Method for erecting a take-off / landing arrangement comprising a plurality of rail modules, in particular for unmanned aerial vehicles, and device for carrying out the method

Abstract

The present invention relates to a method for constructing a launch / landing arrangement (101) for unmanned aerial vehicles (100) comprising a plurality of rail modules (102, 103), wherein a plurality of longitudinal rail modules (102), at least one transverse rail module (103), and at least one receiving carriage (104) are provided, wherein the plurality of longitudinal rail modules (102) are mechanically fixed to form a longitudinal rail (102A) and the transverse rail modules (103) are mechanically fixed to form a transverse rail (103A), and wherein the receiving carriage (104) is configured and designed to interact mechanically, at least temporarily, with an unmanned aerial vehicle (100) to be received therein.wherein a plurality of subsets of the plurality of longitudinal rail modules (102) are each assigned to a land transport means (106) and the land transport means (106) are arranged spaced apart from each other along a longitudinal direction (L) of a runway (107) to be formed from the longitudinal rail modules (102) on a substrate (U), the plurality of longitudinal rail modules (102) of the subsets of one of the land transport means (106) each forming a section (108) of the runway (107) is moved towards at least one adjacent land transport means (106) with at least one longitudinal rail module (102) of the adjacent land transport means (106), at least one free end of a longitudinal rail module (102) of the land transport means (106) is mechanically coupled to a free end of a longitudinal rail module (102) of the adjacent land transport means (106), wherein the continuous rail module (102) is formed from the longitudinal rail modules,The present invention relates to a device for carrying out the method.

