Abstract:
The invention relates to a method and a set of means for piloting an aircraft used, first of all, for detecting emergency situations and for removing the consequences thereof, which make it possible perform all possible control modes for piloting the same aircraft in the form of an aircraft hand-flown by a pilot with the aid of flight control means, an aircraft remotely flown by instructions of a control station technical means and an independent automated aircraft flown by instructions of the aircraft equipment. In order to carry out the remote, automatic and independent control of the aircraft, the power drive units of control equipment, a system for the switch-on and off thereof and technical supporting means are provided on the aircraft board and on the control station.

Description:
BACKGROUND OF THE INVENTION 
       [0001]    The invention relates to means for piloting an aircrafts, designed first of all to detect emergency situations caused by natural or anthropogenic reasons and liquidation of consequences thereof. Means of monitoring and control as well as means of elimination of emergency situations (e.g. water for firefighting) are used as effective load of such aircrafts. 
         [0002]    The invention is particularly actual when using aircrafts for timely detection of emergency situations and arranging actions aimed at elimination of consequences for the purpose of saving peoples&#39; lives and health, decreasing damage to property and preventing contamination of the environment. 
       TECHNICAL ART 
       [0003]    There is a known method and complex of standard means of driving the firefighting plane designed to detect the seat of fire and pour out water over it according to the U.S. Pat. No. 5,878,819. 
         [0004]    There is a known method and complex of standard means of driving the firefighting hydroplane capable of filling water from the surface of water body and pour it out over the seat of fire according to the Patent of Russia No. 2,174,934. 
         [0005]    The analogue of the invention is a complex of means of operating unmanned aircrafts designed for detecting and eliminating emergency situation caused by fire as per U.S. Pat. No. 6,364,026. 
         [0006]    It includes unmanned monitoring aircraft, unmanned firefighting aircrafts and a ground remote piloting station with a human operator. 
         [0007]    The prototype of the invention according to the number and content of similar features is an aircraft control system as per U.S. Pat. No. 5,240,207, in which standard means of aircraft control are converted into means of remote piloting through an on-ground piloting station, which transformed a manned plane into unmanned aircraft. 
         [0008]    The prototype system includes an aircraft with platforms installed in its cabin, which are connected by power cables to the control equipment designed to control the aircraft, a first video camera to record the image of the information and control field of the cabin, second video camera to record the image outside the cabin and a combined radio equipment to connect to the control station. 
         [0009]    The aircraft control station is equipped with the aircraft control equipment support hardware, adapted to receive and display video image from the first and the second cameras as well as to produce and transmit the aircraft remote control commands. 
         [0010]    In the mentioned prototype the image of the information and control field of the aircraft cabin, received from the first video camera and information on conditions of the surrounding airspace and the ground, received from the second video camera, are transmitted to the control station and displayed on the monitor. The control station operator analyses this information, chooses and executes the control commands, which are further transmitted aboard the aircraft and activate the power drives of the controlling equipment to make the aircraft perform the required actions. This control process repeats iteratively during the flight of the aircraft. 
         [0011]    The aircraft control system as per U.S. Pat. No. 5,240,207 has only one mode implemented: remote piloting by the control station operator. Automatic control of the aircraft is not provided. Accomplishing piloted flight mode requires the construction of the aircraft to be restored back to the initial state, i.e. dismantling all additional control facilities. This makes piloting this aircraft impossible. 
         [0012]    Such way of piloting the aircraft might be quite limited or unacceptable at all in the conditions of poor visibility, due to smoke, fog or cloudiness. 
       SUMMARY OF THE INVENTION 
       [0013]    The patented invention solves the problem of piloting the aircraft in all possible piloting modes: when piloted by pilot with the use of standard control facilities, when piloted remotely by the control station operator, in automatic mode upon commands from technical facilities of the control station and in free-running automatic mode upon commands of the on-board radio-electronic equipment of the aircraft. 
         [0014]    In order to allow remote, automatic and free-running automatic piloting of the aircraft, the power drives of the controlling equipment are installed, turn on and shut down systems are implemented as well as hardware and software means of support onboard the aircraft and at the control station. Any of the piloting modes can be turned on or off repeatedly during a single flight by the pilot, or remotely by the control station operator, or automatically without any structural alterations of the aircraft and without damage to its further operation in other piloting modes. 
