Patent Publication Number: US-2022220756-A1

Title: Impactor apparatus operated from rotorcraft

Description:
CROSS-REFERENCE TO RELATED APPLICATION 
     The present application claims the priority of U.S. Patent Application Ser. No. 62/839,213, filed on Apr. 26, 2019 and incorporated herein by reference. 
    
    
     TECHNICAL FIELD 
     The present disclosure relates to wrecking-ball type impact or equipment. 
     BACKGROUND 
     Large-scale demolition equipment such as wrecking balls operate with the momentum of a mass impacting objects. While such systems are effective, the mass must be hung from a surrounding structure such as a crane. This may render the use of wrecking balls inappropriate or unfeasible, when time is a factor, such as in emergencies. In other scenarios, it may not be possible to bring a crane to a demolition site. 
     SUMMARY 
     In a first aspect, there is provided an impactor apparatus for use with a rotorcraft, comprising: a reeling apparatus adapted to be transported by the rotorcraft, the reeling apparatus including at least a spool, an actuation system for rotating a spool in a winding direction, and a brake system for braking a rotation of the drum; a cable wound onto the spool; and an impactor mass attached to a free end of the cable; wherein a release of the brake system causes a drop of the impactor mass by gravity, from a loaded condition, the actuating system subsequently rotating the spool to wind the cable onto the spool to put the impactor mass in a loaded condition. 
     Further in accordance with the first aspect, for instance, the reeling apparatus includes a clutch unit between the actuation system and the spool. 
     Still further in accordance with the first aspect, for instance, the clutch unit includes at least one spring exerting a biasing force between the actuation system and the spool. 
     Still further in accordance with the first aspect, for instance, the at least one spring surrounds a shaft of the actuation system, and is between an abutment surface secured to the shaft and a coupler secured to the spool. 
     Still further in accordance with the first aspect, for instance, the coupler is a disk inside a cavity of a core of the spool. 
     Still further in accordance with the first aspect, for instance, the at least one spring is at least one Belleville spring. 
     Still further in accordance with the first aspect, for instance, the clutch unit includes a tensioner for adjusting the biasing force applied by the spring. 
     Still further in accordance with the first aspect, for instance, the tensioner has at least one fastener applying a pressure on the at least one spring. 
     Still further in accordance with the first aspect, for instance, the at least one fastener is located inside a cavity of a core of the spool and is accessed from an exterior of the reeling apparatus. 
     Still further in accordance with the first aspect, for instance, the actuation system includes an electric motor and a gear box. 
     Still further in accordance with the first aspect, for instance, a rotational axis of the motor is transverse to a rotational axis of the spool. 
     Still further in accordance with the first aspect, for instance, the brake system includes a strap selectively applying a braking force on a drum surface of the spool. 
     Still further in accordance with the first aspect, for instance, the brake system includes a piston and at least one brake spring biasing the brake system to apply the braking force. 
     Still further in accordance with the first aspect, for instance, the brake system includes a braking actuator operatively connected to piston to apply a force against a biasing action of the at least one brake spring to release the braking force. 
     Still further in accordance with the first aspect, for instance, the braking actuator is electrically powered. 
     Still further in accordance with the first aspect, for instance, the brake system includes a locking actuator operatively connected to piston to apply a force concurrent with a biasing action of the at least one brake spring to lock the brake system. 
     Still further in accordance with the first aspect, for instance, the locking actuator is electrically powered. 
     Still further in accordance with the first aspect, for instance, the reeling apparatus includes a cutter assembly adjacent to the cable and operable to section the cable. 
     Still further in accordance with the first aspect, for instance, the cutter assembly has a frame defining a hole for passage of the cable therethrough, and a cutter in guillotine arrangement with the hole. 
     Still further in accordance with the first aspect, for instance, the cutter is spring-loaded in a loaded condition, the cutter assembly having a detent mechanism for releasing the cutter from the loaded condition. 
     Still further in accordance with the first aspect, for instance, the detent mechanism is actuated by a cutter actuator. 
