Patent Description:
This application relates to a system for automated de-icing of an aircraft. More generally, the disclosure is directed at aircraft, and more specifically, at automating the de-icing process for an aircraft.

Airport and airline de-icing management for decision making, marshalling, spraying, inspection, scheduling and provisioning of the radio direction finder (RDF) are for the most part manual. Some advanced information systems are used to reduce manual involvement and costs. However, this only partially mitigates or reduces the risks and shortcomings of the system, with human performance the single most critical and difficult part of process, leading to serious breakdowns and delays to winter flight schedules.

<CIT> is directed at an aircraft deicing system that includes a base, a plurality of motorized wheel assemblies, a proximal deck and a distal deck, and a plurality of articulated arms that is positioned adjacent the entire aircraft for providing de-icing.

<CIT> is directed at a de-icing system that includes a sensor that determines a distance between a de-icing spray nozzle and an area of an aircraft that is to be de-iced. After determining the distance, an extendable spray arm extends the nozzle from a first position to a second position to spray the aircraft. The spray arm is connected to a truck that is stationary during the de- icing process.

<CIT> discloses a high-speed airplane deicing installation system with two mobility units <NUM> carrying a cleaning structure <NUM> and rolling the cleaning structure from the nose towards the tail of an airplane while spraying de-icing fluid.

The problem of the invention is to provide an apparatus that overcomes at least one of these disadvantages relating to costs and human performance.

This problem is solved by the system for automated de-icing of an aircraft according to claim <NUM>.

The apparatus of the disclosure overcomes at least one of these disadvantages relating to costs and human performance.

The apparatus may be seen as including two different innovations. A first innovation may be seen as a drive platform, which may also be described as an autonomous mobile platform (AMP), and a second innovation may be seen as the integration of a set of spray arms (for delivering de- icing fluid) with the AMP.

In one embodiment, the AMP is multi-wheeled chassis that can navigate and traverse throughout the aerodrome (or airport) autonomously or under remote control. In another embodiment, the set of spray arms that are integrated with the AMP is built to carry out a specific task, which in the current embodiment, is to deliver the de-icing fluid. In another embodiment, the set of spray arms may be used to apply other fluids to aircraft.

In an aspect of the disclosure, there is provided a system for automated de-icing of an aircraft including a mobile platform, the mobile platform including a set of wheels and a swerve drive for controlling movement of the set of wheels; a contamination removal apparatus mounted to the mobile platform for delivering contamination removal treatment to the aircraft; and; a processor for receiving instructions associated with the contamination removal treatment from an external party and for controlling the mobile platform and contamination removal apparatus to deliver the contamination removal treatment.

In another aspect, the contamination removal apparatus includes a crane am portion; and at least one spray arm portion. In an aspect, the crane arm portion is mounted to the mobile platform and the at least one spray arm portion is pivotally connected to the crane arm portion. In yet another aspect, the at least one spray arm portion includes an upper spray arm portion and a lower spray arm portion.

In another aspect, the upper spray arm portion is pivotally connected to the lower spray arm portion. In a further aspect, each of the upper spray arm portion and the lower spray arm portion comprise nozzles to deliver de-icing fluid or compressed gas to the aircraft. In another aspect, the system further includes set of sensor for determining environmental conditions and for communicating the environmental conditions to the processor. In yet another aspect, the system includes a set of LEDs for indicating operational status and/or event status of the system. In another aspect, the nozzle individually articulates in axes parallel and perpendicular to the spray arm portion to which it is attached.

The disclosure is directed at a system for automating the de-icing of an aircraft. In one embodiment, the system may be seen as a mobile de-icing machine that includes a mobile platform (which may be seen as a swerve platform or an autonomous mobile platform) which enables the system to move around an airport to get from a starting location to a de-icing location. In one embodiment, the starting location may be where the de-icing machine is located and the de-icing location is where the aircraft that needs de-icing is located.

During operation, the system traverses the outline of the aircraft to apply or spray the de-icing fluid on the fuselage and tail (and other parts) of the aircraft in a continuous motion. The mobile platform preferably includes a set of wheels that are able to swerve whereby the mobile platform may also be seen as a swerve drive platform. In one embodiment, this allows the apparatus to pivot <NUM> degrees without having to move from a stationary position.

In another embodiment of the disclosure, the system includes a swerve drive platform and a dedicated/dynamic de-icing fluid and/or compressed gas spray system. The apparatus may further include ice detection camera technology for monitoring the de-icing process or for assisting in determining where de-icing is required. The apparatus is preferably integrated as part of an overall de-icing management system that is able to provide at least, but is not limited to, job identification information, location information, aircraft type information, fluid monitoring information and/or pilot management information.

