Method for landing an airship on a landing device placed on the ground

A method for landing an airship on a landing device placed on the ground by: aligning, in particular horizontally aligning, the airship relative to the landing device with the aid of driving mechanisms arranged on the airship; lowering the airship onto a landing platform element of the landing device; arresting the airship on the landing platform element, wherein at least one electric magnet arranged in the landing device magnetically pulls the airship towards the landing device; and fastening the airship to the ground.

The invention relates to a method for landing an airship on a landing device placed on the ground and to a guiding means for landing an airship on the landing device.

Airships are dirigible aircraft whose lift is based on aerostatic forces and which have a drive of their own. However, the landing of such airships and the subsequent mooring pose problems. Presently, a large crew of helpers is needed on the ground that haul the airship to a mooring mast or into a hangar pulling on ropes fastened to the airships.

It is an object of the invention to simplify the landing operation of an airship.

The invention advantageously provides that a method for landing an airship on a landing device placed on the ground comprises the following steps:alignment, in particular horizontal alignment of the airship relative to the landing device with the aid of driving mechanisms arranged on the airship;lowering of the airship onto a landing platform element of the landing device;arresting the airship on the landing platform element, wherein at least one electric magnet arranged in the landing device magnetically pulls the airship towards the landing device;fastening of the airship to the ground.

It is an advantage of the method that it can be practiced without a large crew of helpers, since the electric magnet effects the short-term arresting of the airship on the landing platform element.

The airship can be fastened to the ground by means of rope elements and/or retaining gripping elements.

After the airship has been arrested on the landing platform element at least by means of the electric magnet, the landing platform element of the landing device can be rotated relative to a ground element of the landing device arranged on the ground. Thereby, also the airship can be rotated relative to the ground element.

The airship can comprise fastening means for fastening the rope elements to the airship and the landing device may comprise ground fastening means for fastening the rope elements to the ground, wherein the fastening elements of the airship can be turned such that the fastening means on the airship are aligned with the fastening means on the ground.

The fastening means on the airship can be turned by turning the landing platform element relative to the ground element and by turning, along with the landing platform element, the airship arrested on the landing platform element by means of the electric magnet.

As an alternative, the fastening means on the airship can be arranged on a turntable, wherein, after the airship has been arrested on the landing platform element at least by means of the electric magnet, the turntable can be turned relative to a ground element of the landing device arranged on the ground. The turntable can be turned relative to the ground element arranged on the ground, such that the fastening means on the airship are aligned with the fastening means on the ground. In this embodiment, the airship itself is not turned relative to the ground element.

After the airship has been arrested on the landing platform element by means of the electric magnet and preferably after the fastening means arranged on the airship have been aligned with the fastening means on the ground, the airship can be fastened on the ground by means of retaining gripper elements. The retaining gripper elements may be elements that are fastened on the ground and can engage into hooking elements on the nacelle of the airship to thereby fasten the airship on the ground.

In addition or as an alternative, the airship can be fastened on the ground by means of rope elements.

In order to fasten the airship by means of rope elements, the rope elements fastened to the airship can be detached and be gripped by at least one gripper arm of at least one ground vehicle and be transferred to the ground fastening means, where they can be fixed. Thus, an additional reduction of ground personnel can be achieved.

The at least one gripper arm of the at least one ground vehicle and/or the at least one ground vehicle can be controlled automatically.

After the airship has been fastened on the ground using the rope elements and/or the retaining gripper elements, the at least one electric magnet can be deactivated.

The alignment and the lowering can be controlled by means of a control device, preferably in an automatic manner.

The control device does not have to be arranged in the airship. The airship can be remote-controlled from the ground by means of the control device.

The lowering and the alignment can be controlled at least in dependence on the position if the airship relative to the platform and to the speed of the airship.

Further, the lowering and the alignment can be controlled in dependence on the wind velocity.

When landing, the airship can be guided mechanically by means of a guiding means, wherein the guiding means comprises at least one tapering recess on the airship or in the landing device and, provided on the airship or on the landing device, at least one insertion element adapted to the shape of the recess, wherein, upon landing, the insertion element is inserted into the recess, whereby the airship is guided during landing.