     Still further in accordance with the first aspect, for instance, the cutter actuator is electrically powered. 
     Still further in accordance with the first aspect, for instance, the frame of the cutter assembly is a carriage slidingly mounted to a frame of the reeling apparatus. 
     Still further in accordance with the first aspect, for instance, a controller is provided operating the actuation system and the brake system. 
     In a second aspect, there is provided a system for operating an impaction with an impactor mass at an end of at least one cable, comprising: at least one processing unit; a non-transitory computer-readable memory communicatively coupled to the processing unit and comprising computer-readable program instructions executable by the processing unit for actuating a rotation of a spool to maintain the cable taut, and to wind the cable on the spool without raising the impactor mass; braking the rotation of the spool to hold the impactor mass in a loaded condition; and releasing the brake to cause a drop of the impactor mass by gravity, from the loaded condition. 
     Further in accordance with the second aspect, for instance, the computer-readable program instructions executable are further for activating a braking actuator for releasing the brake, and deactivating the braking actuator for braking the rotation. 
     Still further in accordance with the second aspect, for instance, the computer-readable program instructions executable are further for activating a locking actuator to redundantly braking the rotation of the spool. 
     Still further in accordance with the second aspect, for instance, the computer-readable program instructions executable are further for actuating a cutter to section the cable. 
     In a third aspect, there is provided a system for operating an impaction with an impactor mass at an end of at least one cable, comprising: at least one processing unit; a non-transitory computer-readable memory communicatively coupled to the processing unit and comprising computer-readable program instructions executable by the processing unit for actuating a rotation of a spool to maintain the cable taut, and to wind the cable on the spool without raising the impactor mass; braking the rotation of the spool to hold the impactor mass in a loaded condition; and operating an electromagnet to cause a drop of the impactor mass by gravity, from the loaded condition. 
     Further in accordance with the third aspect, for instance, the computer-readable program instructions executable are further for deactivating a braking actuator for braking the rotation. 
     Still further in accordance with the third aspect, for instance, the computer-readable program instructions executable are further for activating a locking actuator to redundantly braking the rotation of the spool. 
     Still further in accordance with the third aspect, for instance, the computer-readable program instructions executable are further for actuating a cutter to section the cable. 
    
    
     
       DESCRIPTION OF THE DRAWINGS 
       Reference is now made to the accompanying figures in which: 
         FIG. 1  is a block diagram of an impactor apparatus with rotorcraft in accordance with the present disclosure; 
         FIG. 2  is a perspective view of the reeling apparatus in accordance with the present disclosure; 
         FIG. 3  is an assembly view of the reeling apparatus of  FIG. 2 ; 
         FIG. 4  is a cross sectional view of a spool assembly and actuation system of the reeling apparatus of  FIG. 2 ; 
         FIG. 5  is an exploded view of the actuation system and of a clutch unit of the reeling apparatus of  FIG. 2 ; 
         FIG. 6  is a cross sectional view of the clutch unit of  FIG. 5 ; 
         FIG. 7  is a perspective view of a brake system of the reeling apparatus of  FIG. 2 ; 
         FIG. 8  is an elevation view of the brake system of  FIG. 7 ; 
         FIG. 9  is an elevation view of the reeling apparatus showing a cutter assembly thereof; 
         FIG. 10  is a perspective view of the cutter assembly of  FIG. 9  as mounted to a frame of the reeling apparatus; 
         FIG. 11  is a perspective sectional view of the cutter assembly of  FIG. 10 ; 
         FIG. 12  is a sectional view of the cutter assembly of  FIG. 10 ; and 
         FIG. 13  is a perspective view of an exemplary embodiment of an impactor mass. 
     
    
    
     DETAILED DESCRIPTION 
     Referring to the drawings, there is shown an impactor apparatus  10  in accordance with the present disclosure. The impactor apparatus  10  is of the type that may be operate from rotorcraft A, such as helicopters, drones, etc. The impactor apparatus  10  may have one or more of a reeling apparatus  20 , a cable or cables  30 , an impactor mass  40 , a sling  50 , a controller  60 .