Turning to <FIG>, a schematic diagram of a system for automated de-icing of an aircraft is shown. The system <NUM> includes a mobile platform <NUM>, which itself includes a platform <NUM> and a set of wheels <NUM> mounted to the platform <NUM> allowing the system <NUM> to move from a starting location to a de-icing location. In a preferred embodiment, the wheels <NUM> are able to swivel or swerve with respect to the platform <NUM>. This may be enabled by a swerve drive <NUM>. More importantly, the swerving of the wheels can be performed when the system or apparatus <NUM> is in a stationary position.

In the current embodiment, mounted to the platform <NUM> is a crane arm portion <NUM>. The crane arm portion <NUM> is mounted such that it can swivel or move with respect to the platform <NUM>. De-icing spray arm portions <NUM> are mounted to the crane arm portion <NUM>. Although three separate de-icing spray arm portions are shown in <FIG>, it will be understood that the design of the spray arm portions <NUM> may be based on the requirements of the system <NUM>. In a preferred embodiment, the system includes a system drivetrain to control the crane arm portion and the de-icing spray arm portions. In a preferred embodiment, the spray arm portions are electrically powered by a single battery. In another embodiment, the spray arm portions may telescope with respect to each other.

The integration of the spray arm portions <NUM> with each other and with the crane arm portion <NUM> is preferably via individual joints <NUM> that allow the spray arm portions <NUM> and the crane arm portion <NUM> to pivot with respect to each other. In <FIG>, the apparatus is seen as being in one of many operational positions whereby the spray arm portions <NUM> are ready to deliver the de-icing fluid. Alternatively, the spray arm portions may deliver compressed gas to remove the contamination or a combination of de-icing fluid and compressed gas. The spray arms portions <NUM> further include a set of de-icing nozzles <NUM> that deliver the de-icing fluid (and/or compressed gas) to the aircraft. Each nozzle <NUM> is able to individually articulate in both the parallel and perpendicular axis' relative to the boom or spray arm portion. The apparatus <NUM> may also include a de-icing fluid delivery mechanism and storage <NUM>. The mechanism and storage include pumps that assist in delivering the de-icing fluid or compressed gas to the spray arm portion <NUM> and the de-icing prays <NUM>). In one embodiment, the pumps are electric diaphragm pumps. In the current embodiment, the system further includes a heating apparatus <NUM> to heat the de-icing fluid, however, this may be heated in another location and then placed into the storage <NUM> at a predetermined temperature that is maintained by the storage <NUM>.

The apparatus <NUM> also includes a processor <NUM> that controls the apparatus <NUM>. The processor <NUM> may be located, integrated or mounted anywhere within the apparatus, such as within or atop the wheeled platform <NUM> or within the crane arm portion <NUM>. In the current embodiment, the processor <NUM> is located within the platform <NUM>. The processor <NUM> is preferably protected from damage via a housing or by different components of the apparatus <NUM>. The processor <NUM> preferably includes a communication module that allows it to communicate with external parties using a wireless communication protocol. The processor may also process messages or instructions that are received from the external party. The processor may also transmit information such as, but not limited to, apparatus state and current operational progress, reporting faults, incomplete operations, or uncompletable jobs. The system may also be able to determine the level of remaining fluid to determine when its reservoirs may need to be re-filled. The processor may also receive movement instructions, such as a path of motion or may receive control instructions from a joystick controlled by a remote user.

The apparatus may further include a set of sensors <NUM> that assist in determining safe operating conditions which may include wind speed, temperature and other environmental conditions. The set of sensors and cameras may further determine contamination levels.

Use of a swerve platform, whereby the wheels <NUM> can, for example, turn <NUM> degrees when in a stationary position, is novel to the de-icing industry and provides advantages that were not previously recognized. Also, by enabling the apparatus to move autonomously (or at least without a driver), the de-icing process may be performed without needing a human being to be present to manually control the mobile platform <NUM> and/or the spray arm portions <NUM> and the crane arm portion <NUM>.