During the horizontal alignment, the airship can be aligned such that at least the end of the protruding guiding element, averted from the airship or the landing device, is arranged above or below the recess in the vertical direction.

When arresting the airship or in the arrested state of the airship on the landing device, the engines can be operated such that they exert a force on the airship that acts in the direction of the landing device, wherein the force arresting the airship on the landing device is augmented by means of the engines. Further, when arresting the airship or in the arrested state of the airship on the landing device, the engines can be operated such that they exert a force on the airship that compensates the wind force acting on the airship.

In a state fastened on the ground by means of the retaining gripper elements and/or the rope elements, the engines can be operated such that they exert a force on the airship that acts in the direction of the landing device or the ground, wherein the force fastening the airship on the ground is augmented by the engines. Further, in a state fastened on the ground by means of the retaining gripper elements and/or the rope elements, the engines can be operated such that they exert a force on the airship that compensates the wind force acting on the airship.

According to the present invention, it is further possible to provide a guiding means of an airship and a landing device for guiding the airship during the landing on the landing device, wherein the airship comprises a nacelle with a bottom surface and the landing device comprises a platform with a landing surface, wherein the airship lands with the bottom surface of the nacelle on the landing surface of the platform. In the landing surface, the platform comprises a tapering recess and the nacelle has an insertion element adapted to the shape of the recess and projecting relative to the bottom surface of the nacelle, wherein the insertion element can be inserted into the recess when the airship lands on the landing surface and the airship can be guided to a predetermined landing position on the landing device.

As an alternative, the nacelle can have a tapering recess in the bottom surface and the platform can have an insertion element adapted to the shape of the recess and protruding with respect to the landing surface of the platform, wherein the insertion element can be inserted into the recess when the airship is landing and the airship can be guided to a predetermined landing position on the landing device.

The tapering recess and the insertion element adapted to the shape of the tapering recess may be conical.

The present invention further provides a landing device for an airship. The landing device comprises a platform that includes at least a ground element to be placed on the ground and a landing platform element with a landing surface, the landing surface being suited as a landing place for the airship, wherein the platform comprises at least one electric magnet, wherein the airship which has landed on the landing platform element can be magnetically arrested on the landing platform element by means of the electric magnet.

The landing platform element can be rotatable about a rotary axis with respect to the ground element, wherein the rotary axis preferably extends orthogonally to the landing surface.

The platform can have a tapering recess in the landing surface, wherein an insertion element adapted to the shape of the recess and projecting with respect to the bottom surface of the nacelle can be inserted into the recess when the airship lands on the landing surface and the airship can be guided to a predetermined landing position on the landing device.

The platform can comprise an insertion element protruding relative to the landing surface and tapering towards the end averted from the landing surface, wherein, when the airship lands on the landing surface, the insertion element can be inserted into a tapering recess adapted to the shape of the protruding insertion element and provided in the bottom surface of the nacelle, and the airship can be guided to a predetermined landing position on the landing device.

The landing platform can be adapted to be turned electrically, mechanically, hydraulically or pneumatically relative to the ground element.

Ground fastening means can be arranged concentrically with respect to the platform, to which rope elements can be fastened that are provided on the airship.

Retaining gripper elements can be arranged concentrically with respect to the platform, by which the airship can be fastened on the ground.

FIG. 1shows an airship20. An airship20is a dirigible aircraft whose lift is based on aerostatic forces and which has a drive of its own. The airship20comprises a lifting body24. In the present case this lifting body is preferably balloon-shaped. The airship20further comprises a nacelle30and engines16. The nacelle30has a bottom surface32and an insertion element28protruding relative to the bottom surface32. The engines16are arranged on the airship20for pivotable movement such that the airship20is dirigible by pivoting the engines.

FIG. 1further illustrates a landing device22for the airship20. The landing device22comprises a platform1. The platform1has a ground element2placed on the ground. Preferably, this ground element2is anchored in the ground3. Further, the platform1comprises a landing platform element4that can be turned relative to the ground element2. The landing platform element4can be rotated magnetically, electrically, hydraulically, mechanically and/or pneumatically relative to the ground element2. The Figures illustrate roller elements by which the landing platform element can be rotated relative to the ground element. The platform1comprises electric magnets6.FIG. 1illustrates an example in which the landing platform element4comprises the electric magnets6.