         The reeling apparatus  20  is the structural and operational unit of the impactor apparatus  10 , in that it will hold and release the cable  30  with impactor mass  40 , to then reel them back into a loaded condition.   The cable  30  is typically a metal cable from which the impactor mass  40  is hung. The cable  30  may also be known as a rope, a sling, etc.   The impactor mass  40  is a mass of any appropriate shape selected to perform the impact. For example, the impactor mass  40  may be a ball, or may have any other appropriate shape, such as the one shown in  FIG. 13 . The impactor mass  40  may be heavy, shock resistant, hollow (for buoyancy), pointy.   The sling  50  may interface the reeling apparatus  20  to the rotorcraft A in an embodiment, though the reeling apparatus  20  may be fixed directly to the rotorcraft A.   The controller unit  60  may optionally be present, to operate the reeling apparatus  20 . The controller unit  60  may include a processor and wireless or remote control capability.       

     The reeling apparatus  20  may have numerous assemblies, systems, units, etc, to operate in the manner described below. For example, the reeling apparatus  20  may have a frame  210 , a spool assembly  220 , an actuation system  230 , a clutch unit  240 , a brake system  250  and/or a cutter assembly  260 , all of which are described below. In accordance with an embodiment, referring to  FIGS. 2 and 3 , the reeling apparatus  20  has a frame  210  to supports its numerous components. The frame  210  may be rigidly secured to the rotorcraft A, and/or may be hung from the rotorcraft A by the sling  50 , as a possibility. 
     The frame  210  may have different configurations with frame members of different types. For example, the frame  210  may be made of a tubular or elongated frame members to have a skeleton like appearance. In another embodiment, as shown, the frame  210  is made of plate members. The frame  210  may also be a combination of elongated frame members and plate members, with the configuration of  FIGS. 2 and 3  provided as an example only. 
     The frame  210  may have a base plate  211  that supports other components of the reeling apparatus  20 . The base plate  211  may have connectors to be secured or connected to the apparatus  10 . For example, the base plate  211  may have eyelets  211 A at its four corners to be attached to the apparatus  10  by cables, e.g., forming the sling  50 . Chains, rods, etc may be used as well. A slot  211 B may be defined in the base plate  211  and may be present for the cable  30  to pass through the base plate  211 . 
     An end wall assembly  212  may project upwardly from the base plate  211 . The end wall assembly  212  may be defined by one or more plates, e.g., structural components in steel, body components in aluminum. The end wall assembly  212  may have an axle portion  212 A for rotatably supporting a rotating component, such as a spool assembly  220  described below. The end wall assembly  212  may also be used to interface the spool assembly  220  to an actuation system  230 . The end wall assembly  212  may also have roller support  212 B configured to support cable guides. As also observed, the end wall assembly  212  may support electrical and/or electronic components of the reeling apparatus  20 . 
     Another end wall assembly  213  may project upwardly from the base plate  211 , and is spaced from the end wall assembly  212 , such that the spool assembly  220  may be located between the end wall assembly  212  and the end wall assembly  213 . The end wall assembly  213  may also be defined by one or more plates, e.g., structural components in steel, body components in aluminum. The end wall assembly  213  may have a bore  213 A for rotatably supporting the other end of spool assembly  220  described below. The end wall assembly  212  may also have roller support  213 B configured to support cable guides, concurrently with the roller support  212 B. For example, a pair of parallel rollers  214 B are rollingly supported by the roller support  212 B and  213 B. Non-rolling bars could be used as another possibility, if cable guides are present. 
     Cage walls  215  may also project from the base plate  211 . For example, the cage walls  215  may extend from one end wall assembly to another. The cage walls  215  may be shaped so as to surround the spool assembly  220 , so as to contain the cable  30  therein. Therefore, the cage walls  215  may form a generally cylindrical enclosure around the spool assembly  220 , though the cage walls  215  may be made of plate segments as shown. 
