FR3097207A1 - AERIAL VECTOR RECOVERY SYSTEM - Google Patents

Abstract

Air vector recovery system System (1) for recovering an aerial vector (A), comprising: - at least one mobile platform (10) making it possible to move the recovery system (1) on a supporting structure (V), in particular a ship, - at least one ramp (30) for recovering the vector (A) carried by said at least one platform (10), the ramp (30) being movable in rotation on itself on the one hand around it a longitudinal axis and on the other hand around a transverse axis of the ramp (30), - at least one means (40) for capturing the vector (A) and for immobilizing it on the ramp (30) . Figure for the abstract: Fig. 2

Description

Air Vector Recovery System

The present invention relates to the recovery of an air vector, in particular without a pilot.

The use of unmanned air vehicles (UAVs) is expanding widely in the civilian and military fields. The problem of their recovery arises particularly when they are launched from ships or in the absence of tracks on the ground.

Many solutions have been proposed to provide a solution to this problem.

EP1233905B1 describes an aerial vector recovery system comprising a tethered parachute towed by a ship and whose cable connected to the parachute carries vector capture means.

EP2046644 discloses a recovery system comprising an articulated arm provided with a counterweight at one end and with a capture means at the other end, comprising a support frame for a cable on which a hook carried by the vector can come hang on.

EP2186728 discloses a recovery system comprising an articulated bracket on which a harpoon carried by the vector can hang. This application also describes a system comprising two telescopic arms carried by a turret and between which a net is stretched.

US2013/0082137A1 discloses a recovery system comprising an articulated crane and a rail held by the crane, supporting a hooking device with the vector. Such a system only allows an overall movement of the rail, without rotation of the latter around its axis, and moreover the relatively large cantilever length requires a relatively rigid and heavy structure.

Other recovery systems are disclosed in publications KR100941297, KR 10-2019-0003861, US 7,219,856, US 7,264,204 and US 8,028,952.

There remains a need to facilitate the recovery of aerial vectors in a reliable and easy-to-implement way, including in restrictive environments such as on ships.

The invention aims to meet this need and has as its object, according to a first of its aspects, a system for recovering an air vector, comprising:
- at least one mobile platform allowing the recovery system to be moved on a supporting structure, in particular a ship,
- at least one vector recovery ramp carried by said at least one platform, the ramp being in particular rotatable on itself on the one hand around a longitudinal axis and on the other hand around a transverse axis of the ramp,
- at least one means for capturing the vector and immobilizing it on the ramp.

The invention makes it possible to recover the vector with a minimal risk of damaging it, thanks to the mobility of the platform and of the recovery ramp, which can be oriented with the inclination best suited to the trajectory of arrival of the vector. The mobility of the ramp facilitates the compensation of the movements of the supporting structure, in particular of the swell in the case of a ship, and can make it possible to give the ramp the inclination best suited to receiving the vector.

The invention also allows rapid deployment of the system on the supporting structure, thanks to the mobility of the platform, and the ramp can also be used, if desired, for launching the vector.

By "air vector", we mean any type of aircraft, autonomous or remotely piloted, comprising a wing. It can be a UAV, for example with thermal or electric propulsion, by turbine or propeller engine, or without propulsion at the time of recovery, of the glider type. The vector can be without landing gear.

The vector recovery ramp can be connected below to said at least one platform. This keeps the top of the boom clear, and allows the boom to be used for vector launch, if needed. Supporting the ramp from below also allows it to be supported at its longitudinal ends, reducing or even avoiding cantilever lengths.

The means of vector capture and immobilization can be located on top of the recovery ramp. This can allow recovery by engagement of the nose of the vector, which can avoid the installation of specific hooks on the vector, and simplify the realization of the latter.

Preferably, the system comprises two mobile platforms carrying said ramp. This improves the stability of the system, and makes it possible to reduce the mechanical stresses linked to the existence of overhangs.

