Abstract:
An improved rappelling system for raising or lowering a person or an object to or from a stationary or moving elevated point includes at least one cable for supporting a person or an object, a motor attached to the elevated point and coupled to the cable so that the motor propels the cable up or down and thereby raises or lower the person or object, respectively, a controller/processor for controlling the motion of the motor and at least one sensor attached to the elevated point and coupled to the controller/processor. The sensor measures the distance of the elevated point from a target area located at a lower point than the elevated point and continuously sends a feedback signal to the controller/processor. The feedback signal is used to calculate and adjust in real-time motor control parameters that determine speed and landing location of the person or object relative to the target area. The system also includes a display attached to the elevated point and displaying the measured distance and the motor control parameters in real-time.

Description:
CROSS REFERENCE TO RELATED CO-PENDING APPLICATIONS 
     This application claims the benefit of U.S. provisional application Ser. No. 61/090,370 filed on Aug. 20, 2008 and entitled IMPROVED RAPPELLING MECHANISM, which is commonly assigned, and the contents of which are expressly incorporated herein by reference. 
    
    
     FIELD OF THE INVENTION 
     The present invention relates to an improved rappelling system and in particular to a mechanism for moving an object or a person from an elevated position to a lower position or the reverse with controlled speed and improved accuracy of the landing location. 
     BACKGROUND OF THE INVENTION 
     Rappelling refers to a process of descending a vertical surface, such as a cliff or a wall, by sliding down a belayed rope or through a device that provides friction, typically while facing the surface and performing short backward leaps to control the descent. A rope may also be used for jumping from a helicopter, a tall building or any other elevated position to a lower position or for transporting an object from an elevated position to a lower position. 
     Traditional rappelling techniques require extensive knowledge and training in executing descending techniques. The Interagency Helicopter Rappel Guide 2006 published at the following link (http://amd.nbc.gov/library/handbooks/ihrg.pdf) includes over 50 pages in technique, equipment and procedural information. The latest technological innovation allows only for four ropes and does not provide any degree of safety based on information relayed to the unit, (http://ecms-gmbh.de/EAD01.htm). In extreme situations, such as jumping from a helicopter in combat situations or escaping from a burning vessel or building, slow descending or ascending may jeopardize the life of the jumping person and potentially place the helicopter and its occupants in danger. 
     Paratroopers jumping from a helicopter with equipment weighting more then their own body weight have a greater potential for weak exits. Weak exits induce tumbling, rolling, and spinning immediately outside the paratroop door. Prevention of weak exits and proper execution of the current exit standards supports safe operations. 
     Accordingly, there is a need for an improved rappelling mechanism that prevents weak exits and does not require extensive training of the people using it. 
     SUMMARY OF THE INVENTION 
     In general, in one aspect, the invention features an improved rappelling system for raising or lowering a person or an object to or from a stationary or moving elevated point. The rappelling system includes at least one cable for supporting a person or an object, a motor attached to the elevated point and coupled to the cable so that the motor propels the cable up or down and thereby raises or lower the person or object, respectively, a controller/processor for controlling the motion of the motor and at least one sensor attached to the elevated point and coupled to the controller/processor. The sensor measures the distance of the elevated point from a target area located at a lower point than the elevated point and continuously sends a feedback signal to the controller/processor. The feedback signal includes the measured distance and is used to calculate and adjust in real-time motor control parameters that determine speed and landing location of the person or object relative to the target area. The system also includes a display attached to the elevated point and coupled to the controller/processor. The measured distance and motor control parameters are displayed in real-time in the display. 