     A side wall assembly  216  may also project upwardly from the base plate  211 , and is transversely arranged relative to the end wall assembly  212  and the end wall assembly  213 . The side wall assembly  216  may also be defined by one or more plates, e.g., structural components in steel, body components in aluminum. In an embodiment, the side wall assembly  216  encloses and/or supports parts of the brake system  250  that may be operated to brake the spool assembly  220 . 
     Referring to  FIGS. 3 and 4 , The frame  210  rotatably supports a spool assembly  220  or spool upon which the cable  30  is wound. The spool assembly  220  may have spool defined by a core  221 , upon which is wound the cable  30 . The core  221  may have a cylindrical shape, for example. The core  221  may be tubular or partially hollow, to accommodate components as described herein. In an embodiment, bearings  222  are located inside the core  221 , and may be connected to the end wall assemblies  212  and  213 , such that the core  221  rolls on itself. 
     A flange  223  may be provided at one end of the core  221 , and another flange or drum  224  may be positioned at the other end of the core  221 , to retain the cable  30  wound around the core  221 . The flange  223  and the drum  224  may be rigidly connected to the core  221  so as to rotate therewith. In particular, the drum  224  may define the braking surface of the spool assembly  220  and is operatively connected to the brake system  250 . For instance, the drum  224  may be defined by a drum portion  224 A separating a pair of flanges  224 B, such that a collar of the brake system  250  is held captive around the drum portion  224 A. Other configurations are considered. 
     Referring to  FIGS. 3-5 , an actuation system  230  is provided to collaborate with the spool assembly  220  so as to actuate a rotation of the spool assembly  220  in a winding direction. For example, the actuation system  230  has a unidirectional electrical motor  231 , although other types of motor are contemplated. For example, the spool assembly  220  may be connected to the frame  210  by an automatic reeling system (e.g., with springs) to bias a rotation of the spool assembly  220  in an orientation, and hence force an autowinding or self-winding of the spool assembly  220  and cable  30  thereon. In an embodiment with the actuation system  230 , the latter does not have the capacity of raising the impactor mass  40 , as explained below. Consequently, the sizing of the actuation system  230  may be reduced in contrast to a motor having the capacity or lifting the impactor mass  40 . In an embodiment, the axis of the motor  231  is transverse to a rotational axis of the spool assembly  220 . A gear box  232  (e.g., reduction gear box) or like coupler may be used to orient a shaft  233  with the rotational axis of the spool assembly  220 . Other transmissions could be present (e.g., belt drive, direct drive, etc). The gear box  232  may therefore cause a speed reduction from the shaft of the motor  231  to the spool assembly  220 . 
     Referring to  FIGS. 4-6 , a clutch unit  240  may be present between the spool assembly  220  and the actuation system  230 . The clutch unit  240  is provided to disengage the spool assembly  220  from the actuator unit  230 . More particularly, in an embodiment, the actuation system  230  does not have the capacity of raising the impactor mass  40 , as explained below. If the tension is beyond a given threshold in the cable  30 , the clutch unit  240  may disengage the spool assembly  220  from the actuation system  230 . 
     According to an embodiment, the clutch unit  240  has a support  241  that is mounted to the shaft  233  so as to rotate therewith. In an embodiment, other components of the clutch unit  240  are mounted directly to the shaft  233  (or to the shaft of the motor  231 ), i.e., without the support  241 . The support  241  may have its own shaft  241 A coaxial with the shaft  233  and with the rotational axis of the spool assembly  220 . An abutment  241 B, such as a flange, may be at an end of the shaft  241 A. 
     The clutch unit  240  may have different combinations of a series of components mounted to the shaft  241 A. For example, the clutch unit  240  may have at least some of a washer  242 , a coupler  243 , another washer  244 , one or more Belleville springs or washers  245 , a lock ring  246  and/or a tensioner  247 , sequentially. For instance, one or both of the washers  242  and  244  may be absent. The washers  242  and  244  may be wear components as they may erode or wear as the coupler  243  rotates against them. 
