Patent ID: 11919655
Assignee: ISRAEL AEROSPACE INDUSTRIES LTD.
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 18:
19. A non-transitory program storage device readable by a computer tangibly embodying computer readable instructions executable by the computer to perform a method of controlling maneuver of a refueling device that is attachable by means of a non-rigid hose to a component of an aircraft,
wherein the component is configured to selectively operate in a plurality of modes, the plurality of modes comprising a response mode,
wherein said component is configured, when in the response mode, to selectively maintain a reference force on the hose,
wherein the refueling device comprises a nozzle configured for engagement with a receptacle located on a receiver aircraft;
in a situation where the component is in the response mode, to repeatedly perform the following method of extension and retraction in a continual manner,
until a difference, between a current position of said refueling device and a desired position of said refueling device, is within a defined threshold,
wherein the desired position comprising at least one of a waiting point position, an updated waiting point position, and an engagement enabling position:
(a) obtaining the desired position, in a direction fore and aft;
(b) obtaining the current position, in a direction fore and aft, utilizing at least one position sensor associated with the refueling device;
(c) determining, based on at least the current position and the desired position, whether to extend or retract the hose,
wherein responsive to the current position being forward of the desired position, the determination is to extend the hose,
wherein responsive to the current position of the refueling device being aft of the desired position, the determination is to retract the hose;

(d) in response to the determination being to extend the hose, send a command for adjusting the state of one or more fore generating arrangements, which are attached to the refueling device, so as to increase a force on the hose,
the increase in the force causing said component of the aircraft to perform the following:
(i) detect the increased force; and
(ii) extend the hose so as to maintain the reference force on the hose, thereby increasing the distance between the refueling device and the aircraft in the direction fore and aft; and

(c) in response to the determination being to retract the hose, send a command for adjusting the state of the one or more force generating arrangements, so as to decrease the force on the hose,
the decrease in the force causing said component of the aircraft to perform the following:
(i) detect the decreased force; and
(ii) retract the hose so as to maintain the reference force on the hose, thereby decreasing the distance between the refueling device and the aircraft in the direction fore and aft,

thereby facilitating at least one of: movement of the refueling device, in the direction fore and aft, to one of the waiting point position and the updated waiting point position; movement of the refueling device, in the direction fore and aft, from one of the waiting point position and the updated waiting point position to the engagement enabling position.