Safety device and safety procedure for an aircraft, and aircraft with the safety device

Abstract

Safety device (13) for an aircraft (1) having a flight control device (12) for controlling the flight of the aircraft (1) based on global position coordinates and / or flight altitude values of the aircraft (1) detected by a sensor device of the flight control device (12), wherein the safety device (13) comprises: a flight altitude detection device which is designed to detect a current flight altitude of the aircraft (1) independently of the sensor device, a detection device configured to determine whether the current flight altitude of the aircraft (1) detected by the flight altitude detection device exceeds a predetermined maximum altitude, and a rescue device configured to interrupt the flight control of the aircraft (1) when the current flight altitude of the aircraft (1) detected by the flight altitude detection device exceeds the predetermined maximum altitude.

Description

[0001] It is known to equip aircraft, and in particular unmanned aircraft, with an automatic flight control system, such as an autopilot. It is also known to assign such aircraft a flight corridor that corresponds, for example, to a reserved airspace. To remain within the reserved or assigned airspace, an automatic flight control system can be provided with sensors that determine a flight altitude and / or a global position (for example, using a satellite navigation system) of the aircraft in order to steer the aircraft within the assigned airspace based on the sensor data.

[0002] In particular, such a restriction to an assigned airspace may arise from aviation regulations. For example, an aircraft assigned to a cylindrical airspace may not under any circumstances leave this airspace by ascending or ascending, as other air traffic may be taking place there, which the aircraft could otherwise disrupt.

[0003] If errors occur in the automatic flight control, the aircraft may leave the assigned airspace and, for example, cause disruption to air traffic, which could lead to major damage.

[0004] Examples of such errors include faulty sensors, calculation errors and faulty signals from a satellite navigation system used.

[0005] The invention defined in claim 1 is therefore based on the problem of preventing a departure from the assigned airspace in the event of errors in the automatic flight control and thus reducing the potential danger of an aircraft.

[0006] Further prior art is known from US Pat. No. 6,685,140 B2, which discloses an unmanned, remotely controlled aircraft with a parachute, in which the parachute is automatically deployed under certain conditions. The remotely controlled aircraft comprises a parachute opening system with a folded parachute and a propulsion system for ejecting the parachute from the aircraft. A certain condition can be exceeding or falling below a certain flight altitude.

[0007] Furthermore, according to the publication DE 10 2007 032 084 A1, a collision and conflict avoidance system for autonomous, unmanned aircraft is known.

[0008] In addition, a method for deploying a parachute on a drone is known from the document DE 100 26 469 C1.

[0009] Furthermore, the document DE 10 2008 020 534 A1 discloses a method for rescuing aircraft, in particular a drone.

[0010] The problem is solved by the features specified in claim 1, in particular by a safety device for an aircraft, which has a flight control device for controlling the flight of the aircraft based on global position coordinates and / or flight altitude values of the aircraft detected by a sensor device of the flight control device.The safety device comprises a flight altitude detection device configured to detect a current flight altitude of the aircraft independently of the sensor device, a determination device configured to determine whether the current flight altitude of the aircraft detected by the flight altitude detection device exceeds a predetermined maximum altitude, and a rescue device configured to interrupt the flight control of the aircraft when the current flight altitude of the aircraft detected by the flight altitude detection device exceeds the predetermined maximum altitude.

[0011] The advantages achieved with the invention and in particular by using independently determined altitude values consist in particular in the fact that the aircraft can avoid leaving the assigned airspace upwards due to errors in the flight control.

[0012] According to an advantageous development of the invention, the safety device further comprises a global position detection device configured to detect a current global position of the aircraft independently of the sensor device. The detection device according to the invention is further configured to determine whether a difference between the global position coordinates detected by the sensor device of the flight control device and the current global position of the aircraft detected by the global position detection device exceeds a predetermined difference value.The rescue device according to the invention is further configured to interrupt the flight control of the aircraft if the difference between the global position coordinates detected by the sensor device of the flight control device and the current global position of the aircraft detected by the global position detection device exceeds the predetermined difference value.

[0013] This makes it possible to detect errors in the flight control, which may in particular result in the aircraft leaving the assigned airspace in any direction, and to react in such a way that the aircraft cannot leave the assigned airspace.