     The coupler  243  may be a disk or like component, with a central bore so as to be mounted around the shaft  241 A. Fasteners  243 A may be provided to secure the coupler  243  to the core  221  of the spool assembly  220 , such that the coupler  243  rotates with the core  221 . The core  221  may thus even be part of the spool assembly  220  as opposed to being part of the clutch unit  240 . The coupler  243  could be welded or connected by other suitable ways to the core  221  (e.g., splines) so as to rotate with it. The coupler  243  may be generally free to rotate about the shaft  241 A. 
     The Belleville spring  245  may also be known as a conical spring washer, coned-disc spring, disc spring, cupped spring washer. The Belleville spring has a conical shell which that is loaded along its axis, with the frusto-conical shape giving the spring  245  its characteristic biasing force. The spring  245  is configured to positioned to apply a coupling force on the coupler  243 , so as to engage the coupler  243 , and thus the spool assembly  220 , with the shaft  241 A. In an embodiment, a coil spring is used instead of, or in supplement to, a Belleville spring. 
     A lock ring  246  or like abutment is secured to the shaft  241 A, at a fixed axial position. The lock ring  246  rotates with the shaft  241 A. The lock ring  246  may be secured to the shaft  241 A by any appropriate means. For example, the lock ring  246  may be bolted, screwed, welded, etc to the shaft  241 A. In an embodiment, the position of the lock ring  246  is such that it compresses the spring  245 , such that a given biasing force is applied against the coupler  243 . A frictional force consequently results, such as via the washer  244 , to engage the coupler  243  with the shaft  241 A in rotation, the frictional force being proportional to the biasing force. 
     Optionally, the tensioner  247  may be present to adjust the biasing force. In an embodiment, the tensioner  247  includes a ring  247 A that is fixed to the lock ring  246 . The ring  247 A has one or more threaded holes to receive bolts  247 B or like fasteners (e.g., set screws). The bolts  247 B may be screwed toward the spring(s)  245 , passing for example through holes  246 A in the lock ring  246  to compress the spring  245  against the coupler  243 , consequently increasing the biasing force. In another embodiment, the holes  246 A in the lock ring  246  are threaded, such that the ring  247 A may not be necessary. In another embodiment, the lock ring  246  is screwed to the shaft  241 A, and its axial position may be adjusted to increase or decrease the biasing force. The arrangement featuring the bolts  247 B may provide for in situ adjustment of the biasing force. For example, the frame  210  has the bore  213 A in the end wall assembly  213  aligned with the core  221 , such that a user may access the bolts  247 B. 
     A brake system  250  may be present as well. The brake system  250  may be of any appropriate type, including a disc brake set  25 A with a disc on a shaft or like rotating part of the spool assembly  220 . Referring to  FIGS. 7 and 8 , a brake system  250  is shown in greater detail. The brake system  250  may be activated in order to stop the spool assembly  220  from rotating. This may imply that the clutch unit  240  disengages the drive of the actuation system  230  from the spool assembly  220 , as a result of the action of the brake system  250 . 
     The brake system  250  is shown as being a drum brake in that it applies a braking force to the drum  224  of the spool assembly  220 . Other types of brake systems may be used, such as disc brakes, rim brakes, etc, all of which could be used as alternatives. The brake system  250  has a brake frame  251  that is mounted to a structure of the reeling apparatus  20 . For example, the brake frame  251  could be mounted to the side wall  216  ( FIG. 3 ) although the brake frame  251  could be mounted elsewhere. The brake system  250  may have a brake strap  252  that forms a loop in the manner shown in  FIG. 8 . The brake strap  252  is connected at a first end to the brake frame  251  and to a piston  253 , or like translational device, at a second end thereof. A wear member  252 A may be optionally positioned inside the brake strap  252  and comes into contact with the brake drum  224 . The brake strap  252  surrounds the drum  224  and, in a braking action, strangles the drum  224  so as to prevent it from rotating. In order to cause this strangling braking action, the piston  253  has a strap connector  253 A that is displaceable in translation for example, as mounted to its piston shaft. Springs  253 B may act on the piston  253  in an embodiment bias the strap connector  253 A toward a braking position. The springs  253 B may be one or more coil springs, as an example, although it is also considered to use other types of springs including spring washers. Thus, the springs  253 B exert a biasing force for the strap connector  253 A of the piston  253  to be biased upwardly in  FIG. 8  such that the brake strap  252  strangles the drum  224 . 