In a further embodiment, the apparatus includes components to communicate with the external party to transmit information so that the external party is able to coordinate a fleet of mobile de-icing machines to effectively address complex winter operational requirements. In one embodiment, each apparatus may include a Visual Indicating Process System (VIPS) that includes high intensity LEDs to communicate the operational status and mode of the mobile de-icing machine. Different colours indicate when the de-icing machine is safe to approach for ground personnel as well as the ability for a remote operator, using a camera system (described below), to interpret what a state that the de-icing machine is in which correlates to the a predetermined system. In one embodiment, the colours may be used in a following manner (although it will be understood that colours can be matched with other operation states and events).

In a further embodiment, the apparatus may include functionality to self test in order to detect if it is operating efficiently and as intended. This self test may include all systems and subsystems aboard the mobile platform or apparatus. The built in self test (BIST) preferably runs upon startup, periodically throughout operation and when switching between operational modes and configurations. The mobile platform is also able to detect errors or failures as they occur during operations. The mobile platform will communicate these errors and alarms to the relevant external third parties.

Turning to <FIG>, a schematic view of another embodiment of a crane arm portion <NUM> and de-icing spray portions <NUM> in a retracted position is shown. In the current embodiment, there are only two spray arm portions <NUM>. As discussed above, the crane arm portion <NUM> is connected to one of the de-icing spray arm portions <NUM> via the pivot joint <NUM>. In the current embodiment, the de-icing spray arm portions <NUM> includes a bottom spray arm portion <NUM> and a top spray arm portion <NUM> whereby the two spray arm portions <NUM> and <NUM> are connected by pivot joint <NUM>. The pivot joints <NUM> enable the apparatus to move from this retracted position to one of the operational positions such as the position schematically shown in <FIG>. The apparatus may further include an ice blaster spray <NUM> that is dedicated to de-icing areas that are typically harder to de-ice with the de-icing sprays <NUM>. In the current embodiment, the bottom spray arm portion <NUM> may be seen as an ice blade de-icing portion while the top spray arm portion <NUM> may be seen as an ice hammer de-icing portion which is used for the fuselage of the aircraft. The ice blade de-icing portion may be used to scrape excess ice off the fuselage of the aircraft while the ice hammer de-icing portion may be used to break off larger ice build-up on the fuselage of the aircraft.

Turning to <FIG>, a schematic front view of a system for automated de-icing of an aircraft is shown. In the current embodiment, the system includes a pair of apparatus <NUM> for performing the automated de-icing of an aircraft <NUM> whereby each of the apparatus <NUM> de-ice one side of an aircraft <NUM>.

In operation, each of the apparatus <NUM> preferably receive instructions from an external party or a remote controller such as a joystick controlled by de-icing personnel. These instructions may include a location (or the de-icing location) of the aircraft to be de-iced within an airport (such as global positioning system (GPS) co-ordinates), the type of aircraft being de-iced and the type of de-icing required. The type of de-icing required may include locations on the aircraft that require de-icing or the type of de-icing liquid or liquids required for de-icing of the aircraft or both. Other de-icing information may also be transmitted as will be understood by one skilled in the art.

It is assumed that each of the apparatus <NUM> may be located anywhere in the airport (the starting location), such as in a different hanger or a different de-icing facility but that this starting location is known by the external party. Alternatively, each apparatus <NUM> may be located in the same de-icing facility but may be located within another aircraft bay. By having mobile de-icing apparatus <NUM>, less equipment may be required since one mobile de-icing machine may be able to service multiple aircraft bays as compared to some current systems where each aircraft de-icing bay has its own, static, de-icing equipment and is generally operated by on-site de-icing personnel.

After receiving the instructions, the apparatus <NUM> travel through the airport from the starting location to the de-icing location or the location of the aircraft that it has been instructed to de-ice. During travel, the crane arm portion <NUM> and the spray arm portions <NUM> are preferably to be in the retracted position. After reaching the de-icing location, the crane arm portion <NUM> and the spray arm portions <NUM> move from the retracted position to an operational position such as schematically shown in <FIG>. Operational positions of the spray arm portions are preferably determined by the instructions received from the external party and may change during the decontamination removal treatment.

The apparatus <NUM> may then start the de-icing process based on the instructions received. As the instructions preferably include the type of aircraft being serviced, based on the de-icing location information and the type of aircraft information, each apparatus <NUM> travels the circumference or outline of the aircraft along one side of the aircraft applying or spraying the de-icing fluid (and/or compressed gas). In some cases, motion of the mobile platform may be continuous and in some cases, the mobile platform may stop so that the extended de-icing or contamination removal may be performed. As shown in <FIG>, the apparatus are spraying, or applying de-icing fluid, to each side of the body of the aircraft <NUM>.

