RU2751212C1 - Method for controlling position of free end of flexible connection fixed on aircraft with external object in surrounding space and complex for its implementation - Google Patents

Abstract

FIELD: aviation.SUBSTANCE: invention relates to aviation. The method for controlling the position of the free end (5) of the flexible connection (3) fixed on the aircraft (1) with an external target object (7) in the surrounding space, in particular on the Earth’s surface (8), is characterized by the fact that a flexible connection (3) fixed at one end is released from the main aircraft (1) by means of a winch (4) and, controlling, by means of a gravitational field and a set of technical means, including means of maneuvering the main aircraft (1), the position in space of the other, free end (5) of the flexible connection (3), it is combined with the object (7) of the relationship LA (1 and 2). Control of the position in space of the free end (5) of the flexible connection (3) is additionally carried out by means of controlled maneuvering of the auxiliary aircraft (2), having previously connected the latter (2) with the flexible connection (3) at its free end (5). By maneuvering the auxiliary aircraft (2), the free end (5) of the flexible connection (3) is, if necessary, deflected from the vertical position of the static equilibrium of the latter in the general case along three Cartesian coordinate axes.EFFECT: expansion of the tactical and technical capabilities of technological operations and the technical means used in this process is achieved.5 cl, 2 dwg

Description

The group of inventions relates to aviation, specifically to methods and devices for implementing technological flexible interconnection (docking, precise guidance of the free end of a flexible connection - a rope ladder, a winch cable, a fuel or water hose, etc.) of an aircraft (aircraft - a helicopter, as a rule, with a crew, an airship, etc.) with another object (a person, a structure or its element, a payload, a source of liquid fuel, a local accumulation of oil in a reservoir, a local fire, etc.) in order to rescue with non-stop evacuation , refueling an aircraft or the aforementioned object, fighting the elements, etc.

There are known methods of controlling the position of the free end of a flexible connection fixed on an aircraft with an external object in the surrounding space, and complexes of technical means for their implementation, including an aircraft (helicopter) and on-board equipment - flexible communication and a winch for releasing said flexible communication from the aircraft, while the free end of the flexible connection is aligned with the coordinates X, Y, Z of the object of the relationship, manipulating the position in space of the aircraft and the length of the released part of the flexible connection [1. RU 2545684 C1, IPC B64D 1/22, 10.04.2015 "Rescue device on the external sling of a helicopter"; 2. RU 2558355 C1, IPC А62В 1/00, B64D 1/14, F16F 7/09, 10.08.2015 "Device for rescuing people in case of fires"; 3. RU 90686 U1, IPC А62В 1/02, B64D 47/00, 20.01.2010 "Device for evacuating people from high-rise buildings using a helicopter"; 4. RU 1665630 C1, IPC В63С 9/01, 03/27/1995 "Device for lifting people and goods from the surface of water and land on board a helicopter"; 5. RU 2288760 С2, IPC А62С 3/00, 10/12/2006 "Method of extinguishing fires in high-rise buildings using a helicopter"; 6. RU 42218 U1, IPC B64D 1/10, А62С 31/00, 27.11.2004 "Fire extinguishing system for high-rise buildings"; 7. RU 2723352 C1, IPC F41H 13/00, F41H 7/03, B64D 1/22, 10.06.2020 "Object of armored vehicles with a capsule for the crew evacuated by a helicopter"; 8. RU 2729527 C1, IPC B64D 1/22, 07.08.2020 "Method of forcing a section of terrain with a low bearing capacity by a ground vehicle with an escort helicopter"].

However, control with the help of gravity is passive and very limited, and control by adjusting the position of the aircraft itself in space gives a significant guidance error, highly depends on the height of the aircraft (the length of the released part of the flexible connection), wind speed, it is far from always possible in a specific arrangement of physical bodies and requires a lot of fuel consumption and essentially depends on the experience of the aircraft control by the crew.

There is also a problem of vibrations of a suspended load on a flexible connection in the dynamics of motion (see the description and criticism of the prototype below in the text).

Some sources of information contain information about an additional tool for controlling the position of the free end of the flexible connection - a device for turning (correcting) the azimuth of the object (payload) already attached to the end of the flexible connection [9. RU 2209745 C2, IPC B64D 1/22, B64D 9/00, 10.04.2003 "Device for azimuthal orientation and cargo fixation on the external sling of the aircraft"; 10. RU 109739 U1, IPC B64D 9/00, 27.10.2011 "Device for mounting cargo by helicopter"; 11. RU 2307049 C1, IPC B64D 1/22, 27.09.2007 "Device for azimuthal orientation and stabilization of the load on the external sling of the aircraft"].