The landing platform element4has a landing surface34on which the airship20can land. The landing surface34comprises a tapering recess26. The airship20preferably lands on the landing surface34of the platform1with the bottom surface32of the nacelle30.

Further, the landing device22comprises retaining gripper elements8fastened to the ground3and pivotable relative thereto. The function of the retaining gripper elements8will be described in more detail further below.

Moreover, the landing device22illustrated inFIG. 1includes ground vehicles10having gripper arms11. Although not illustrated in the Figure, the ground vehicles10can move on rails. The function of the ground vehicles10having the gripper arms11will be described in more detail with reference to the following Figures.

Further, the landing device22comprises fastening means12to which the rope elements14of the airship can be fastened.

InFIG. 2, the landing device22is shown in top plan view. In this top plan view, the landing surface34, the tapering recess26and the retaining gripper elements8, the ground vehicles10with the gripper arms11and the ground fastening means12can be seen.

FIG. 3illustrates how the airship20is positioned relative to the landing device22, preferably in a horizontal direction, using the engines16. The airship20is positioned in a horizontal direction preferably such that at least the end29of the protruding insertion element28averted from the bottom surface32of the nacelle30is arranged, seen in the vertical direction V, above the opening27of the recess26in the platform1. The insertion element28at the nacelle30and the tapering recess26in the platform1, the form of the insertion element28at the airship20being adapted to the shape of the recess26.

The insertion has the advantage that, if the airship20cannot be landed exactly on the landing device22, the airship20can still be positioned very precisely on the platform1or the landing surface34, respectively, by means of the insertion element. As long as the end29of the insertion elements28is arranged vertically above the opening27of the recess26, the insertion element28is inserted into the recess26when being lowered down onto the landing surface34. Owing to the fact that the recess26is tapering and the insertion element28is adapted to the tapering recess26, the airship20is guided to a predetermined landing position on the landing device22while the insertion element28is inserted into the recess26. Preferably, the recess is conical.

The vertical direction refers to a direction orthogonal to the ground surface3or the landing surface34, respectively.

In the next step of the landing operation, the airship20is lowered onto the landing device22. For the lowering, the engines16are used preferably, the engines preferably being pivoted such that they exert a vertical force on the airship20that is directed towards the ground surface. If a plurality of engines16exists, some engines16can be used for the vertical alignment and some can be used for the horizontal alignment of the airship20. The horizontal alignment is directed in a direction H that preferably extends parallel to the ground surface3or parallel to the landing surface34.

In addition or as an alternative, it is also possible to discharge propellant gas in order to lower the airship20. Further, when the airship20is lowered onto the landing device22, the electric magnets6can be activated which exert a magnetic force of attraction on the airship20. For this to be realized, the airship20has a magnetically attractable element. The same is preferably arranged in the bottom surface32of the nacelle30. The magnetically attractable element preferably is a metal element. Thus, it is possible to additionally exert a force on the airship20by means of the electric magnets6that acts towards the landing device22or the ground3.

FIG. 4shows that the airship20has already landed on the landing device22. The insertion element28protruding with respect to the bottom surface32of the nacelle30is fully inserted into the tapering recess26. The bottom surface32of the nacelle is placed on the landing surface34. In this position, the airship20is arrested at least temporarily on the landing platform element4by means of the electric magnets6. It is possible to arrest the airship20on the platform1only through the force exerted o the airship20by means of the electric magnets6.

Moreover, the engines16or some of the engines16can be pivoted such that they exert a force on the airship that acts in the direction of the landing surface34or the ground. In this case, the airship20can be arrested on the landing platform element4both by means of the force acting on the airship20due to the electric magnets6and by means of the force acting on the airship20due to the pivoted engines20.

The engines16or some of the engines16can also be pivoted such that they exert a force on the airship20that counteracts the wind force acting on the airship20and preferably compensates the wind force. Further, some of the engines16can be pivoted such that they exert a force on the airship20that is directed towards the landing surface34or the ground3, and other engines16can be pivoted such that they exert a force on the airship20that counteracts the wind force acting on the airship20and preferably compensates the wind force.