     In order to release the braking, the piston  253  must exert a force against the springs  253 B—the brake system  250  as shown may be referred to as a normally braking system. A head  253 C is at a free end of the piston  253  and when a force is applied on the head  253 C, the strap connector  253 A may translate downward. A braking actuator  254  is coupled to the head  253 C by way of a linkage  255 . For example, the braking actuator  254  is an electrically activated device such as a solenoid, a linear actuator, though other types of devices may be used. A translation force applied by the braking actuator  254  is converted by the linkage  255  into a downward push on the head  253 C, causing the downward movement of the strap connector  253 A. Other arrangements are considered - the arrangement shown with the linkage  255  has a levering effect on the piston  253 , by the position of its pivot axis farther from the braking actuator  254  than from the contact point with the head  253 C. In another embodiment, the braking actuator  254  may, for example, push straight against the piston  253 , i.e., without linkage  255 . 
     Deactivation of the brake system  250  would require a counterforce to be applied to the brake system  25 , such as an electrical signal and/or applied mechanical force. Stated differently, in an embodiment, the brake system  250  may normally block a rotation of the spool assembly  220 , unless a signal or force is applied to the brake system  25 . In another embodiment, the arrangement is not a normally braking arrangement but a normally released arrangement. In such an arrangement, as the braking actuator  254  is actuated, it causes a release of the braking. 
     In an embodiment, the brake system  250  may have another actuator, shown as locking actuator  256 . The locking actuator  256  may be another electrically actuated device, e.g., another solenoid, as a possibility among others. The locking actuator  256  may be used with linkage  257  in order to apply a force concurrent to that of the springs  253 B. Therefore, the locking actuator  256  provides supplemental and redundant braking actuation. In an embodiment, the locking actuator  256  may be actuated as a safety to ensure that the spool assembly  220  does not rotate, to complement the action of the springs  253 C. This may for instance be of use when the reeling apparatus  20  with the impactor mass  40  is transported over sensitive zones. 
     Referring to  FIGS. 9 to 12 , a cutter assembly is generally shown at  260 . The cutter assembly  260  is optional and may be present in order to section the cable  30  in particular circumstances. The cutter assembly  260  is mounted to the frame  210 , e.g., to the base plate  211 , via a pair of rails  261 . The cutter assembly  260  may have its own frame, for instance in the form of a carriage  262  is slidingly connected to the rails  261  so to move in translation for the carriage to move along the slot  211 B in the base plate  211  of the frame  210 . This translational movement is to follow the cable  30  along the spool assembly  220 . 
     The carriage  262  may, for example, be made of a pair of plates forming a gap therebetween, as one of numerous embodiments. A hole  262 A may be provided and may extend through the two plates of the carriage  262 ., with the cable  30  passing through the hole  262 A. Sliders  263  may optionally be connected to the carriage  262  so as edges of the slot  211 B of the base plate  211  from the cable  30 . Idlers  264  are provided at the periphery of the hole  262 A, or like guides (rollers, low friction bars, etc). The idlers  264  may be in two pairs. For example, the idlers  264  may form a first pair above the hole  262 A and a second pair below the hole  262 A. The idlers  264  may contact the cable  30  to ensure that the cable passes through the hole  262 A, with limited friction so as to limit damage to the cable  30 . 