Preferably, the or each platform is connected to the ramp by at least one leg articulated at at least one of its ends on the platform or the ramp. Preferably, said at least one leg is articulated on the ramp according to a movable joint along the ramp. The joint may include a pivot link around an axis transverse to the ramp, which can slide along the latter, and a ball joint which provides the link between the pivot link and the leg. The presence of the ball joint makes it possible in particular to rotate the ramp on itself around its longitudinal axis, by varying the orientation given to the various support legs.

Advantageously, the system comprises at least two, better still three legs connecting each platform to the ramp, each of these legs being articulated at its two ends respectively on the platform and on the ramp.

Preferably, the or each leg is telescopic, preferably being composed of a telescopic cylinder, in particular a hydraulic, pneumatic or electric cylinder.

Such a configuration makes it easy to orient the ramp with the desired inclination, by varying the length of the legs, while also allowing the system to be folded up when not in use, in order to minimize its size. In particular, the or each leg can be folded down entirely along the ramp when the latter is in the low position, folded down against the platform or platforms. In this case, the vertical size of the system is reduced. The legs connected to one of the platforms can then cross those connected to the other platform.

The means for capturing the vector and for immobilizing the latter preferably comprises on the one hand a capture element, movable along the ramp and in which the vector can engage, and on the other hand a damper for slow down the movement of this element along the ramp, following the capture of the vector. This damper preferably opposes a force which is a function of a power greater than 1, for example the square or the cube, of the speed of movement of the capture element relative to the ramp. This can help minimize the length needed to brake the vector to a stop. The damper can dissipate energy by eddy currents, or be rheological or magnetorheological. This can make it possible to slow down the air vector with a force all the greater as its speed of arrival is high.

Preferably, the capture element comprises a movable frame relative to a guide carriage thereof in its movement along the ramp, the frame being advantageously articulated relative to the guide carriage, between a straightened capture position and a folded position. This can allow the frame to be retracted when using the ramp for launching the vector or to further reduce the vertical size of the system during storage. Articulated buttresses can be arranged on either side of the frame when the latter is in its position waiting for the vector. These buttresses strengthen the frame and reduce the risk of damage to it when the vector arrives.

The damper may have at least two sections having different respective damping coefficients. This can make it possible not to subject the vector to too strong a deceleration when it arrives on the ramp, liable to damage it, and thus to apply a braking force compatible with the mechanical resistance of the vector to immobilize it on the ramp. .

In the case where the damper is dissipated by eddy currents, and where the movement of the capture element is accompanied by the movement of a magnet along the ramp, the latter may thus comprise at least two successive portions having different electrical properties so as to have different damping coefficients. In particular, to achieve progressive braking, the quantity of electrically conductive material, in particular copper, swept by the flux of the magnet or magnets driven in displacement by the capture element can increase with the distance traveled by the capture element during of recovery.

The ramp preferably comprises a slide in which said capture element slides.

The system may comprise at least one shock-absorbing element such as an inflatable tube bordering the slide on one side, along which a wing of the vector can slide during its movement along the ramp, when the inflatable tube is in inflated configuration. Preferably, the system comprises two such inflatable tubes, arranged respectively on either side of the slide. This or these flanges can contribute to receiving the airfoil of the vector while minimizing the risk of damaging it. Keeping the ramp lower can facilitate the installation of such inflatable tubes.

The aforementioned slide can also serve as a guide for a vector launch catapult.

The or each platform may comprise at least one electromagnet making it possible to immobilize the platform on the support structure, when the latter is metallic, which is the case of a ship's bridge. Preferably, each platform comprises two electromagnets, arranged respectively on either side of it.

The or each platform may comprise wheels or caterpillars, allowing it to move on the supporting structure. These wheels or tracks make it possible in particular to give the platform the desired orientation.

The or each platform may include at least one sensor, in particular of the LIDAR (“Light or Laser Detection and Ranging”) type, allowing it to move autonomously on the supporting structure.

The recovery system can be configured to exchange with the aerial vector information relating to their respective positioning.

The recovery system can be configured to automatically steer the boom so that it is aligned with the arrival path of the air vector, allowing recovery of the vector on the boom.