     Implementations of this aspect of the invention may include one or more of the following features. The cable includes a foot stirrup and the foot stirrup is controlled by a self-adjusting mechanism that grasps a person&#39;s foot upon applying pressure and releases the person&#39;s foot upon removing the applied pressure. The cable further includes a hand loop and first and second handles located about five feet above the foot stirrup. The cable is made of heat resistant fibers. The cable is made of Kevlar™ material, metal, composites, nano-materials, phase change material or bulletproof materials, among others. A detector may be attached to the lower end of the cable, and the detector is configured to detect at least one of explosives, smoke, radiation, or chemicals and to provide light. The cable may be delivered under an angle relative to the elevated point. The cable has a structure allowing cable motion only on an X-Y plane defined by a longitudinal cable axis and a horizontal target axis and preventing motion on the corresponding X-Z and Y-Z planes that are perpendicular to the X-Y plane. In the case where the target area is a water surface of a water body, the sensor further measures the distance of the elevated point to the water surface and the depth of the water body. The sensor further measures wind, temperature, humidity, precipitation, or visibility. The motor slows down as the person or object approaches the target area and comes to a complete stop about two feet from the desired landing location within the target area. In cases where the elevated point is a moving aircraft, the display is attached at the top of an exit opening of the aircraft. The system may further include remote activation means for the motor. The system may further include an alarm indicating a system malfunction. 
     In general, in another aspect, the invention features an improved rappelling method for raising or lowering a person or an object to or from a stationary or moving elevated point. The method includes the following. Supporting a person or an object upon at least one cable. Attaching a motor to the elevated point and coupling it to the cable so that the motor propels the cable up or down and thereby raises or lowers the person or object, respectively. Controlling the motion of the motor with a controller/processor. Attaching at least one sensor to the elevated point and coupling it to the controller/processor. Measuring the distance of the elevated point from a target area located at a lower point than the elevated point with the sensor. Sending a feedback signal from the sensor to the controller/processor continuously. The feedback signal includes the measured distance. Using the feedback signal to calculate and adjust in real-time motor control parameters that determine speed, and landing location of the person or object relative to the target area. Attaching a display to the elevated point and coupling it to the controller/processor and displaying the measured distance and motor control parameter in real-time in the display. 
     Among the implementations and advantages of this invention may be one or more of the following. The present rappelling system enables fast and safe deployment of people and object from flying vessels or buildings. It guarantees the escape of occupants from an aircraft after a crash landing where the exit may be located some distance from the ground. Military use includes deployment of troops from helicopters. The deployment is safer and quicker, especially important in hostile territory. Divers may also be faster deployed from a hovering helicopter in rescue missions thereby providing additional time in saving lives. Other uses for equipment of this nature are for emergency escape from buildings and construction cranes, for lowering loads to inaccessible places from a hovering helicopter, or for rapid delivery of rescue or fire fighting personnel and equipment from a helicopter at the scene of an aircraft accident while the helicopter remains hovering to direct operations or to divert flames with the rotor downwash. Large skyscrapers may have the system installed at interval stations to allow for safe exit to individuals who otherwise would not have an alternative escape rout. 
     The details of one or more embodiments of the invention are set forth in the accompanying drawings and description below. Other features, objects and advantages of the invention will be apparent from the following description of the preferred embodiments, the drawings and from the claims. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       Referring to the figures, wherein like numerals represent like parts throughout the several views: 
         FIG. 1  depicts a paratrooper descending from a helicopter; 
         FIG. 2A-2B  depict schematic diagrams of the improved descending system according to this invention; 
         FIG. 2C  depicts a detailed view of area A of  FIG. 2A ; 
         FIG. 2D  depicts a detailed view of the cable  115  of  FIG. 2A ; 
         FIG. 3  depicts a monitor over the helicopter door showing the measured distance from the landing spot; and 
         FIG. 4  is a schematic diagram of the components of the improved rappelling system. 
     
    
    
     DETAILED DESCRIPTION OF THE INVENTION 
     Referring to  FIG. 4 , the improved rappelling system  100  includes a computing processor  150  receiving continuously feedback signals from one or more sensors  104   a - 104   d  and based on these feedback signals controlling and continuously adjusting the speed of a rappelling device  110 . Rappelling device  110  includes a motor  102  and a cable/rope  115  that is propelled by the motor  102 . The system also includes a display  200  that depicts the measured parameters and calculated speed. 