         [0015]    The patented complex (a set of means) includes:
       aircraft with a cabin which contains piloting equipment for controlling operation of the aircraft;   platforms installed in the cabin of the aircraft near the control equipment intended for piloting the aircraft;   power drives connected to the piloting equipment and to the platforms with a movable joint;   power drive control system;   control station removed from the aircraft, which includes technical means of support of control equipment onboard the aircraft, adapted to receive and process instrumental readings, sensors and conditions of the controlling equipment of the aircraft as well as to generate and transmit aircraft control signals;   means of generating signals describing instrumental readings, sensors and condition of the control equipment of the aircraft, installed onboard the aircraft;   transmitting and receiving radio-electronic equipment installed onboard the aircraft designed for transmitting signals describing instrumental readings, sensors and conditions of the control equipment of the aircraft to the control station, as well as receiving control commands from the station;
           means of receiving and processing signals related to instrumental readings, sensors and conditions of control equipment of the aircraft at the control station using receiving and transmitting equipment;   means of generating aircraft control signals at the control station;   
           means of multiple transmission of aircraft piloting signals generated at the control station, to the power drive control system onboard the aircraft in such a way that deviation and orientation of the piloting equipment onboard the aircraft corresponds to the commands of control station support hardware to allow the aircraft performing the required operations.       
 
         [0026]    The patented complex (a set of means) additionally contains:
       controlled means of connecting power drives to the control equipment of the aircraft;   means of turning on and turning off the controlled means of connecting the power drives to the control equipment of the aircraft with the possibility to be activated by the pilot in the piloted mode, or operator at the control station remotely and automatically with the use of technical equipment located aboard the aircraft and at the control station;   an on-board computed to implement the remote piloting mode, automatic and off-line automatic modes of piloting the aircraft;   interface signal and command input/output device installed onboard the aircraft between the computer and the sensors, devices and power drives control system;
           satellite radio navigation system equipment installed onboard the aircraft for precise positioning of the aircraft;   navigation and landing system equipment installed at the control station.   
               
 
         [0033]    The patented complex of means of piloting the aircraft may have the controlled means of joining power drives with the control equipment of the aircraft implemented in the form of mechanical devices, particularly in the form of clutches. 
         [0034]    The patented complex of means of piloting the aircraft may have a control station installed on a stationary or mobile platform. 
         [0035]    The patented complex of means of piloting the aircraft may have a control station installed on a marine stationary or mobile platform. 
         [0036]    The patented complex of means of piloting the aircraft may have a control station installed on a stationary or mobile aerial platform. 
         [0037]    The patented complex of means of piloting the aircraft may have a control station installed on a space platform. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         [0038]    Hereinafter the inventions shall be illustrated by particular examples of implementation with references to the attached drawings which include: 
           [0039]    FIG.  1 —Block diagram of board equipment of the aircraft. 
           [0040]    FIG.  2 —Control station block diagram. 
       
    
    
     DETAILED DESCRIPTION OF THE INVENTION 
       [0041]    When in manned aircraft piloting mode involving pilot ( 1 ) ( FIG. 1 ), the controlled joints ( 2 ) with the help of activators and deactivators ( 3 ), disconnect the power drives from the control equipment ( 5 ). The pilot ( 1 ) directly operates the piloting equipment ( 5 ) using standard devices, sensors and equipment ( 6 ). The pilot ( 1 ) can independently control the effective load ( 7 ) and transmit the data received with the help of it to the control station using means of radio communication ( 8 ). Effective load ( 7 ) can be controlled by the operator and hardware of control station using means of radio communication ( 8 ). 
         [0042]    When the aircraft is controlled by the control station operator in remote piloting mode, the controlled joints ( 2 ) are connected to the control equipment ( 5 ) by the power drives ( 4 ) with the help of activators and deactivators ( 5 ) ( FIG. 1 ). The control commands from the control station operator arrive via the means of radio communication ( 8 ) to the power drives control system ( 9 ) activating the control equipment ( 5 ) through power drives ( 4 ) and controlled joints ( 2 ) to allow the aircraft perform the required actions. The onboard computed  10  processes data related to standard equipment, sensors and equipment ( 6 ) received through command and signals input\output interface device ( 11 ) as well as signals received directly from the receiver of the satellite radio navigation system ( 12 ), which are further transmitted via means of radio communication ( 8 ). Information related to precise coordinates of the aircraft location, received at the control station, information related to the spatial location and motion characteristics as well as data related to instrumental readings, sensors and condition of the onboard equipment is analyzed by the operator for repeated generation and transmission of the required control commands to the aircraft. The effective load ( 7 ) is controlled by the control station operator. 