As the de-icing fluid is sprayed on to the aircraft <NUM>, the apparatus moves adjacent the aircraft such as from the front to the rear of the aircraft. In order to enable lateral movement of the apparatus, the wheeled platform preferably includes rotating wheels, such as enabled by a swerve drive. While each apparatus moves alongside the aircraft <NUM>, the crane arm portion <NUM> and the spray arm portions <NUM> may also move accordingly based on the instructions received as the mobile platform travels the outline of the aircraft.

Turning to <FIG>, another schematic front view of a system for automated de-icing of an aircraft is shown. As can be seen in this figure, the spray arm portions <NUM> are in another operational position whereby the fuselage and the tail of the aircraft <NUM> is being de-iced. The position of the spray arm portions <NUM> is controlled by the processor <NUM> via the instructions supplied to it by the external party. Movement of the spray arm portions <NUM> and the crane arm portion <NUM> are preferably controlled by the processor <NUM>. In a preferred embodiment, movement of the mobile platform <NUM> and swerve drive <NUM> is also controlled by the processor <NUM>. Although not shown, it would be understood that different safety measures may also be implemented, such as, but not limited to, Light Detection and Ranging (LIDAR) in order to reduce the likelihood of collisions or accidents involving the apparatus. Other safety measures associated with self-driving automobiles are also contemplated.

For some de-icing operations, as they may require the combined efforts of multiple mobile de-icing machines to complete the operation, such as schematically shown in <FIG> and <FIG>, the mobile de-icing machines may be assigned different portions of the operation either individually or as a group. The de-icing process may be broken into parts; such as a mobile de-icing machine or a group of mobile de-icing machines may be assigned a particular area of the aircraft (e.g. left wing) or a mobile de-icing machine could be assigned to apply a specific fluid type or a de-icing fluid at a specific temperature or a specific concentration. Each mobile de-icing machine also be assigned to a "standby" mode, ready to take the place of another mobile de-icing machine in a "hot swap" fashion, should the need arise due to fluid refilling needs or unexpected maintenance.

Each apparatus <NUM> preferably has the functionality to communicate with other apparatus <NUM> to share information and reach consensus on environmental and operating conditions. Sharing meteorological data (collected both on and off the platform) the mobile platform has the ability to determine if the environmental conditions are safe for de-icing operations. (e.g. windspeed to determine if it is safe to extend the boom).

In a preferred embodiment, the external party has the ability to issue a stop command, immediately halting all current operations and entering a "safe mode". In this safe mode, all positions of the wheels, booms, sprays and other moving pieces of the apparatus <NUM> are immediately suspended and held. If any portion of the apparatus is moving at the time a stop command is issued, it will immediately, within the constraints of predefined velocities, come to a stop and hold the position. Also, each apparatus <NUM> preferably has the functionality to issue a stop command should they detect unintended physical contact with the aircraft, other mobile platforms, obstacles or itself (e.g. boom hitting body). Other apparatus working in coordination with the apparatus that raised the stop command shall also abide to the stop command until a third party has corrected the fault or deemed the situation safe for continued operation.

Turning to <FIG>, another schematic front view of a system for automated de-icing of an aircraft is shown. In the current embodiment, along with the apparatus <NUM> that are used to de-ice the aircraft <NUM>, the system may further include a set of cameras that are used to assist in monitoring the de-icing process. One set of cameras <NUM> may be mounted to poles <NUM> remote from the aircraft in locations where they are able to capture perspective views of the aircraft. As shown, the cameras <NUM> are directed at the body of the aircraft to capture images of the aircraft body during the de-icing process. In one embodiment, the set of cameras <NUM> may be obtaining thermal images. The images captured by these cameras <NUM> may be used by an individual to confirm that adequate de-icing has been completed by the apparatus <NUM> or may be used to issue further de-icing instructions for areas that require further de-icing or contamination removal.

The system may include a further set of cameras <NUM>, such as ones mounted to the apparatus <NUM>, to obtain images of the aircraft body. These images, such as schematically shown in <FIG> and labelled as Icebot view, may be transmitted to predetermined personnel. It will be understood that in some embodiments, only one of the sets of cameras may be used. Any of the images captured by either set of cameras may be transmitted to predetermined personnel. The images may be transmitted from the cameras to the pilots or a remote display for viewing by the predetermined personnel. Based on these images, the pilots may be given the go-ahead to proceed to a runway or the apparatus may be instructed to do some further de-icing.