     Referring to  FIG. 2A , the improved rappel device  110  is installed above the exit door  105  of the helicopter  90  or fastened above a skyscraper window or exit area. There are four units  110  on side  101   a  of the helicopter (shown in  FIG. 2A ) and three units  110  on side  101   b  of the helicopter  90  (shown in  FIG. 2B ). In other embodiments, there may be five or more units from each side of the flying vessel. Each device  110  houses a rope  115  of a certain length, which is wrapped around a small but very powerful motor  102 . The rope  115  is made of strong heat resistant fibers. In one example, the rope fibers comprise Kevlar™ material. Other examples of the rope fibers include heat resistant metal, composite materials, nano-materials, or other bulletproof materials. In yet other embodiments the rope is made of phase change materials (PCM), which change phase in response to temperature, chemicals, electricity or light. PCM materials may become soft, so that they can be bent and then hardened in order for the rope to be delivered under an angle relative to the building or flying vessel. In another embodiment, the cable  115  includes pieces  115   a  linked together as in a bicycle chain, shown in  FIG. 2D . This bicycle chain cable structure allows the cable to swing in the X-Y plane along direction  116   a  and prevents motion in the X-Y plane (along  117   a ) and Y-Z plane. This type of cable structure minimizes swinging of the cable  115  during decent and or ascent. In other embodiments, the end of the cable  115  is equipped with a detector  140  that can detect explosives, smoke, radiation, chemicals and provide light. 
     Referring to  FIG. 2C , the bottom tip of each rope  115  is equipped with a foot-stirrup  112  that is controlled by a self-adjusting motor-less mechanism grasping the foot upon weight/pressure and loosening upon release of pressure. Approximately five feet above the stirrup  112  there is a loop  114   c  and/or two hand loops  114   a ,  114   b , parallel from each other and one foot apart providing additional security and stability during the descent/ascent of the passenger  103 . In operation, passenger/jumper  103  pulls the rope, inserts his foot into the stirrup  112  and slips his left or right hand into the loop  114   c  or loop  114   a  and jumps down. 
     The movement of the rope  115 , its speed and transport length, are controlled by controller/processor  150 . Processor  150  receives feedback signals  108   a ,  108   b ,  108   c ,  108   d  from sensors  104   a ,  104   b ,  104   c ,  104   d , respectively, which measure the altitude, wind, water depth and distance of the helicopter from the landing target  70 . Sensors  104   a ,  104   b  are mounted in the front bottom sides of the helicopter  101   a ,  101   b , respectively. Sensors  104   c ,  104   d  are mounted in the back bottom sides of the helicopter  101   a ,  101   b , respectively. In other embodiments, sensors  104   a - 104   d  are mounted next to the rope housing on the building or the exit  105 . These sensor positions allow the processor  150  to calculate the distance to a target spot  70   a  precisely by measuring the distance via three projections  108   a ,  108   b ,  108   c  vertically and from the bottom of the helicopter. Based on the calculated data, the processor  150  generates a 3-dimensional view of the target area  70  and accordingly controls the motion of the motor  102  and provides suggestions as to what action needs to be taken, i.e., start descent/ascent, hold descent/ascent, optimal height for descent/ascent, among others. The sensor information is continuously fed to the processor and the processor continuously and in real time controls the ascent/descent of the jumper  103 . Examples of the sensors  104   a ,  104   b ,  104   c ,  104   d  include a global positioning system (GPS), radar, and sonar, among others. In other embodiments, the sensors are designed to also measure environmental parameters including temperature, humidity, visibility, precipitation, wind, among others. 
     Both the descent and ascent are extremely rapid. Upon approaching the landing target  70  the motor  102  slows down and the passenger  103  comes to a complete and safe stop approximately 2 feet from the target  70 . The landing targets may be stable ground, moving water vessel, train or moving car. The passenger/jumper  103  does not need to adjust for these scenarios as the instant real-time communication between the sensors  104   a ,  104   b  and processor  150  does that automatically. The sensitivity of device  110  allows for accurate landing even during poor visibility due to fog, smoke, darkness, or soft soil, among others. Similarly, during the ascent, upon reaching the landing area, the motor  102  slows down and the passenger comes to a complete stop in front of the landing area. Motors  102  are controlled independently from each other and from the helicopter main engine. Motors  102  are activated by the main engine but switch to autonomic operation, if necessary. This is the case when the flying vessel is in fire or almost destroyed in a combat situation, thereby allowing the pilot to escape from the falling machine. The computerized system  100  controls the descent speed and height, and adjusts the pilot&#39;s safe landing in spite of the constantly changing situation, i.e., non-steered tumbling helicopter. Each of these units has its own battery with a wireless recharging capability. The battery can also recharge itself by means of the moving rope during the descent. 
