Classifications

• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B64—AIRCRAFT; AVIATION; COSMONAUTICS
  • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
  • B64F1/00—Ground or aircraft-carrier-deck installations
  • B64F1/12—Ground or aircraft-carrier-deck installations for anchoring aircraft
  • B64F1/125—Mooring or ground handling devices for helicopters
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B64—AIRCRAFT; AVIATION; COSMONAUTICS
  • B64C—AEROPLANES; HELICOPTERS
  • B64C25/00—Alighting gear
  • B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface 
  • B64C25/52—Skis or runners
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B64—AIRCRAFT; AVIATION; COSMONAUTICS
  • B64C—AEROPLANES; HELICOPTERS
  • B64C25/00—Alighting gear
  • B64C25/68—Arrester hooks
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B64—AIRCRAFT; AVIATION; COSMONAUTICS
  • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
  • B64U10/00—Type of UAV
  • B64U10/10—Rotorcrafts
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B64—AIRCRAFT; AVIATION; COSMONAUTICS
  • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
  • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
  • B64U30/20—Rotors; Rotor supports
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B64—AIRCRAFT; AVIATION; COSMONAUTICS
  • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
  • B64U70/00—Launching, take-off or landing arrangements
  • B64U70/80—Vertical take-off or landing, e.g. using rockets
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B64—AIRCRAFT; AVIATION; COSMONAUTICS
  • B64C—AEROPLANES; HELICOPTERS
  • B64C25/00—Alighting gear
  • B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface 
  • B64C2025/325—Alighting gear characterised by elements which contact the ground or similar surface  specially adapted for helicopters