[0014] According to an advantageous development of the invention, the detection device is further configured to determine whether the current global position detected by the global position detection device is located outside a first predetermined space. The safety device according to the invention further comprises an output device configured to output an instruction to the flight control device to control the aircraft into the first predetermined space if the current global position detected by the global position detection device is located outside the first predetermined space.

[0015] In this way, a trend towards leaving an assigned airspace can be detected and counteracted before the airspace is actually left.

[0016] According to a further advantageous development of the invention, the inventive detection device is further configured to determine whether the current global position detected by the global position detection device is located outside a second predetermined space encompassing the first predetermined space. The inventive rescue device is further configured to interrupt the flight control of the aircraft if the current global position detected by the global position detection device is located outside the second predetermined space.

[0017] This can prevent the aircraft from further deviating from the assigned airspace after it has actually left it.

[0018] According to a further advantageous embodiment of the invention, the first and / or second predetermined space is a cylindrical air space defined by a height and a diameter.

[0019] According to a further advantageous development of the invention, the global position detection device uses a satellite navigation system that differs from the satellite navigation system used by the sensor device. Examples of such satellite navigation systems are GPS, Galileo, GLONASS, and BeiDou.

[0020] This makes it possible to react specifically to deviations caused by faulty signals from a specific satellite navigation system or by faulty calculations based on the specific satellite navigation system (e.g. caused by faulty hardware associated with the specific navigation system).

[0021] According to a further advantageous development of the invention, the safety device according to the invention further comprises a voltage supply that is independent of a voltage supply of the flight control device.

[0022] In this way, it is possible to react specifically to deviations caused by a faulty power supply (overvoltage, undervoltage, power failure) of the automatic flight control system.

[0023] According to a further advantageous embodiment of the invention, the flight altitude detection device is an air pressure sensor.

[0024] According to a further advantageous embodiment of the invention, the rescue device according to the invention is designed to interrupt the flight control of the aircraft by switching off the flight control device and / or by switching off a primary drive of the aircraft.

[0025] According to a further advantageous embodiment of the invention, the rescue device according to the invention is further configured to trigger a parachute of the aircraft for a controlled landing of the aircraft after the flight control of the aircraft is interrupted.

[0026] The problem described above is also solved by the features listed in claim 10, in particular by a safety method for an aircraft having a flight control device for controlling the flight of the aircraft based on global position coordinates and / or flight altitude values of the aircraft detected by a sensor device of the flight control device. The safety method comprises detecting a current flight altitude of the aircraft independently of the sensor device, determining whether the detected current flight altitude of the aircraft exceeds a predetermined maximum altitude, and interrupting the flight control of the aircraft if the detected current flight altitude of the aircraft exceeds the predetermined maximum altitude.

[0027] The problem described above is also solved by the features listed in claim 11, in particular by an aircraft having a flight control device for controlling the flight of the aircraft based on global position coordinates and / or flight altitude values of the aircraft detected by a sensor device of the flight control device, and the safety device according to the invention.

[0028] An embodiment of the invention is shown in the drawing and is described in more detail below.

[0029] This shows Fig. 1 schematically shows an aircraft in which the present invention is used, Fig. 2 schematically shows an airspace defined for an aircraft in which the present invention is used, and Fig. 3 schematically shows, for an aircraft in which the present invention is used, predetermined spaces which can serve as decision boundaries according to the invention.

[0030] Fig. 1 shows schematically an aircraft 1. In particular, Fig. 1 a drone in the form of a quadrocopter.

[0031] The aircraft 1 has a main body or housing 11. The aircraft 1 further has a flight control device 12 and a safety device 13 according to the invention.

[0032] In Fig. 1, the flight control device 12 and the safety device 13 according to the invention are shown as being housed in the housing 11. It should be noted that the flight control device 12 and the safety device 13 according to the invention, or only one of them, can also be arranged outside the main body or housing 11 and do not have to be located in any housing.

[0033] The aircraft 1 in Fig. 1 could be a meteorological drone, i.e., a drone used for meteorological purposes. However, aircraft 1 is not limited to such a meteorological drone.