After the airship20has been arrested, the landing platform element4can be turned relative to the ground element2. Thus, the airship20is turned relative to the ground3together with the landing platform element4. The landing platform element4is preferably turned such that the fastening means18on the airship20are aligned with respect to the ground fastening means12on the ground, where aligned means that the distance between the fastening means18of the airship20positioned on the platform1and the ground fastening means12is the smallest possible distance.

As an alternative, instead of turning the landing platform element4, it is possible to turn the fastening means18along the airship20about a rotary axis extending orthogonally to the ground surface3or the landing surface34. In this manner, it is not necessary to turn the entire airship20. For example, the fastening means18on the airship20can be mounted on a turntable adapted to be turned relative to the airship20standing stationarily on the ground.

As illustrated inFIG. 5, the airship20can be fixed in the turned position by means of retaining gripper elements8. The retaining gripper elements engage hooking elements38fastened on the nacelle30. Further, in the state in which the airship is fixed on the ground by means of the retaining gripper elements8, the engines16or some of the engines16can be pivoted such that they exert a force on the airship20that acts in the direction of the landing surface24or the ground3. Thus, the force retaining the airship on the ground can be increased. As an alternative or in addition, in the state in which the airship is fixed on the ground by means of the retaining gripper elements8, the engines16or some of the engines16can also be pivoted such that they exert a force on the airship20which counteracts the wind force acting on the airship20and preferably compensates the wind force.

In the state fixed on the ground by means of the retaining gripper elements8, the electric magnets6can be deactivated. In particular, the electromagnets6can be deactivated if a force exerted by the engines16acts additionally on the airship, the force acting in the direction of the landing surface34or the ground, and/or a force acts on the airship through the engines that counteracts the wind force acting on the airship20and preferably compensates the wind force.

Subsequently, the rope elements14are detached from the detachable fastening means40. The detachable fastening means40are preferably mechanical fastening means. The gripper arms11of the ground vehicles10can detach the rope elements14fastening elements40. The ground vehicles10transfer the ends of the rope elements14to the ground fastening means12.

FIG. 6illustrates the step of the landing operation in which the rope elements14fastened to the airship are fastened to the ground fastening means12and the airship20is thereby fastened on the ground. After the fastening by means of the rope elements14, the electric magnets6can be deactivated.

The step of fixing o the ground3by means of the rope elements14can be omitted and the airship20may be fixed on the ground merely by the retaining gripper elements8and in addition by means of the engines16, if needed. This is done preferably, if the airship20is to stay on the ground only for a short time. If the airship20is to stay on the ground for a longer time, the airship20is fastened on the ground3preferably by means of rope elements14. As an alternative, the fixation by means of the retaining gripper elements8can also be omitted, and a fixation on the ground3merely by means of rope elements14may be realized.

Preferably, the ground vehicles10can be steered automatically. Likewise, the gripper arms11of the ground vehicles10are automatically steerable. The ground vehicles10can also move on rails that are not illustrated in the Figures.

In the state fastened on the landing device22, the airship20can be supplied with fuel, propellant gas or electric energy or ballast. This can also be done in an automated manner.

Aligning and lowering the airship20can be effected by means of a control device. The control device preferably receives measured values from sensors, which values may refer to the exact position of the airship20, the given speed of the wind, and the exact position of the landing device22. Using these measured values, the airship20can be aligned horizontally above the landing device22and be lowered. If the electric magnets6are activated, the force of the electric magnets6can also be included in the control during the lowering operation.

Preferably, the control device is not arranged in the airship. The airship20can be remote-controlled by a person using the control device. The control device can be arranged, for example, on the ground3or in another flying object that is in the vicinity of the airship20.

As an alternative, the control device can be operated automatically. For example, velocity ranges are entered defining the minimum and maximum velocities at which the airship shall move, and it is possible to indicate the velocity at which the airship20shall approach the landing device22. Further, the wind speed and/or the inertia can be taken into account. Further, it is possible to indicate that the airship20is first to be positioned such that the end20of the insertion element28is situated vertically above the opening27of the recess26. Only thereafter will the airship20be lowered, with the airship being lowered only as long as the end29of the insertion element28is located vertically above the opening27of the recess26.

FIG. 7illustrates an embodiment in which the recess26is provided in the nacelle34and the insertion element is provided on the platform1.