     A cutter  265  may be slidingly received in the gap defined between the plates of the carriage  262 . The cutter  265  may be a plate cutter, knife, etc, and may be constrained to transitional movement, though a rotational movement may be used as an alternative. The cutter  265  may be of the guillotine type, with a cutting edge  265 A that is aligned relative to the hole  262 A. Springs  266  bias the cutter  265  to a cutting position. The springs  266  may be coil spring(s), Belleville springs, etc, and exert suitable biasing force to cause a sectioning of the cable  30 . More specifically, a strong biasing force is applied to the cutter  265  such that the cable  30  passing through the hole  262 A would be sectioned if the cutter  265  were released from its loaded condition. 
     The cutter  265  is locked into a loaded condition by a detent mechanism  267 . The release of the detent mechanism  267  causes the cutter  265  to guillotine the cable  30  by the action of the springs  266 . According to an embodiment, the detent mechanism  267  may have a retaining member, such as balls  267 A, that mechanically blocks the cutter  265  to retain it in the loaded condition. A plunger  267 B may be lodged in the carriage  262  and may have a cavity that may align with the balls  267 A so as to allow the balls  267 A to disengage from the condition in which they retain the cutter  265  loaded. Detent  267 C is charged with displacing the plunger  267 B, and may be pivotally mounted to the carriage  262 . The detent  267 C may have a finger engaged with the plunger  267 B such that a rotation of the detent  267 C causes the translation of plunger  267 B. The translational of the plunger  267 B aligns its cavity with the balls  267 A to deploy the cutter  265 . An actuator  268  is used to release the cutter  265  in given circumstances, by acting on the detent mechanism  267 . The actuator  268  may be an electrically powered device, such as a solenoid. The actuator  268  may be connected to the detent  267 C of the detent mechanism  267  by way of linkage  269 . 
     In operation, the cable  30  may thus be wound on the spool assembly  220 . In an embodiment, the end of the cable  30  that is attached to the spool assembly  220  is not fixed to the spool assembly  220 . For example, the end of the cable  30  may be laced to the spool assembly  220 , so as to be releasable therefrom. The cable  30  may remain attached to the spool assembly  220  by a combination of its winding and inherent frictional forces. In an embodiment, during operation, the impactor apparatus  10  is given a height of operation, i.e., a maximum distance between the impactor mass  40  and the reeling apparatus  20 . At such height of operation, a suitable amount of cable  30  remains wound onto the spool assembly  220  for a subsequent reeling action. In case of emergency, such as if the impactor mass  40  is stuck, the rotorcraft A may increase its altitude to a height at which the cable  30  detaches from its engagement with the spool assembly  220 . Additionally, the reeling apparatus  20  may section the cable  30  if the cutter assembly  260  is present. 
     The controller unit  60  may be used to command the operation of the reeling apparatus  20 , and may be part of a system to operate a method for impacting with an impactor mass. The controller unit  60  may include a processing unit, and a non-transitory computer-readable memory communicatively coupled to the processing unit and comprising computer-readable program instructions executable by the processing unit for operating the reeling apparatus  20  as described herein. For example, the controller unit  60  is connected to the various electrically components of the reeling apparatus  20  to operate the actuation system  230 , the brake system  250  and/or the cutter assembly  260 , if such components are present. This may include operating one or more of the motor  231 , the braking actuator  254 , the locking actuator  256 , and/or the cutter actuator  268 . For example, the controller unit  60  may start and stop the actuation system  230 . In an embodiment, there is no clutch unit  240 , with the controller unit  60  operating intermittently the actuation system  230  and the brake system  250  to wind the cable  30  and drop the mass  40 . The controller unit  60  may release the brake system  250  if normally closed, or otherwise activate the brake system  250 . The controller unit  60  may operate the cutter assembly  260  to section the cable  30 , in emergency situations. The controller unit  60  may have a slave unit on the reeling apparatus  20 , and a master unit in the cockpit (e.g., as part of the flight management console), or usable as a remote control or like handheld device (including smartphone and tablet). The controller unit  60  may consequently include wireless telecommunication capacity, or wired communication capacity. The various components of the controller unit  60  may be self-powered, with batteries. 