This alignment can be achieved by a differential satellite positioning system (DGPS for “Differential Global Positioning System”). This can achieve centimeter alignment accuracy, as the air vector and boom share a common positioning error.

The recovery system, in particular the ramp, can comprise an antenna emitting a location signal which can be picked up by the aerial vector. The vector can follow the signal received, in particular its intensity and its phase, so as to position itself appropriately with respect to the recovery system, in particular the ramp. This can help provide autonomous guidance of the vector to the ramp, and ensure that the arrival path of the air vector is best aligned with the orientation of the ramp.

The aerial vector can also include a sensor, in particular electro-optical, allowing it to ensure its terminal guidance towards the ramp autonomously by a passive trajectography system (TMA for "Target Motion Analysis").

Another object of the invention, independently or in combination with the foregoing, is a system for recovering an aerial vector, comprising:
- at least one mobile platform allowing the recovery system to be moved on a supporting structure, in particular a ship,
- at least one vector recovery ramp carried by said at least one platform,
- at least one means for capturing the vector and immobilizing it on the ramp, comprising a vector capture element, in particular a frame, movable along the ramp, and a damper to slow down the movement of this element capture along the ramp following the capture of the vector, the damper dissipating energy by eddy currents.

Another object of the invention, independently or in combination with the foregoing, is a system for recovering an aerial vector, comprising:
- at least one mobile platform allowing the recovery system to be moved on a supporting structure, in particular a ship,
- at least one vector recovery ramp connected below to said at least one platform,
- at least one means for capturing the vector and for immobilizing it on top of the ramp.

The invention also relates to a method for recovering an aerial vector using a system according to the invention, as defined above, in which action is taken on the orientation of the ramp and on the position of the latter according to the arrival trajectory of the vector, which can be calculated if necessary in real time according to the position, the orientation and the speed of the vector, so as to recover the latter at the using the capture and immobilization means.

The system can be oriented relative to the supporting structure by acting not only on the length of the support legs but also on the position of the platform on the supporting structure.

The supporting structure can be a ship, and it is possible to compensate for the movements, in particular of pitching and rolling, of the ship, linked for example to the swell, by playing on the rotational movements of the ramp on itself around its longitudinal and/or transverse axis, in particular using the legs which connect it to the platforms.

The recovery system can also be configured to compensate for the translational movements of the vessel along the longitudinal and/or transverse axis of the latter.

The invention can be better understood on reading the following description, non-limiting examples of implementation thereof, and on examining the attached drawing, in which:

FIG. 1 represents a ship equipped with a recovery system according to the invention,

FIG. 2 represents in isolation the recovery system according to the invention,

FIG. 3 represents a part of the system in isolation, in a recovery configuration,

Figure 4 is a view similar to Figure 3 in an inactive configuration,

FIG. 5 illustrates the possibility of equipping the system with a vector launch catapult,

figure 6 represents the system being deployed,

FIG. 7 represents the system in the retracted configuration,

FIG. 8 illustrates the orientation of the ramp in alignment with the arrival trajectory of the vector during the capture phase,

Figure 9 illustrates vector recovery,

Figure 10 shows a detail of the ramp,

Figure 11 is a schematic front view of the recovery system, and

Figure 12 shows a schematic side view of the recovery system.

detailed description

There is illustrated in Figure 1 a ship V equipped with a system 1 according to the invention, for the recovery of an air vector, not shown in this figure.

The ship V constitutes a supporting structure and the system 1 is advantageously positioned on the metallic aft deck of the ship V for the recovery of the air vector, the invention however not being limited to a particular supporting structure.

The support structure 1 comprises, as can be seen in Figure 2, two mobile platforms 10, mounted on tracks 52, each supporting a set of three telescopic cylinders 20 constituting as many support legs of a ramp 30 for recovering the vector .

The ramp 30 comprises a central slide 31 and on either side of it inflatable tubes 32.

Each cylinder 20 is connected at its base by a hinge 21 to the corresponding platform 10. This articulation allows pivoting around a horizontal axis of rotation (when the system rests on a flat horizontal surface).

