and that the center of gravity of the effector (20) coincides at least approximately with the center of gravity (22) of the aircraft (10) in the mounted operating position.
  3. aircraft after Claim 2 , characterized in that the distance of the center of gravity of the effector to the center of gravity (22) of the aircraft (10) is at most 10 mm to 20 mm.
  4. aircraft after one of the Claims 1 until 3 , characterized in that the distance between the tilting axis (Z) and the center of gravity (22) of the aircraft (10) is at most 10 mm to 20 mm.
  5. aircraft after one of the Claims 1 until 4 , characterized in that the distance between the pivot axis (Y) and the center of gravity (22) of the aircraft (10) is at most 10 mm to 20 mm.
  6. aircraft after one of the Claims 1 until 5 , characterized in that the effector (21) has a straight barrel (21) for the ammunition and that the effector axis (X) runs along the longitudinal axis of the barrel (21).
  7. aircraft after one of the Claims 1 until 6 , characterized in that the swivel angle starting from a central position of the effector (20) is between -15° and +15°.
  8. aircraft after one of the Claims 1 until 7 , characterized in that the tilt angle starting from the horizontal position of the effector (20) is between +45° upwards and -90° downwards.
  9. aircraft after one of the Claims 1 until 8 , characterized in that the projectile energy of the effector (20) is at least 8,000 J.
  10. aircraft after one of the Claims 1 until 9 , characterized in that the effector (20) is mounted on the frame (11) via a bracket (24) and that a damper (29) is provided between the effector (20) and the bracket (24).
  11. aircraft after Claim 10 , characterized in that the damper (29) acts in the extension of the longitudinal axis of the barrel (21).
  12. aircraft after Claim 10 or 11 , characterized in that the center of gravity of the effector (22) with bracket (24) or of the effector (20) with bracket (24) and damper (29) in the operating position coincides at least approximately with the center of gravity (22) of the aircraft (10) or is spaced at most 10 mm to 20 mm apart.
  13. aircraft after one of the Claims 1 until 12 , characterized in that at least one camera is provided on the frame (11) or on the bracket (22) or on the effector (20) or on a holding block (27) supporting it, the recording direction of which is aligned in the direction of the effector axis.

Description

The invention relates to an unmanned aerial vehicle with a frame for supporting an effector, which is mounted on the frame so as to be tiltable about a horizontal tilting axis in the horizontal hovering position of the aircraft and additionally pivotable about a vertical tilting axis. The effector axis runs perpendicular to the tilting axes, with the tilting axis and the pivoting axis intersecting at, or at least approximately at, the center of gravity of the aircraft. These flying devices are also known as drones or UAVs (unmanned aerial vehicles) and are used in a wide variety of fields. Multicopter drones, which have several horizontally arranged rotors, are particularly well-known. Drones with four, six, or eight rotors are common. These are called quadcopters, hexacopters, and octocopters, respectively. Control is achieved through the individual rotors. Due to the horizontal orientation of the rotors, whose blades rotate around a vertical axis, these drones are relatively maneuverable and can even hover in the air. Drones are used for a variety of purposes, including transporting objects. They can also be equipped with cameras to take aerial photographs. Furthermore, drones can be armed with weapons or explosives. Another application is the disposal of unknown explosive and incendiary devices. Because drones are unmanned, they can be used without hesitation in combat zones, over minefields, or for the destruction of live explosives. In destructive ordnance disposal, so-called effectors are used. These fire a high-energy projectile at the electronic or mechanical detonator of an explosive device to destroy the detonator and/or isolate it from the explosive. Such effectors are also known as disruptors and are offered, for example, by Proparms Ltd., Canada. An effector or disruptor typically consists of an elongated barrel from which the projectile is fired at the target with high energy using a propellant charge. Individual ordnance items can be effectively neutralized with such an effector or disruptor. The effector axis is the longitudinal axis of the barrel and thus runs in the direction of fire. The center of gravity of such disruptors is located on the barrel axis. However, the center of gravity can be shifted by lateral attachments. One problem, however, is that a disruptor is typically only equipped with a single shot. If it misses, the disruptor would have to be reloaded, transported back to the target location, and flown again. This is extremely time-consuming. Therefore, precise alignment of the disruptor with the target is essential. Furthermore, it is crucial to verify that the target, such as an explosive device, has actually been hit and destroyed. This is problematic because the location of the ordnance to be destroyed may not be easily visible or observable from a distance. A drone trained as a multicopter is generally highly maneuverable, allowing the effector to be positioned within firing range of the target or weapon to be eliminated. However, a successful shot also requires very precise aiming of the effector. This demands considerable skill in aligning the drone and, consequently, the effector. Furthermore, keeping the drone hovering and aiming accurately before firing the effector can be challenging, especially in adverse weather conditions. Due to the recoil generated by a disruptor upon activation, it exerts an immediate force on the drone, accelerating it from its hovering state and causing it to move away, as there is no fixed restraint. After the disruptor is activated, the drone, and therefore the effector, is no longer precisely aligned with the target. With only one shot from the disruptor, this isn't a major problem for that single shot. However, the hit and the destruction of the target cannot be immediately verified, as a camera mounted on the drone, which was previously facing the target, is no longer aligned. The drone must therefore be moved back to check the destruction. This involves additional time. To reduce the effects of recoil, the US 11,981,459 B2 An unmanned aerial vehicle of the type described above is known. The aircraft is driven by four horizontal rotors. A firearm is mounted on the aircraft's frame, gimbal-mounted and capable of tilting vertically around a horizontal axis. The tilt angle ranges from +45° upwards to -90° downwards. All other movements of the firearm are performed by the aircraft itself. The weapon's axis, i.e., the longitudinal axis of the barrel, passes through the aircraft's center of gravity. The recoil then affects the overall... The direction of the aircraft is not affected, but only results in a translational movement. In the previously known embodiment, the firearm is designed as a rapid-fire weapon with multiple rounds of ammunition. Therefore, high accuracy, as required with only one shot, is not necessary. Furthermore, precise hovering of the drone above the target is required for aiming the firearm, since the weapon can only be