     On board the system  100  provides and displays all necessary information to the passenger/jumper  103  before the exit allowing for better preparedness. The information is displayed in display  200 , which is mounted close to the processor  150  or at the exit door  105 , as shown in  FIG. 3 . The displayed information includes in addition to the above mentioned 3-dimensional view of the target area  203 , the distance to target  202 , decent/ascent speed  205  and rope length  207 , among others. For water based targets, the passenger/jumper can instruct the device  100  to allow him/her to completely or partially submerge before exiting the rope. The sensor information also provides the passenger with distance to the water surface  204  and exact depth of the water target  206 . This information is especially critical during flood victim rescue. The system also includes an alarm  220  indicating a malfunction in any of the motor units, main engine or rope. The alarm could lock the failing unit or system  100 , so that it is un-operable. 
     The information is displayed in monitor  200  and is easily viewed by both the helicopter pilot and the jumper  103  prior to the decent. This instant visual feedback for the pilot is advantageous because it does not require a separate person functioning as a spotter. Upon a complete descent and exit of the passenger the device returns the rope immediately to its housing within seconds, entering the standby mode for the next passenger. The device can be remotely activated to keep the rope suspended and wait for the passenger to provide fast ascent. It can also be activated to lower automatically to pick up a passenger below. This can be especially beneficial to fire rescue personnel who can activate the skyscraper device systems below to access higher points in order to extinguish fires, or rescue individuals or other living or non-living objects. 
     In other embodiments, system  100  is a portable system that can be easily mounted at the helicopter exit door  105  or other locations for temporary or long-term use. Other locations/situations where system  100  can be installed and used include construction places, suspension cabin of the cable railway, evacuation from a big ship, offshore oil platforms, truck for rescue operation or a safety control during a sport descent into a canyon, emergency rescue descent into a crevasse, after mounting a portable system on the scene of the accident, speed control for beginners while skiing, speedy rescue of injured mountaineers, speleologists or tourists, or it can be fixed at a desired spot for efficient use in antiterrorism operations. In yet other embodiments, the jumper  103  is supported on a seat  130  attached to the rope  115 , as shown in  FIG. 2B . 
     Among the advantages of this invention may be one or more of the following. The delivery of paratroopers/passengers is extremely fast (of the order of a few seconds). The jumper doesn&#39;t need a special training. This type of evacuation is faster than a helicopter landing or both the pilot and passengers. Accurate radar and sonar sensors provide feedback signals for full control of the descent and ascent parameters. Passengers can escape the crash in case of engine problems, accidents, fighting, wind, or other problematic situations. Several people from both sides can be evacuated simultaneously. At night, a jumper doesn&#39;t need to watch the ground below and the distance to it, because the device measures the distance in any weather condition and guarantees a fast and smooth landing. Two jumpers can hold a heavy or long cargo and quickly deliver it down or lift it up to the helicopter. Two rescuers can also hold a wounded person and lift him up. In combat situation a jumping soldier can fire a gun with his free hand during the jump. A firefighter can use his free hand for the hose or anything he needs in an extreme situation. In an alleged ambush or active combat situation, 2 or 3 paratroopers can jump with a bulletproof shield and after landing they can use this protection. The next jumpers can land directly behind this shield while a laser beam confirms the destination spot. The invention enables fast and precise landing on moving targets, i.e., boats (even in the stormy ocean), moving car or train, among others. The system provides autonomous operation, i.e., each delivery device will work independently from the helicopter&#39;s engine and from each other. Thus in case of fire or engine problems the delivery device(s) are still able to operate. This landing technique enables quick release of the paratrooper or firefighters He just needs to remove his foot and hand thus being ready for immediate action as soon as the landing has taken place. The device can also be used for exterior evacuation from buildings. Since parachutes cannot be used in low flying circumstances, the occupants are always doomed to death. However, this novel system is the first design providing the chance to survive. 
     Several embodiments of the present invention have been described. Nevertheless, it will be understood that various modifications may be made without departing from the spirit and scope of the invention. Accordingly, other embodiments are within the scope of the following claims.