[0034] An operational scenario of such an aircraft 1 (especially in the case of a meteorological drone) could be to essentially fly up and down. Such an exemplary operational scenario is shown in Fig. 2 shown.

[0035] Fig. Figure 2 schematically shows an airspace defined for an aircraft 1, with an intended flight path indicated by an up / down arrow in the center of the airspace.

[0036] The application scenario and thus both the Fig. 2 as well as the airspace shown in Fig. The intended flight path of the aircraft 1 shown in Figure 2 are merely exemplary and not limited thereto, but are chosen merely for the sake of simplicity.

[0037] The flight control device 12 (e.g., an autopilot) includes, for example, an air pressure sensor for determining air pressure and, consequently, flight altitude, as well as a GPS receiver for determining position. However, the sensor technology of the flight control device is not limited to this.

[0038] Due to aviation law requirements, it must be ensured that aircraft 1 enters a reserved airspace, for example, the one in Fig. 2 shown airspace.

[0039] Therefore, according to the invention, a safety device 13 is provided that has an independent power supply (at least independent of the flight control device 12, i.e., the safety device 13 and the flight control device 12 are powered by separate power supplies). The safety device 13 further comprises an air pressure gauge (absolute or relative) capable of determining an ambient air pressure and, consequently, a flight altitude. The safety device 13 further comprises a further geo-positioning system.

[0040] Assuming that the flight control device 12 uses, for example, GPS (Global Positioning System), the safety device 13 could use, for example, Galileo, GLONASS or BeiDou (also BeiDou Navigation Satellite System).

[0041] If the safety device 13 has a relative air pressure gauge, this is set to the take-off altitude during or before take-off. As soon as the air pressure gauge, assuming a standard atmosphere, reaches the upper limit of the assigned airspace (for example, the upper boundary surface of the Fig. 2), a rescue measure is carried out or initiated. This rescue measure can, for example, comprise interrupting the primary drive of the aircraft 1. The rescue measure can also comprise switching off the flight control device and / or disconnecting a power supply feeding the aircraft (not the power supply of the safety device 13). However, the rescue measure is not limited to the examples mentioned but includes all those measures that are suitable for preventing leaving the specified airspace or further removal from the specified airspace and / or enabling a return to the specified airspace.

[0042] For the safe return of the aircraft 1 to the ground or for its controlled landing, the rescue measure following the interruptions mentioned above as examples may include the deployment of a parachute of the aircraft 1. However, this measure is not limited to a parachute and may include any measure, such as gliding surfaces, braking devices, etc., that is suitable for ensuring or promoting a safe return of the aircraft 1 to the ground when flight control is interrupted.

[0043] To prevent the aircraft from flying horizontally out of the specified airspace (or from flying out with a horizontal component), as noted above, the safety device 13, also referred to as a "kill system," operates a navigation system independent of a satellite navigation system used by the autopilot (flight control device 12). Thus, if the autopilot uses GPS, the safety device 13 could use Galileo, GLONASS, or BeiDou. However, if the autopilot uses Galileo, the safety device 13 could use GPS, GLONASS, or BeiDou.

[0044] The safety device 13 is connected to the autopilot (flight control device 12), for example, via a bus. This allows the coordinates or navigation data of the autopilot, as the primary navigation device, to be continuously compared or adjusted with the navigation data of the safety device 13. If excessive differences occur between the two navigation data (i.e., a predetermined difference value is exceeded), the rescue measure described above is immediately executed or initiated.

[0045] A further development of the embodiment is carried out with the help of the Fig. 3, which schematically shows predetermined spaces for the aircraft 1 that serve as decision boundaries.

[0046] In particular, Fig. 3 an intended flight path of the aircraft 1 by an up / down arrow in the center of the predetermined spaces, and is consequently by means of a Fig. 2 described application scenario. However, this training is not limited to the example application scenario.

[0047] Furthermore, Fig. 3, in particular, a first predetermined space and a second predetermined space, whose outer boundaries or outer shells serve as decision boundaries. The second predetermined space is larger than the first predetermined space and completely encompasses it. In the case of cylindrical predetermined spaces, it is preferred that the central axes of the respective cylinders coincide. However, the arrangement of the predetermined spaces is not limited to this exemplary arrangement.