Each cylinder 20 is connected to the ramp 30, at the opposite end, by a hinge 22, movable longitudinally along the ramp, thanks to the presence of guide structures 51 under it.

The support of each cylinder 20 against the articulation 22 is carried out via a ball joint 60, as illustrated in Figures 11 and 12, which allows the boom 30 rotational movements around the ball joints 60.

The movement of the joints 22 on their respective guide structures 51 is controlled by electric, pneumatic or hydraulic actuators, as is the extension of the cylinders 20, which makes it possible to orient the longitudinal axis of the ramp 30 with the desired inclination around the pitch and roll axes, within the limit allowed by the movement of the cylinders.

The system 1 is equipped with sensors making it possible to know the position of the joints of the jacks and their length; these sensors are connected to a control circuit such as a computer equipped with the appropriate interfaces, in order to allow automatic positioning of the ramp 30 during a recovery phase, as will be detailed below.

The system 1 is also equipped with a transceiver 70 allowing it to communicate with the aerial vector, and in particular to allow the latter to orient itself automatically with respect to the system, in the event of an automated approach.

Furthermore, the caterpillars 52 of the platforms 10 are driven by any type of suitable motorization, for example electric.

The two platforms 10 are interconnected, in the example considered, by a beam 12 oriented longitudinally.

Each platform 10 comprises a set of electromagnets 13 allowing, when activated, to keep it fixed on the supporting structure, in a stable manner. These electromagnets 13 can first be lowered into contact with the supporting structure, then electrically powered, which locks them in position. When inactive, they can be raised, as shown.

If we refer to Figures 3 and 4, we see that the system 1 comprises a capture element 40 comprising a frame forming a loop 41, connected at its base to a support 42 moving with a carriage guided by an internal track 34 of the slide 31. This carriage carries one or more permanent magnets 33, as illustrated schematically in the longitudinal section of FIG. 10. The frame 41 of the capture element 40 is preferably coated with a shock-absorbing material.

The support 42 is articulated at its base so as to be able to fold back against the slide 31, as illustrated in figure 4.

Two buttresses 36 each having a curved edge 37 partially matching the contour of the frame 41 reinforce the latter at its base, when the latter is in a position awaiting the aerial vector, at the end of the slide, as illustrated in figure 3.

Each of these buttresses 36 is articulated on the slide 31, so as to be able to fall back against the latter as illustrated in FIG. 4, and not to hinder the progress of the vector on the ramp during its recovery.

The ramp 30 can be used not only for the recovery of the vector but also for its launch, and can be equipped for this purpose with a catapult, of which we see in FIG. 5 the element 38 intended to propel the vector. The catapult may include an elastic element which is stretched, for example using a winch, then suddenly released to launch the vector.

Alternatively, the catapult is pneumatic. For example, the launch of the vector is carried out using compressed air from a compressor.

The ramp 30 can be lowered against the platforms 10 and the beam 12 by crossing the cylinders 20, as illustrated in Figures 6 and 7, the cylinders 20 carried by a platform being offset laterally with respect to the cylinders of the other platform.

The slide 31 has electrical conduction properties, such that the movement of the magnet 43 produces, due to the eddy currents induced in the slide, a force opposing the movement of the magnet, thereby slowing down its progress along the slide.

Slide 31 comprises several sections having different electrical properties, so as to provide progressive braking of the vector.

Thus, the slide 31 comprises for example three successive sections having copper proportions which increase going from the arrival end of the vector towards the opposite end.

The first section comprises for example 1/3 of the maximum quantity of copper, for example 2/3 of insulating material and 1/3 of copper, the second 2/3, for example 1/3 of insulating material and 2/3 of copper, and the last is for example solid copper. Thus, the forces which oppose the advancement of the magnet 43, for the same speed of movement of the latter, are less for the first section than for the last.

For the recovery of an A-vector, as illustrated in Figures 8 and 9, the trajectory of the A-vector is precisely tracked, for example by a differential satellite positioning system. Knowing the arrival kinematics of the vector makes it possible to calculate the best positioning of the ramp to receive it. Vector A can be guided by system 1 to bring its nose into capture element 40, as shown.