Definitions

• the present invention relates to an automatic mobile surface fixing system for aerial take-off and vertical landing vehicles, which is part of the technical field of aeronautics and, more specifically, belongs to the sector of devices related to the train of landing.
• an aerial vehicle such as a helicopter or a gyro
• a moving surface in the case of a ship's deck, a land vehicle or an aerial vehicle that is in motion, or a floating platform in a rough sea , it requires a system that limits the sliding of the aerial vehicle on the moving surface that could cause a serious accident and even the loss of the aerial vehicle.
• This need is greater as the air vehicle is lighter, being more affected by surface movement and wind. This is especially relevant in the particular case of unmanned aerial vehicles (UAV: "Unmanned Aerial Vehicles”) of vertical take-off and landing.
• UAV unmanned aerial vehicles
• the airborne landing gear surfaces, as well as the landing base surfaces, are provided with a suitable non-slip finish.
• a cable or rope that connects the aerial vehicle with the moving surface and is pulled from one of its ends to assist in the approach phase and fix to the moving surface once the air vehicle has established contact with the moving surface.
• Patent document GB-1533714 A describes a helicopter with landing skids comprising suction means arranged in said landing skids, connected to a vacuum generating unit incorporated in the helicopter, and whose suction means can be moved so relative from an operative position to a non-operative one by means of a mechanism that can be operated from inside the helicopter by the pilot in immediate take-off situation. It is a manual drive that is activated by the pilot's action.
• the GB-1533714 A device allows the fixation and separation of the helicopter with respect to moving surfaces, its configuration is very basic, which makes its reliability and safety not entirely satisfactory.
• the weight of the system must be a reduced fraction of the payload or dead weight of the vehicle.
• the object of the present invention is to provide an automatic mobile surface fixing system for vertical take-off and land landing aerial vehicles simultaneously presenting the qualities indicated above.
• the invention provides an automatic mobile surface fixing system for aerial take-off and vertical landing vehicles comprising
• a load sensor (or a contact mechanism or a strain gauge), located on the air vehicle, and - a programmable logic controller (PLC), connected to the altimeter, the proximity sensor, the load sensor (or the contact mechanism or the strain gauge), the actuating solenoid valve and the vacuum generating means.
• PLC programmable logic controller
• the invention also provides a take-off procedure for aerial take-off and vertical landing vehicles, comprising the following phases:
• the pressure sensor detects a pressure value above the minimum operating pressure.
• the actuating solenoid valve is in the closed position.
• the load sensor (or the contact mechanism or the strain gauge) sends a signal to the programmable logic controller corresponding to the take-off weight, which is stored in the controller as a reference value.
• the programmable logic controller sends an electrical signal to the actuating solenoid valve so that it opens
• the vacuum pump sucks the air from the suction means through the main pneumatic circuit, whereby the suction means adheres the aerial vehicle to the surface
• the rotor of the aerial vehicle begins to rotate, the blades acquire a certain step and lift is generated.
• the programmable logic controller detects, by the signal received from the load sensor (or from the contact mechanism or from the strain gauge), a value of the supported weight less than a certain fraction of the value reference
• the programmable logic controller sends a first electrical signal that closes the solenoid valve and a second electrical signal that opens the solenoid valve, whereby the compressed air is blown through the pneumatic circuit of blowing in the suction means, of so that these stop exerting suction on the surface and the aerial vehicle begins to take off,
• the proximity sensor detects that the air vehicle is at a distance from the surface that is greater than a reference distance, and sends the signal to the programmable logic controller
• the programmable logic controller sends an electrical signal that closes the solenoid valve, leaving the system inactive.
• the invention also provides a landing procedure for aerial take-off and vertical landing vehicles, comprising the following phases:
• the altimeter detects that the height at which the air vehicle is is less than a certain height and sends the signal to the programmable logic controller
• the programmable logic controller activates the proximity sensor.
• the proximity sensor receives a signal of proximity to the landing surface equivalent to a distance less than a reference value.
• the programmable logic controller opens the solenoid valve, so that the vacuum pump sucks the air in the suction means through the main pneumatic circuit, generating suction in it.
• the landing gear of the aerial vehicle makes contact with the landing surface and, simultaneously, the suction force in the suction means adheres the aerial vehicle to the landing surface.
• the vacuum pump automatically maintains the vacuum level, activating or not depending on whether the vacuum is maintained or lowered below a certain working value.
• the programmable logic controller sends a first electrical signal that closes the solenoid valve and a second electrical signal that opens the solenoid valve
• Figure 1 shows a longitudinal section of an aerial vertical take-off and landing vehicle with a first embodiment of the automatic mobile surface fixing system.
• Figure 2 shows a simplified perspective view of Figure 1, with the first embodiment of the automatic mobile surface fixing system.
• Figure 3 shows a longitudinal section of an aerial vertical take-off and landing vehicle with a second embodiment of the automatic mobile surface fixing system.
• Figure 4 shows a simplified perspective view of an aerial take-off and vertical landing vehicle with an alternative landing gear.
• the automatic mobile surface fixing system for aerial take-off and vertical landing vehicles 1 of this first embodiment (figures 1 and 2) comprises as main elements:
• a load sensor 14 (or a contact mechanism or a strain gauge) located on the air vehicle 1, and
• PLC programmable logic controller
• the vacuum generating means in this first embodiment of the invention comprises a reservoir 4 of compressed air (or other pressurized gas) and a vacuum pump 7 operating by Venturi effect, located in the main pneumatic circuit 1 1, so that the actuating solenoid valve 6 allows the passage of air to the vacuum pump 7.
• the system of the first embodiment additionally comprises a pneumatic blow circuit 13 with a blow solenoid valve 12, located after the reservoir 4 or the compressor, and which is connected to the suction means 3.
• the vacuum can also be obtained by a compressor instead of the compressed air reservoir 4 (or other gas under pressure).
• a preferred embodiment of the invention also comprises:
• PLC programmable logic controller
• the system additionally comprises an alarm means (not shown in the figures) outside the air vehicle 1, the alarm means being activated by the programmable logic controller (PLC) 9 upon detecting the pressure sensor 15 a value below the operating minimum.
• PLC programmable logic controller