[0048] Depending on their use, the outer shell of the first predetermined space may also be referred to as a “soft fence,” while the outer shell of the second predetermined space may also be referred to as a “hard fence.”

[0049] If the “soft fence” is exceeded, i.e. if the first predetermined area is left, the autopilot is instructed by the safety device 13 to bring the aircraft back to the predetermined course (up / down arrow).

[0050] If the “hard fence” is crossed, i.e. if the second predetermined area is left, the rescue measure described above is immediately carried out or initiated.

Claims

[1] Safety device (13) for an aircraft (1), which has a flight control device (12) for controlling the flight of the aircraft (1) based on global position coordinates and / or flight altitude values of the aircraft (1) detected by a sensor device of the flight control device (12), wherein the safety device (13) comprises: a flight altitude detection device which is designed to detect a current flight altitude of the aircraft (1) independently of the sensor device, a detection device configured to determine whether the current flight altitude of the aircraft (1) detected by the flight altitude detection device exceeds a predetermined maximum altitude, and a rescue device configured to interrupt the flight control of the aircraft (1) when the current flight altitude of the aircraft (1) detected by the flight altitude detection device exceeds the predetermined maximum altitude. [2] Safety device (13) according to claim 1, further comprising a global position detection device which is designed to detect a current global position of the aircraft (1) independently of the sensor device, wherein the detection device is further configured to determine whether a difference between global position coordinates detected by the sensor device of the flight control device (12) and the current global position of the aircraft (1) detected by the global position detection device exceeds a predetermined difference value, and the rescue device is further configured to interrupt the flight control of the aircraft (1) if the difference between the global position coordinates detected by the sensor device of the flight control device (12) and the current global position of the aircraft (1) detected by the global position detection device exceeds the predetermined difference value. [3] Safety device (13) according to claim 2, wherein the detection device is further configured to determine whether the current global position detected by the global position detection device is outside a first predetermined space, wherein the safety device (13) further comprises an output device configured to output an instruction to the flight control device (12) to control the aircraft (1) into the first predetermined space when the current global position detected by the global position detecting device is outside the first predetermined space. [4] Safety device (13) according to claim 3, wherein the detection device is further configured to determine whether the current global position detected by the global position detection device is outside a second predetermined space comprising the first predetermined space, wherein the rescue device is further configured to interrupt the flight control of the aircraft (1) if the current global position detected by the global position detection device is outside the second predetermined space. [5] Safety device (13) according to claim 2 or 3, wherein the first and / or second predetermined space is a cylindrical air space defined by a height and a diameter. [6] A safety device (13) according to any one of claims 2 to 5, wherein the global position detecting means uses a satellite navigation system different from a satellite navigation system used by the sensor means. [7] Safety device (13) according to one of claims 1 to 6, further comprising a voltage supply independent of a voltage supply of the flight control device (12). [8] Safety device (13) according to one of claims 1 to 7, wherein the flight altitude detection device is an air pressure sensor, and / or wherein the rescue device is designed to interrupt the flight control of the aircraft (1) by switching off the flight control device (12) and / or by switching off a primary drive of the aircraft (1). [9] Safety device (13) according to one of claims 1 to 8, wherein the rescue device is further configured to trigger a parachute of the aircraft (1) for a controlled landing of the aircraft (1) after the flight control of the aircraft (1) has been interrupted. [10] Safety method for an aircraft (1) having a flight control device (12) for controlling the flight of the aircraft (1) based on global position coordinates and / or flight altitude values of the aircraft (1) detected by a sensor device of the flight control device (12), the safety method comprising: detecting a current flight altitude of the aircraft (1) independently of the sensor device, determining whether the detected current altitude of the aircraft (1) exceeds a predetermined maximum altitude, and interrupting the flight control of the aircraft (1) if the detected current flight altitude of the aircraft (1) exceeds the predetermined maximum altitude. [11] Aircraft (1), with a flight control device (12) for controlling the flight of the aircraft (1) based on global position coordinates and / or flight altitude values of the aircraft (1) detected by a sensor device of the flight control device (12), and a safety device (13) according to one of claims 1 to 9.

Images