         [0043]    When in automatic aircraft piloting mode, the controlled joints ( 2 ) connect power drives ( 4 ) to the control equipment ( 5 ) (figure) using activators and deactivators ( 3 ) upon commands of control station hardware. The control commands from the control station hardware are received via the means of radio communication ( 8 ) to the power drives control system ( 9 ) activating the control equipment ( 5 ) through power drives ( 4 ) and controlled joints ( 2 ) to allow the aircraft perform the required actions. In order to generate the control commands, the hardware of the control station uses data related to location, position and motion of the aircraft as well as conditions of its equipment, received in the way similar to the case of remote control. The means of effective load ( 7 ) are controlled by the control station operator or by the aircraft hardware according to the program entered before or during the flight. 
         [0044]    When in free-running remote aircraft piloting mode, the controlled joints ( 2 ) connect the power drives ( 4 ) to the control equipment ( 5 ) ( FIG. 1 ) upon commands of the onboard radio-electronic equipment using activators and deactivators ( 3 ). The control commands are generated by the onboard computer ( 10 ) according to the entered flight program. They are further transmitted to the power drives control system ( 9 ) through a commands and signals input/output interface device ( 11 ), activating the control equipment ( 5 ) by power drives ( 4 ) and controlled joints ( 2 ) to allow the aircraft perform the required operations. Readings of standard devices, sensors and equipment ( 6 ) received via the input/output interface device ( 11 ) as well as signals of the satellite radio navigation system receiver ( 12 ), arriving directly to the onboard computer ( 10 ), are used as source data for generating control commands of the onboard computer ( 10 ). They allow the onboard computer ( 10 ) to determine the coordinates of precise location of the aircraft, its spatial position, dynamic characteristics and condition of the equipment. In case if this information differs from the flight task entered into onboard computer ( 10 ), the appropriate commands of correction of position and aircraft movement are generated. The means of effective load are controlled by the control station operator or by the aircraft hardware according to the program entered before or during the flight. 
         [0045]    The aircraft control modes can be repeatedly changed by effecting the activators and deactivators ( 3 ) of the controlled joints ( 2 ) of the operator ( 1 ), by the control command of the control station operator received via means of radio communication ( 8 ) and the control commands of the onboard computer ( 10 ) received through the input/output interface device ( 11 ). 
         [0046]    The control station includes the aircraft operator&#39;s workplace ( 13 ) ( FIG. 2 ), effective load operator&#39;s workplace ( 13 ), computer system ( 15 ), visualization tools ( 16 ), means of data receipt and transmission ( 17 ), landing and navigation system equipment ( 18 ), airfield communication and intercom systems ( 19 ) and supply system ( 20 ). 
         [0047]    When in manned mode the aircraft operator of the control station does not directly take part in the piloting. He can control the readings of the standard onboard devices, sensors and equipment transmitted to the means of data receipt and transmission ( 17 ), processed by the computer system ( 15 ) and displayed on the monitors of the aircraft operator&#39;s workspace ( 13 ) and visualization tools ( 16 ) ( FIG. 2 ). The aircraft control station can issue a command to switch to remote manned mode, automatic mode or free-running automatic mode. The effective load operator can control the means of effective load installed onboard of the aircraft from his workplace  14  via computer system  15  and data receiving and transmitting system  17 . He can receive and analyze information from the means of effective load via the same data exchange channel, which is displayed on the monitors of the effective load operator&#39;s workplace  14  and visualization tools  16 . 
         [0048]    When in remote piloting mode the control station aircraft operator receives all the necessary information related to readings of the onboard standard instruments, sensors and equipment, precise coordinates of the aircraft location, its spatial position and dynamic characteristics, to the monitors of his workplace  13 . Based on the analysis of this data and according to the flight task he issues appropriate piloting commands which are processed by the computer system ( 15 ) and transmitted onboard the aircraft using data exchange facilities ( 17 ). The effective load operator issues effective load control commands from his workplace ( 14 ) via the computer system ( 15 ) and using means of data exchange ( 17 ), and receives and analyzes the arriving information ( FIG. 2 ). 
         [0049]    When in automatic aircraft piloting mode, the received data related to the readings of standard onboard devices, sensors and equipment, precise location coordinates and spatial positioning, dynamic characteristics, is constantly processed in the computer system and compared to the flight task data upon commands received from the control station hardware. In case of any deviations detected, the corresponding control commands are issued, which are transmitted onboard the aircraft via data exchange equipment ( 17 ) ( FIG. 2 ). The control station aircraft operator does not directly take part in piloting. However, he has a possibility to control the flight from his workplace ( 13 ) and, if needed, change active flight task or change the aircraft control mode, e.g. take manual control of the aircraft. Similarly to the previous cases, the effective load is controlled by the effective load operator from his workplace ( 14 ) via computer system ( 15 ) and means of data exchange ( 17 ). He also receives and analyzes the information arriving from those ( FIG. 2 ). 