As shown in the bottom of <FIG>, the images may be delivered to the pilot such that the pilot may also provide treatment confirmations or that the pilot is content with the performance of the de-icing apparatus. Alternatively, the pilot treatment confirmations may also be requests from the pilot for de-icing and may form part of the instructions that are delivered to the apparatus <NUM> by the external party. By understanding the locations of each of the apparatus under its control, a main control system may be able to provide an overview or geospatial management screen so that the location of each of the apparatus may be monitored.

<FIG> is another schematic front view of a system for automated de-icing of an aircraft whereby the apparatus are de-icing the tail of the aircraft. <FIG> is a view similar to <FIG> with the geospatial view replaced by an operational control interface. In a preferred embodiment, control of the apparatus is preferably via a de-icing control management system, which may also be seen as the external party.

Turning to <FIG> and <FIG>, schematic views of a single apparatus system is shown. <FIG> is a top view of the action of the single apparatus with respect to a Boeing <NUM> aircraft. As shown in <FIG>, one embodiment of the stages where the single apparatus may stop in order to de-ice the aircraft are shown. In this embodiment, the apparatus <NUM> stops in twenty stages around the circumference of the aircraft in order to apply or spray the de-icing fluid based on the instructions from the external party, however the number of stages and location of stages may be different. In one embodiment, the apparatus follows in the directions of the arrows although it will be understood that the apparatus may travel in the opposite direction of the arrows. <FIG> shows a top view of the action of the single apparatus system with respect to a Boeing <NUM>. <FIG> provides a similar top view along with screens that may be displayed to personnel based on information delivered by the apparatus.

Turning to <FIG>, another schematic diagram of the apparatus is shown.

In an alternative embodiment, the mobile platform supports <NUM> lbs (<NUM>), includes safety measures such as ground collision avoidance, is able to receive a set of Latitude and Longitude measurements and co-ordinates and be able to track straight line vectors between points while maintaining platform X, Y attitude such that the platform does not rotate while traversing a vector segment, define low and high speeds and be able to be remotely controlled.

The spray arm portions are preferably able to communicate with the processor to indicate possible incursion/collisions to enable corrections in direction of travel of the platform or apparatus. The processor preferably includes the functionality to determine fuel capacity - battery and diesel. The apparatus is preferably able to store type <NUM> and type <NUM> fluid tanks. The apparatus is also preferably able to provide operational power for a predetermined time frame, such as eight hours.

Some technical requirements for the spray arm portions may include that its power requirement be electric and hydraulic. In the preferred embodiment, the spray arm portions, or the crane arm portion, are bolted to the platform although other fastening methods are contemplated. The spray arm portions preferably include an articulating arm that can extend, retract and/or move vertically. Furthermore, the spray arm portions preferably include an articulating hand on the terminus that houses pre- and post-fluid application analysis sensor packages, fluid and air application nozzles. The apparatus may further include sensors that measure flow rates, temperatures and densities of fluids. In the preferred embodiment, the fluids are applied autonomously.

Overall control of the apparatus preferably includes computer system or modules that runs the chassis drives and sensors of the wheeled platform; implement controls for the spray arm portions; and combine central intelligence for overall command and control that coordinates the apparatus.

Although the present disclosure has been illustrated and described herein with reference to preferred embodiments and specific examples thereof, it will be readily apparent to those of ordinary skill in the art that other embodiments and examples may perform similar functions and/or achieve like results.

In the preceding description, for purposes of explanation, numerous details are set forth in order to provide a thorough understanding of the embodiments. However, it will be apparent to one skilled in the art that these specific details may not be required. In other instances, well-known structures may be shown in block diagram form in order not to obscure the understanding. For example, specific details are not provided as to whether elements of the embodiments described herein are implemented as a software routine, hardware circuit, firmware, or a combination thereof.

Claim 1:
A system (<NUM>) for automated de-icing of an aircraft (<NUM>) comprising:
a mobile platform (<NUM>), the mobile platform (<NUM>) including a set of wheels (<NUM>);
a contamination removal apparatus mounted to the mobile platform for delivering contamination removal treatment to the aircraft; and;
a processor (<NUM>) for receiving instructions associated with the contamination removal treatment from an external party and for controlling the mobile platform (<NUM>) and contamination removal apparatus to deliver the contamination removal treatment;
wherein the mobile platform (<NUM>) includes a swerve drive (<NUM>) for controlling movement of the set of wheels (<NUM>); and wherein
the mobile platform (<NUM>) is configured to travel an outline of the aircraft (<NUM>) while the contamination removal treatment to the aircraft (<NUM>) is being delivered.