     During use, the reeling apparatus  20  is attached directly to the rotorcraft A or via a sling  50 , as an example. The cable  30  is wound to the spool assembly  220  in such a way that the impactor mass  40  is in a loaded condition. In an embodiment, the brake system  250  is normally closed, whereby the brake system  250  ensures that the impactor mass  40  remains in the loaded condition. The locking actuator  256  may also assist in performing this function, or provide another level of safety supplementary to that of the brake system  250 . 
     The rotorcraft A may then transport the impactor mass  40  in a hung arrangement, to reach an impacting site. For example, the impacting site may be one where a log jam or ice jam is present in a waterway (e.g., river, brook). Other circumstances are applicable, include the demolition of buildings and structures. The rotorcraft A hovers over the impacting target, within the height of operation (i.e., at most at the height of operation), and the impactor mass  40  is released by action of the brake system  250 . The impactor mass  40  drops by gravity. In an embodiment, the brake system  250  is activated for the brake system  250  to remove its braking effort on the spool assembly  220 . In this embodiment or in another embodiment, the locking actuator  256  may also be activated to stop its blocking effort on the spool assembly  220 . Because of such release, the impactor mass  40  drops and impacts the impacting target. 
     In an embodiment, after impaction, the cable  30  must be wound to return the impactor mass  40  to a loaded condition. In an embodiment, this is partially achieved by the actuation system  230  or self-winding arrangement, and by the rotorcraft A reducing its altitude. These actions may for example occur simultaneously. In that way, the actuation system  230  or self-winding arrangement may dedicate their forces to the winding action, without being required to raise the impactor mass  40 . 
     In an embodiment, the motor  231  continuously runs. However, the clutch unit  240  disengages the motor  231  from the spool assembly  220  such that the motor  231  does not have to lift the impactor mass  40 . In such a scenario, the motor  231  is engaged to the spool assembly  220  only when there is a loss of tension in the cable  30 , such as when the rotorcraft A reduces its altitude to wind the cable  30  on the spool assembly  220 . As a result, the motor  231  may be of lesser size than a motor that would be tasked with lifting the impactor mass  40 . The actuation system  230  is therefore tasked with maintaining the cable  30  taut and reeling in the cable  30 , but may not be capable of supporting the impactor mass  40 . This may be an action performed by the brake system  250  acting on the spool assembly  220 . 
     In case of emergency, such as if the impactor mass  40  being stuck, the rotorcraft A may increase its altitude to a height at which the cable  30  detaches from its engagement with the spool assembly  220 . It may also be possible to section the cable  30  using the cutter assembly  260 . 
     In another embodiment, the impactor mass  40  is connected to the cable  30  by an electromagnet at the end of the cable  30 , and operated by the controller  60  to release the impactor mass  40  when over an impacting site. The electromagnet could be used with the reeling apparatus  20  as an option. The cable  30  would be structural, i.e., support the impactor mass  40 , but would also power the electromagnet. 
     The controller unit  60  may be part of a system for operating an impaction with an impactor mass at an end of at least one cable, with one or more processing unit, and a non-transitory computer-readable memory communicatively coupled to the processing unit and comprising computer-readable program instructions executable by the processing unit. The instructions may be for actuating a rotation of a spool to maintain the cable taut, and to wind the cable on the spool without raising the impactor mass; braking the rotation of the spool to hold the impactor mass in a loaded condition; and releasing the brake to cause a drop of the impactor mass by gravity, from the loaded condition. The computer-readable program instructions may further be for for activating a braking actuator for releasing the brake, and deactivating the braking actuator for braking the rotation; for activating a locking actuator to redundantly braking the rotation of the spool; for actuating a cutter to section the cable; and/or for operating an electromagnet to cause a drop of the impactor mass by gravity, from the loaded condition; for latching the impactor mass to the cable by operating the electromagnet. 
     The above description is meant to be exemplary only, and one skilled in the art will recognize that changes may be made to the embodiments described without departing from the scope of the invention disclosed. Still other modifications which fall within the scope of the present invention will be apparent to those skilled in the art, in light of a review of this disclosure, and such modifications are intended to fall within the appended claims.