However, control in altitude Z and azimuth in many cases is clearly insufficient, especially in unfavorable weather conditions and the relative position of the aircraft and the object (s), the relationship with the free end of the flexible communication in the control ("guidance") process.

There are also known complexes for the delivery of payloads with a small-sized unmanned aerial vehicle (UAV) - "drone", as a cargo aircraft [12. RU 2672505 C1, IPC В63С 11/46, В63В 21/00, B63G 8/16, G05D 1/00, 11/15/2018 "Automatic control system for a diver escort drone"; 13. RU 2646689 C1, IPC В64С 39/02, G06Q 10/08, 06.03.2018 "Container delivery system using a drone"].

UAVs are often equipped with a video surveillance system, but surveillance systems from a cargo helicopter are also known [14. RU 2015075 C1, IPC B64D 3/00, 30.06.1994 "The system for monitoring the position of the cargo suspended from a flexible connection to the helicopter during assembly work"].

Very close to the claimed group of inventions is a method for controlling the position of the free end of a flexible connection fixed on an aircraft with an external object in the surrounding space, in which a flexible connection fixed at one end is released from the controlled main aircraft and, controlling, by means of a gravitational field and a set of technical means, including the means of maneuvering the main aircraft, the position in space of the other, free end of the flexible connection, combine it with the object of interconnection [15. RU 195445 U1, IPC В66С 13/06, В66С 13/46, В66С 23/58, B64D 1/00, 28.01.2020: see also 16.WO 2019/156782 dated 15.08.2019].

It patented a device for a slightly different purpose - ensuring the stability of the load on an external sling, but close to the declared one in terms of design features. The mentioned suspension is a flexible rope ladder or rope, one end of which is fixed in the helicopter, and the free end is lowered down under the action of the gravitational field and a winch. The ladder is used for non-stop evacuation of people (see [15, Fig. 1, where the evacuees caught on the free end of the ladder]). Under the conditions of the dynamic effects of the helicopter itself and external environmental factors, the end of the flexible connection with the "payload" (evacuated people) swings like a "pendulum". To eliminate this harmful phenomenon, a specialized device for stabilization of the free end of the flexible connection is fixed on the flexible connection at its free end - the “load stability device (UCC). The UUG is made in the form of a block with four multidirectional spaced fans connected to the control system and the power supply source. In this case, the axes of all four fans are oriented exclusively horizontally with the vertical position of the flexible connection, and at any amplitude of oscillations of the flexible connection with the UUG, the axes of the fans remain perpendicular to the flexible connection line. The controlled operation of the fans returns the flexible coupling to the vertical position of "static equilibrium" in addition to the stabilizing action of the gravitational field. This is the stabilization of the vertical position of the flexible link.

However, successfully solving the problem of combating dynamic deviations from the given coordinates of the free end of the flexible connection, the problem of stabilizing its vertical position, such a device and the method it implements for controlling the end of the flexible connection is not applicable at all or is sometimes applicable and in a very narrow range of corrective displacements of the free end in three-dimensional space, for the purpose of "precise guidance" (in addition to the primary "rough guidance" by the helicopter itself) of the free end of the flexible connection to the specified coordinates X, Y, Z - for alignment with the coordinates of the interconnection object (the same person to be evacuated on land or in water ). At the same time, with a non-stop technological operation such as the described evacuation, delivery of goods, installation work, refueling, etc., the error of such alignment of coordinates (and hence control) can be significant. And it increases with the length of the flex link released, the speed of the wind or current, the mobility of the object, etc.

As a result, such a method and device, with all their positive aspects, remain with insufficiently high technical and operational capabilities (TEV). In other words, they are not perfect enough.

The closest (basic) to the claimed group of inventions is (adopted) a method for controlling the position of the free end of a flexible connection fixed on an aircraft with an external object in the surrounding space, in which a flexible connection fixed at one end is released from the controlled main aircraft, while position control is the space of the free end of the flexible connection is additionally carried out by means of controlled maneuvering of the auxiliary aircraft, having previously connected the latter with the specified flexible connection at its free end [17. US 2019283901 A1 (FLYING WHALES), 19.09.2019].

This technical solution provides a more accurate guidance of the end of the flexible connection for alignment with the object of the relationship (see [17], l. 8, p. 3, paragraph 0051; p. 1, paragraphs. 0005, 0007).