         [0050]    When in free-running automatic aircraft piloting mode the aircraft operator receives all necessary information related to indications of the standard onboard devices, sensors and equipment, precise aircraft positioning coordinates, spatial location and dynamic characteristics on his workplace ( 13 ) upon commands of his radio-electronic equipment. If necessary, he can change the flight task program or aircraft piloting mode. The effective load operator receives information from the means of effective load on his workplace ( 14 ). They can be operated upon commands from the onboard computer of the aircraft as well as upon effective load operator&#39;s commands. The aircraft is landed in manned mode by the pilot using standard piloting equipment. When in remote piloting or automatic piloting modes, the approach and landing commands are generated using navigation and landing equipment ( 18 ) at the control station ( FIG. 2 ). They are transmitted onboard the aircraft and are executed in the same way as the flight control commands. 
         [0051]    Airfield communication and intercom systems ( 19 ) ( FIG. 2 ) ensure radio communication between the aircraft operator, effective load operator, aircraft and control station maintenance staff, airfield services and flight dispatcher, as well as the management of the operation aimed at detection of emergency situations and elimination of consequences thereof, in which the aircraft is involved. 
         [0052]    The power supply system ( 20 ) ( FIG. 2 ) provides power to the whole equipment of the control station involving the airfield power network, offline generator and battery-based UPS units. 
       INDUSTRIALLY APPLICABLE 
       [0053]    The invention is designed for piloting aircrafts used mainly for detecting emergency situations and eliminating consequences thereof. Each of the means stipulated by the invention is produced by the industries of different countries. Interaction of means provided for by the invention is realized in known general-purpose processes. 
         [0054]    In the “Irkut” Corporation the invention is realized in the form specific for the Emergency Situations Ministry of Russia. The aircraft is manufactured on the basis of ( 5 ) modified two-seater motor glider S10-VT (produced by Stemme, Germany) implemented under the single-beam diagram with a two-piece wing if high aspect ratio and T-shaped tail assembly. A 115 h.p. ROTAX 914 engine is used as a power drive. A tricycle-equipped landing gear with a tail wheel is used. Main landing gears are retracted inside the fuselage. 
         [0055]    Piloting in the roll channel is performed by ailerons, track piloting is ensured by the yaw rudder located at the fin, longitudinal control is executed by the elevators positioned at the tail assembly. Rudders are deflected by handles and pedals installed inside the cabin, through dragging poles. 
         [0056]    The left seat of the motor glider is used by the pilot for manned piloting. Remote and automatic control equipment is installed in the cabin in place of the dismounted right seat. The mentioned equipment includes controlled joints, activators and deactivators as well as power drives dynamically connected to the control equipment (handles and pedals) and to the platforms, which are implemented in the form of rigid bearing supports of the structure. 
         [0057]    Antennas and radio communication facilities are installed on the surface of the modified glider. 
         [0058]    Standards devices, sensors and equipment of the modified motor glider include flight controls (airspeed indicator, altimeter, magnetic compass) and engine controls (tachometer, pressure and oil temperature indicator, cylinder head temperature indicator, voltmeter, ammeter, fuel gage and engine life indicator). 
         [0059]    To maintain automatic and free-running piloting modes, a compact inert system is used as a coordinate sensor, careen, pitch, course, track angle, vertical velocity, overloads and angular velocities, as well as air signals sensor system as a sensor of meter velocity and relative barometric altitude. 
         [0060]    Hydro-stabilized optoelectronic system and radio location stations installed in suspension containers under the wing of the modified motor glider, are used as effective load. 
         [0061]    The ground station is made in the in the mobile variant on the basis of automobile ZIL 5301 It includes air conditioning system, power saving system, workspaces of the operator of the aircraft and effective load operator, computer system, visualization tools, navigation and landing system equipment as well as data exchange facilities, including antenna-feeder system. 
         [0062]    The created aviation complex allows to realize all the possible piloting modes with the mentioned motor glider: manned mode with standard means of piloting, remote piloting by the control station operator, automatic piloting upon commands of control station hardware and free-running automatic upon commands of the onboard equipment of the aircraft. 
         [0063]    This mode and the aircraft piloting complex were described with the reference to the examples of actual implementation, depicted on  FIG. 1  and  FIG. 2 . This invention may be implemented in other modifications and with other supplements, not going beyond the scope and sphere of the claims, which consists in the following.