The jacks 20 can be actuated during this operation to compensate for the movements of the ship V.

The inflatable tubes 32 are inflated and allow, by protruding upwards from the slide 31, to serve as support for the wings of the vector and to prevent it from tipping to one side of the slide.

Once the nose of the vector A engaged in the capture element 40, the latter is driven in displacement along the slide 31 by the inertia of the vector A and subjected to a braking action linked to the phenomena of induction between the magnet 43 and the conductive parts of slide 31.

The buttresses 36 prevent damage to the frame in contact with the vector A and fold down when the wing of the latter passes.

The system can also be used for launching the vector A, thanks to the catapult.

Of course, the invention is not limited to the example which has just been described. In particular, the braking of the vector can be carried out differently, for example with fluid damping.

Claims (20)

System (1) for recovering an air vector (A), comprising:
- at least one mobile platform (10) allowing the recovery system (1) to be moved on a supporting structure (V), in particular a ship,
- at least one ramp (30) for recovering the vector (A) carried by said at least one platform (10), the ramp (30) being rotatable on itself on the one hand around a longitudinal axis and on the other hand around a transverse axis of the ramp (30),
- At least one capture means (40) of the vector (A) and immobilization thereof on the ramp (30). System according to claim 1, comprising two mobile platforms (10) carrying said ramp (30). System according to one of Claims 1 and 2, the or each platform being connected to the ramp by at least one leg (20) articulated at at least one of its ends on the platform or the ramp. System according to claim 3, said at least one leg (20) being articulated to the ramp (30) according to an articulation movable along the ramp. System according to any one of the preceding claims, comprising at least two, better still three legs (20) connecting each platform (10) to the ramp (30), each of these legs being articulated at its two ends respectively on the platform and on the ramp. System according to any one of claims 3 to 5, the or each leg (20) being telescopic, preferably being composed of a telescopic cylinder. System according to any one of Claims 3 to 6, the or each leg (20) being foldable entirely along the ramp when the latter is in the low position, folded against the platform or platforms (10). System according to any one of the preceding claims, the means for capturing the vector and for immobilizing the latter comprising a capture element (40), in particular a frame (41), movable along the ramp and in which the vector can engage, and a damper to brake the movement of this element along the ramp following the capture of the vector. System according to claim 8, the frame (41) being movable relative to a guide carriage thereof in its movement along the ramp, the frame being preferably articulated relative to the guide carriage, between a raised position of capture and a folded position. System according to one of Claims 8 and 9, the damper dissipating energy by eddy currents. System according to any one of claims 8 to 10, the damper having at least two sections having different damping coefficients. System according to claims 10 and 11, the ramp comprising at least two successive portions having different conductivities, so as to have different respective damping coefficients. System according to any one of Claims 9 to 12, the ramp comprising a slide (31) in which the said capture element (40) slides. System according to claim 13, comprising at least one shock-absorbing element such as an inflatable tube (32) bordering the slider (31) on one side, along which a wing of the vector can slide during its movement along the ramp, when the inflatable tube is in the inflated configuration, better still two such inflatable tubes, arranged respectively on either side of the slide. System according to one of Claims 13 and 14, the slide (31) serving as a guide for a vector launching catapult. System according to any one of the preceding claims, the or each platform (10) comprising at least one electromagnet (13) making it possible to immobilize the platform (10) on the supporting structure, the latter being metallic. A system according to any preceding claim, the or each platform (10) including wheels or tracks (52). Method for recovering an air vector (A) using a system (1) as defined in any one of the preceding claims, in which action is taken on the orientation of the ramp (30) and on the position of the latter according to an arrival trajectory of the vector (A), so as to recover the latter using the capture and immobilization means. Method according to claim 18, in which the system (1) is oriented relative to the support structure (V) by acting on the position of the or each platform (10) on the support structure. Method according to one of Claims 18 and 19, the supporting structure being a ship (V), method in which the movements of the ship are compensated by acting on the rotational movements of the ramp on itself around its longitudinal axis and /or transverse.