However, in a variety of possible operating conditions, the described operational (in relation to the method) and material (in relation to the device in the provision of the method) means are insufficient for the optimal performance of practical tasks. So, the maneuver of the auxiliary aircraft relative to the main aircraft is limited; the docking of the free end of the flexible connection with the interconnection object is carried out almost blindly; the possibilities of stabilization of the given spatial position of the free end are not used.

As a result, the prototype method and the prototype device (basic), with all their positive aspects, also remain with insufficiently high technical and operational capabilities (TEV). In other words, they are not perfect enough.

The problem to be solved by the claimed group of inventions - a method and device for its implementation - is to expand its TEV.

The solution to this problem is ensured by the fact that in the method of controlling the position of the free end of the flexible connection fixed on the aircraft with an external object in the surrounding space, in which a flexible connection fixed at one end is released from the controlled main aircraft, while controlling the position in space of the free end of the flexible connection carried out additionally by means of controlled maneuvering of the auxiliary aircraft, having previously connected the latter with the specified flexible connection at its free end, according to the claimed invention method, by controlling, by means of the gravitational field and a set of technical means, including the means of maneuvering the main aircraft, the position in space of another, free end of the flexible connection, combine it with the object of interconnection, and by maneuvering the auxiliary aircraft, the free end of the flexible connection, if necessary, is deflected from the vertical position of the static In general, the equilibrium of the latter along the three Cartesian coordinate axes - X *, Y *, Z *.

The task is also solved, with additional advantages, due to the particular (additional) features of the method and their aggregates, namely:

- during subsequent, after connecting the free end of the flexible connection with the object of interconnection, hanging and transporting the latter, the auxiliary aircraft is rotated 90 ° in the vertical plane and the position of the flexible connection is stabilized in the vertical position, by overwhelming compensation of the rocking of the interconnection object by the thrust of the screws of the auxiliary aircraft ( this allows practically "free", along the way to preserve the functionality of the prototype - the possibility of stabilizing the vertical position of the flexible connection with the object - the suspended load);

- parallel to said flexible connection with an auxiliary aircraft connected to it, at least one more flexible connection with an auxiliary aircraft attached at its free end is released from the main aircraft; in time, the interconnection of free ends with spatially spaced various interconnection objects or fragments of a large-sized interconnection object (this additionally and significantly expands the TEI proposals in cases of two- and multiplicity of interconnected objects, especially in conditions of the importance of speed, for example, when saving people in shipwrecks).

In accordance with the claimed group of inventions, in addition to the method, a device (complex) for its implementation is also claimed, which contains an aircraft and a flexible connection adjustable in length with one end attached to the aircraft and a free other end for interconnection with an object in the surrounding space, and the complex additionally includes another auxiliary aircraft, at least from the main aircraft, controlled, for example, a quadcopter, with the possibility of connecting it to the said flexible connection at its free end until the latter is released from the main aircraft, according to the claimed invention, the said the controlled aircraft is the main one, mainly a helicopter, and the auxiliary aircraft is equipped with a video surveillance system - via a radio channel or via a cable coupled with flexible communication.

- the complex may additionally contain at least one additional flexible connection, similar to the one mentioned, and the corresponding additional number of auxiliary aircraft, mated with additional flexible connections at their free ends, with the possibility of their differentiated control and spatial separation of the free ends of all flexible connections in space (this significantly increases "the productivity of rescue and other operations with two or more dispersed objects, for example, in distress in a water element).

The implementation of the proposed complex for the implementation of the proposed method is possible as the use of known components-devices (material objects) - see a close analogue [15], prototype [17] and analogs-drones [12], [13] for the implementation of the basic method), so and new ones that differ from those currently available in small changes (upgrades), which, on the one hand, can be evidently followed for specialists from the state of the art, and on the other hand, by means of substantially new devices at the level of inventions and utility models. In other words, the device for implementing the inventive method is formed by means of separately known components (a set of technical means), interconnected in a new way, previously unobvious. In this case, the method itself, in its main and additional essential features, corresponds to the features in the description of the operation (use) of the claimed device, given below in the text immediately after the description of the device. In principle, a range of devices is possible within the claimed set of essential features (see the claims of the group of inventions).