• a second embodiment of the invention is schematically depicted in Figure 3, in which the reservoir 4 of compressed air (or other gas under pressure) or the compressor and the assembly formed by the pressure reducer 5 and the pressure regulator 5 ' they have been replaced by an autonomous vacuum pump 18, whereby this embodiment lacks a Venturi effect vacuum pump and suction solenoid valve.
• the autonomous vacuum pump 18 can be electric, mechanical or hydraulic.
• the embodiment of Figure 3 also shows a relief solenoid valve 20 and a pipe 21 open to the outside.
• the proximity sensor 10 used in both embodiments of the invention can be ultrasound, infrared, laser or electromagnetic, or a contact switch on the basis of the landing gear 2.
• the load sensor 14 (or, failing that, the contact mechanism or the strain gauge) of the embodiments of the invention can be found:
• said load sensor 14 is on an arm 19 that supports a skate 16.
• said load sensor 14 may be fiber optic.
• suction means 3 located on the lower part of the landing gear 2 are windy.
• FIG 4 a simplified perspective view of a vertical take-off and landing aerial vehicle 1 with an alternative landing gear 2 to that of the previous figures is observed, since it lacks skates and the aerial vehicle 1 rests directly on the means of suction 3 (suction cups, in said figure) in tripod configuration.
• Pressure sensor 15 detects a pressure value above the minimum operating pressure.
• the load sensor 14 (or the contact mechanism or the strain gauge) sends a signal to the programmable logic controller 9 corresponding to the takeoff weight, which is stored in the controller 9 as a reference value.
• the programmable logic controller 9 sends an electrical signal to the actuating solenoid valve 6 so that it opens
• the vacuum pump 7 When the actuating solenoid valve 6, the vacuum pump 7 is opened sucks the air from the suction means 3 through the main pneumatic circuit 1 1, whereby the suction means 3 adheres the air vehicle 1 to the surface
• the rotor of the aerial vehicle 1 begins to rotate, the blades 17 acquire a certain step and lift is generated.
• the programmable logic controller 9 detects, by the signal received from the load sensor 14 (or the contact mechanism or the strain gauge), a supported weight value less than a certain fraction of the reference value
• the programmable logic controller 9 sends a first electrical signal that closes the solenoid valve 6 and a second electrical signal that opens the solenoid valve 12, whereby the compressed air is blown through the pneumatic blowing circuit 13 in the suction means 3, so that they cease to exert suction on the surface and the aerial vehicle 1 begins to take off.
• the proximity sensor 10 detects that the aerial vehicle 1 is at a distance from the surface that is greater than a reference distance, and sends the signal to the programmable logic controller 9
• the programmable logic controller 9 sends an electrical signal that closes the solenoid valve 12, leaving the system inactive.
• the take-off procedure for aerial take-off and vertical landing vehicles 1 may have the following differences:
• the start-up of the system is carried out by means of a radiofrequency or infrared signal emitted from the ground, instead of the signal from the load sensor 14 (or the contact mechanism or the strain gauge),
• the system is stopped by means of a radiofrequency or infrared signal emitted from the ground, instead of the sensor signal of proximity 10.
• the altimeter 8 detects that the height at which the air vehicle is located is less than a certain height and sends the signal to the programmable logic controller 9
• the programmable logic controller 9 activates the proximity sensor 10.
• the proximity sensor 10 receives a signal of proximity to the landing surface equivalent to a distance less than a reference value.
• the programmable logic controller 9 opens the solenoid valve 6, whereby the vacuum pump 7 sucks the air in the suction means 3 through the main pneumatic circuit 1 1, generating suction therein,
• the landing gear 2 of the aerial vehicle 1 makes contact with the landing surface and, simultaneously, the suction force in the suction means 3 adheres the aerial vehicle 1 to the landing surface.
• the vacuum pump 7 automatically maintains the vacuum level, activating or not depending on whether the vacuum is maintained or lowered below a certain working value.
• the programmable logic controller 9 sends a first electrical signal that closes the solenoid valve 6 and a second signal electric opening solenoid valve 12,
• the take-off procedure for aerial take-off and vertical landing vehicles 1 may present the following difference:
• the system is started up by means of a radiofrequency or infrared signal emitted from the ground, instead of the proximity sensor signal 10.
• the invention is based on an automatic system for fixing the vertical take-off and landing air vehicle 1 based on the action of suction means 3 (preferably, suction cups) located on the landing gear 2.
• suction means 3 preferably, suction cups located on the landing gear 2.
• the suction action of the suction means 3 is obtained by means of the relative vacuum produced inside said suction means 3 with the help of a vacuum pump 7 that operates with gas under pressure by means of Venturi effect or by means of an autonomous vacuum pump 18 of electric drive, mechanical or hydraulic
• the start-up and stop are carried out automatically with the help of a load sensor 14, contact mechanism or a strain gauge, and a sensitive proximity device 10, which can be ultrasound, infrared, laser or magnetic It can also be done by associating the suction action with parameters related to the power delivered by the engine or engines of the aerial vehicle 1 or the speed of rotation and pitch of the blades 17 in the case of rotary wing vehicles.
• a load sensor 14 contact mechanism or a strain gauge
• a sensitive proximity device 10 which can be ultrasound, infrared, laser or magnetic
• the system start and stop signals may be made by means of a radio or infrared signal sent from the ground.
• the system may additionally comprise a manual connection to the programmable logic controller (PLC) 9 from the pilot station of the aerial vehicle 1.
• PLC programmable logic controller
• the start-up of the system would be carried out by means of a signal emitted from the pilot station, instead of the signal from the load sensor 14 (or the contact mechanism or the strain gauge).
• the system shutdown would be carried out by means of a signal emitted from the pilot station, instead of the proximity sensor signal 10.
• the start-up of the system would be carried out by means of a signal emitted from the pilot station, instead of the proximity sensor signal 10.
• the invention will be of special application to unmanned aerial vehicles 1, especially unmanned helicopters, although it could also be used in other types of unmanned vertical landing vehicles, which is the case of quadropters.

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• Engineering & Computer Science (AREA)
• Aviation & Aerospace Engineering (AREA)
• Mechanical Engineering (AREA)
• Remote Sensing (AREA)
• Forklifts And Lifting Vehicles (AREA)
• Cleaning In General (AREA)
• Sewage (AREA)

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Cited By (4)

Citations (6)

• 2012
  • 2012-03-07 WO PCT/ES2012/070149 patent/WO2013132114A1/fr not_active Ceased
  • 2012-03-07 ES ES201490099A patent/ES2533199B1/es active Active

Patent Citations (6)

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