The inventive method and complex (as a device for implementing this method) is illustrated by drawings (diagrams) - see Fig. 1, 2, where the numbers indicate:

1 - main (first, basic), controlled by an aircraft using the example of a helicopter; 2 - auxiliary (second) aircraft on the example of a small-sized quadrocopter (drone), with tele- or automatic control and TV-surveillance systems (via radio or wire channel) from (from) aircraft 1; 3 - flexible connection (cable, rope, rope ladder, hose, etc.) or "external suspension" for operational, non-manual, non-stop and non-docking (directly) organization of interconnection between aircraft 1 and aircraft 2; 4 - the winch on the aircraft 1 with the fixed first (upper) end of the flexible connection 3; 5 - the second (hereinafter - "free") end of flexible connection 3; 6 - interconnection (for example, a rigid interconnection at a given distance) of an aircraft 2 with a free end 5 of a flexible connection 3; 7 - the object of the target relationship with the end 5 of the flexible connection 3 (external, i.e. outside the aircraft 1, on land, on the surface of the water, in the water or in the air), for example, an evacuated person, a payload or a source / consumer of fuel; 8 - the surface of the Earth; 9 - second interconnection object: 10 - additional flexible connection (branch), similar to flexible connection 3; 11 - free end of flexible connection 10: 12 - third, also auxiliary aircraft (similar to aircraft 2); 13 - interconnection (similar to interconnection 6) of the aircraft 12 with the free end 11 of the flexible connection 10.

FIG. 1 shows a control scheme for the free end of a flexible connection (external suspension) by its spatial alignment with the interconnection object, side view, where (X, Y, Z) are the coordinates of the interconnection object; (X *, Y *, Z *) - coordinates of the controlled free end of the flexible connection (external suspension);

in fig. 2 is a diagram with two flexible links, with their independently controlled free ends, where (X1, Y1, Z1) are the coordinates of the first interconnection object; X1 *, Y1 *, Z1 * - coordinates of the controlled free end of the first flexible connection (the first external suspension); (X2, Y2, Z2) - coordinates of the second (additional) interconnection object; X2 *, Y2 *, Z2 * - coordinates of the controlled free end of the second (additional) flexible connection (second, additional external suspension).

The inventive complex contains (in the order of a detailed description using drawings) the main controlled aircraft 1, mainly the helicopter (1), and a flexible connection 3 adjustable along its length (in the admitted state) with one fixed on the aircraft 1 (mainly on the side winch 4). end and free other end - 5 for interconnection with object 7 in the surrounding space (in particular on the surface of the Earth 8).

It additionally includes another controlled, auxiliary aircraft - 2, with the possibility of connecting it to flexible connection 3 at its free end 5 until the latter (5) is released from the main aircraft 1.

As an auxiliary aircraft 2, it can be used, mainly, a small-sized unmanned aircraft (UAV), controlled at least from the main aircraft 1.

As a UAV (2), a multicopter (2), mainly a quadrocopter (2) can be used.

Auxiliary aircraft 2 is equipped with television or automatic control and video surveillance systems - by radio channel or by cable coupled with flexible communication 3.

The complex may additionally contain at least one additional flexible link 10, similar to the mentioned 3, and a corresponding additional number of auxiliary aircraft 12, mated (link 13) with additional flexible links 10 at their free ends 11, with the possibility of their differentiated control and spatial the separation of the thus controlled free ends (5, 11) of all flexible links (3, 10) in space (see Fig. 2).

Other specific devices and methods are possible within the formulated (see the claims of the group of inventions) essential sets of features.

The inventive device (set of technical means) operates (is used) as follows, in accordance with the inventive method of controlling the position of the free end 5 of the flexible connection 3.

From the main aircraft 1, mainly a helicopter with a crew, they release, by means of a winch 4, a flexible connection fixed at one end (rope ladder, cable, hose, etc.) 3.

Controlling, by means of the gravitational field and a complex of technical means, including the well-known (standard) means of maneuvering the main aircraft 1, the position in space of the other, free end 5 of the flexible connection 3, they combine it (they join with known automatic couplings or provide an attainable distance to human objects or objects - animals) with the object 7 of the relationship of LA 1 and LA 2. In other words, the coordinates X *, Y *, Z * of the end 5 are aligned with the coordinates X, Y, Z of the object 7 (see Fig. 1).

The position control in space of the free end 5 of the flexible connection 3 is additionally carried out by means of the controlled maneuvering of the auxiliary aircraft 2, having previously (on board the aircraft 1) connected the aircraft 2 with the flexible connection 3 at its free end 5 (near it at a given geometric, maneuvering convenience and operational safety).

In the example with the "multi-agent system" (see Fig. 2) in parallel with the flexible connection 3 with the auxiliary aircraft 2 attached to it, at least one more flexible connection is released from the main aircraft 1 - 10 with the second attached at its free end 11 auxiliary aircraft - LA 12, similar to those mentioned. Then, differentially controlling (dynamics of change of coordinates X1 *, Y1 *, Z1 * and X2 *, Y2 *, Z2 *) all auxiliary aircraft (2, 12, ...) ends (5, 11, ...) with spatially separated (X1, Y1, Z1 and X2, Y2, Z2, respectively) different interconnection objects (7, 9, ...) or fragments of a large interconnection object (7, 9, ...).

Thus, the claimed method is very advanced: with double (simultaneously or sequentially) "guidance" of the end 5 to the "target" - object 7, respectively, rough (apparatus 1) and precise (apparatus 2) "guidance" (control). In this case, the range of the aircraft 2 is limited only by the length of the released flexible connection 3 (not counting local obstacles).

This is especially important and effective in such unfavorable operating conditions as the remoteness of object 7 from aircraft 1, external influences, including wind, often difficult "geometric" accessibility of end 5 to object 7 (niches in rocks, windows of high-rise buildings and balconies) and instability of the aircraft 1 position in space.

There are two more advantages in assessing the technical result of using a group of inventions:

- it is possible (see Fig. 2) simultaneous, for example, the evacuation of two or more living beings (people or animals) 7, 9 from flat terrain 8, from rocks, from the water surface, etc., when they are dispersed in space within tens of meters, using a "bundle" of flexible connections 3, 10, to the end 5, 11 of each component of which an individual drone 2, 12 is attached (the so-called "multi-agent system" of drones 2, 12, ...);

- the proposed proposal retains the possibility (technical result) of a close analogue [15], since the aircraft 2 - the quadcopter can also perform the function of the GGU (fan unit - see [15]), now as one of the possible operating modes (i.e. a special case of the operation of the device) LA 2, - in a 90 ° rotated position in the vertical plane, to stabilize the cargo transported through the air by the vehicle 1 (not shown in the drawings due to the clarity of the verbal description).

The proposed group of inventions (method and device) is technologically relatively simple, very accessible at the current stage of progress in aviation and, in the future, seems to be quite effective.

Thus, its use solves the task at hand while also retaining the prototype functions.

Claims (5)

1. A method of controlling the position of the free end of a flexible connection fixed on an aircraft with an external object in the surrounding space, in which a flexible connection fixed at one end is released from the controlled main aircraft, while the position in space of the free end of the flexible connection is controlled additionally by means of controlled maneuvering of the auxiliary of the aircraft, having previously connected the latter with the specified flexible connection at its free end, characterized in that by controlling, by means of the gravitational field and a set of technical means, including the means of maneuvering the main aircraft, the position in space of the other, free end of the flexible connection, is combined with the object interconnection, and by maneuvering the auxiliary aircraft, the free end of the flexible connection, if necessary, is deflected from the vertical position of the static equilibrium of the latter in the general case along three Cartesian coordinates. th axes. 2. The method according to claim 1, characterized in that during subsequent, after connecting the free end of the flexible connection with the object of interconnection, hanging and transporting the latter, the auxiliary aircraft is rotated 90 ° in the vertical plane and the position of the flexible connection is stabilized in the vertical position, by overwhelming compensation by the rotor thrust of the auxiliary aircraft for the oscillation of the interconnection object. 3. A method according to claim 1, characterized in that, in parallel with said flexible connection with an auxiliary aircraft attached to it, at least one more flexible connection with an auxiliary aircraft attached at its free end is released from the main aircraft, similar to those mentioned, after which , differentially controlling them, carry out independent from each other sequential or parallel in time interconnection of free ends with spatially spaced different interconnection objects or fragments of a large interconnection object. 4. A complex for implementing the method according to claim 1, comprising a controlled aircraft and a length-adjustable flexible connection with one end attached to the aircraft and a free other end for interconnection with an object in the surrounding space, and the complex additionally includes another controlled at least from the main aircraft, an auxiliary aircraft, for example a quadrocopter, with the possibility of connecting it with the said flexible connection at its free end until the latter is released from the main aircraft, characterized in that said controlled aircraft is the main, mainly helicopter, and the auxiliary the aircraft is equipped with a video surveillance system via a radio channel or via a cable coupled with flexible communication. 5. The complex according to claim 4, characterized in that it additionally contains at least one additional flexible connection, similar to the one mentioned, and a corresponding additional number of auxiliary aircraft, mated with additional flexible connections at their free ends, with the possibility of their differentiated control and spatial separation of the free ends of all flexible links in space controlled in this way.

Images