Description

The present invention relates to a method for establishing a launch / landing arrangement having a plurality of rail modules, in particular for unmanned missiles, according to the preamble of claim 1.Unmanned aerial systems or missiles are currently typically abandoned after launch and mission fill or are made to land by means of capturing nets, parachutes with damping cushions or the like. In the case of smaller apparatuses, the start follows manually, otherwise often by catapult. This procedure very often leads to severe damage or loss of the flight systems.Known methods for using unmanned missiles are the catapult launch of lafetts, with the disadvantage of very short launch paths and very high acceleration forces.Also known is a manually mountable ground landing system which can only be installed and operated on level terrain and is designed only for flight systems with a low mass, e.g. up to 25 kg. Such landing systems are usually constructed on a selected area which has particularly high requirements for its flatness and must extend horizontally within very narrow limits.A further known alternative outlined above is to intercept missiles by means of catching nets during landing approach or to let the missiles land on a planned landing area by means of parachute.In particular in the case of less cost-intensive missiles, a loss of the aircraft after mission fulfillment is also practiced.The concepts existing up to now for ground-bound launch landing systems require high personnel costs for the mining / mining and are also not suitable for construction in rough terrain.EP 2 282 938 B1 discloses a launch / landing / rolling device for an aircraft which has no chassis system or a retracted chassis system. It is specified that a carriage is provided which can be driven in the direction of movement of the aircraft. Furthermore, a ground undercarriage is specified which is movable along the carriage system transversely to the direction of movement of the carriage system. The proposed system is not mobile, but is designed as additional equipment for a stationary runway.From CN 110 316 398 A a working vehicle is known which can launch and resume unmanned aerial vehicles. For this purpose, it has an ejection device and a receiving device which are mounted on a work vehicle. Such a launch / landing device is limited in size and extent to the load carrying capacity and geometric dimensions of a single vehicle.CN 112 937 902 A discloses a device with which it is possible to launch and land an unmanned aircraft on a common rail. This device is likewise limited with regard to its maximum extent and is to be arranged as a whole on a vehicle or trailer. The weight and the geometric extent of the launch / landing device is therefore limited by the maximum load-bearing capacity of the vehicle.DE 10 2021 100 624 A1 discloses an arrangement for supplying drones of a drone swarm which is suitable for supplying drones of a drone swarm with energy and / or consumables. Energy and / or consumables are provided in the form of packages. The apparatus comprises a packet switching station for exchanging discharged and / or used packets for packets from a packet memory. Drones of the drone swarm may land on a runway near the parcel change station and launch it from there.US 2022 / 0234755 A1 discloses an arrangement comprising a starting motor vehicle and a drone. On the launch motor vehicle there is a ramp-like runway which is adjustable in inclination and which can be expanded to a limited extent in length and on which an aircraft is arranged which can launch from this runway. This arrangement is also limited in its maximum size and weight to the load bearing capacity and the durability of the one starting motor vehicle.The object of the present invention is to require a longer launch and landing system to be transported quickly even on rough terrain, to be constructed quickly with few personnel and to be operated reliably.In order to launch and / or land flight systems in the future, in particular very expensive and heavy, in reusable fashion and without damage, a concept of the ground-bound landing system is supposed to be made mobile in a loadable manner by the invention and to be designed to be variable in length. In this case, the boundary condition of the positioning in rough terrain is to be taken into account and the use of personnel is to be minimized by automation.Unmanned flight systems, also of relatively large aircraft masses with relatively high takeoff and landing speeds, are intended to be able to be launched and / or land there reliably and from various infrastructure-independent positions with the invention. The system should also be able to be constructed and operated on rough terrain.These objects are achieved by a method having the features of claim 1. With regard to a suitable apparatus for carrying out the method, the objects are achieved with an apparatus for carrying out the method having the features of claim 13.In a method according to the invention for erecting a launch / landing arrangement for unmanned missiles, in particular drones or the like, having a plurality of rail modulesa plurality of longitudinal rail modules,at least one transverse rail module, andat least one receiving slidevorgesehen, wobeithe plurality of longitudinal rail modules for forming a longitudinal rail and, in the case where a plurality of transverse rail modules are present, the transverse rail modules for forming a transverse rail are mechanically fixed to one another, and whereinthe receiving carriage is configured and configured to cooperate mechanically at least temporarily with an unmanned missile to be received therewith,whereinat least a plurality of subsets of the plurality of longitudinal rail modules are each assigned to a land transport means, and a) the land transport means are arranged on a base (U) at a distance from one another along a longitudinal direction (L) of a runway to be formed from the longitudinal rail modules; b) the plurality of longitudinal rail modules of the subsets of one of the land transport means is moved towards the adjacent land transport means forming a subsection of the runway in each case, for mechanical coupling to at least one longitudinal rail module of the adjacent land transport means, c) at least one free end of a longitudinal rail module of the land transport means is mechanically coupled to a free end of a longitudinal rail module of the adjacent land transport means, d) wherein the continuous runway extending along the longitudinal direction (L) is formed from the longitudinal rail modules of the plurality of subsets of the longitudinal rail modules by repeating steps b) and c).With the method according to the invention, it is possible in a simple, rational and cost-effective manner to create a launch / landing arrangement which can be erected with little personnel even in rough, wavy and / or otherwise topographically irregular terrains.In particular, the use of the land transport means as a support means for the launch / landing arrangement to be erected is particularly advantageous since the launch / landing arrangement thus remains connected to the land transport means even in the erected state and can therefore also be stowed back onto the land transport means quickly and with little effort.Furthermore, it is advantageous that, in particular by assigning a plurality of longitudinal rail modules to, in particular, each land transport means, the land transport means can be positioned relatively far from one another as support elements and each land transport means can transport a considerable length portion of the launch / landing arrangement to be erected. It is thus possible to create a takeoff / landing arrangement which provides an adequate takeoff / runway length along a longitudinal direction even for larger and in particular heavy aircraft.It is also advantageous that each land transport means with the longitudinal rail modules mounted or stowed thereon can independently create a partial region of the launch / landing arrangement and, by suitable displacement of individual longitudinal rail modules towards an adjacent land transport means, a connection can be formed between two adjacent land transport means, that is to say a continuous launch / landing track of the launch / landing arrangement. Corresponding motor drives can be integrated in a simple manner on the land transport means.According to one embodiment of the method according to the invention, the longitudinal rail modules of a subset of at least one of the land transport means are provided in a storage position on the land transport means, in which they are coupled there so as to be pivotably articulated with respect to one another about a transverse axis (Q A) transversely to the longitudinal direction (L LSM) of the longitudinal rail modules.With this embodiment, it is possible to transfer a section of the launch / landing arrangement, which is stored on one of the land transport means, into an extended position by simply folding or pivoting about the transverse axis (Q A).Alternatively or additionally to the foldable stowage of the longitudinal rail modules described above, the longitudinal rail modules can be provided to a subset of at least one of the land transport means in a stowage position on the land transport means, in which they are stacked and arranged such that they can be displaced with respect to one another along the longitudinal direction (L LSM).Such a longitudinally displaceable arrangement of the longitudinal rail modules relative to one another makes it possible to use only a small space requirement in the height direction during the entire installation and dismantling of the launch / landing arrangement. Thus, the visibility and or the recognizability of activities for building up and / or for dismantling a launch / landing arrangement according to the invention is less visible. For example, the launch / landing arrangement can be erected in an optically "bucked" manner, possibly behind a hill chain or forest piece, invisibly for one or more observers.It is particularly advantageous that the launch / landing arrangement is supported on the underlying surface (U) in the erected state at least by means of one of the land transport means.This measure makes it possible, on the one hand, to ensure large-area support of the launch / landing arrangement on a substrate, which leads to low floor surface pressures. Thus, the launch / landing arrangement can be reliably erected even on a relatively soft ground. Moreover, during the erected state of the launch / landing arrangement, the space requirement for accommodation of land transport means not required in this time is reduced, since these share at least partially an area requirement with the erected launch / landing arrangement. In addition, such a land transport means can be used as a stable anchoring platform which is always connected to the launch / landing arrangement.It can also be expedient for a section of the runway that protrudes freely between two adjacent land transport means to be supported on the underlying surface (U) by means of supporting devices.Such additional support devices ensure stable support of the runway in an intermediate region between two adjacent land transport means. In particular, a stable support of possible coupling points of two adjacent longitudinal rail modules is particularly stably supported if the coupling points are arranged between two land transport means.For adaptation to non-planar terrain or for adaptation to existing terrain topographies, it may be advantageous in particular that a longitudinal axis (L LTM) of a land transport means (106, 106') is oriented in a plan view at an angle of 45°<α≤315° with respect to the longitudinal direction (L) of the runway (107), or that at least one longitudinal axis (L LTM) of a land transport means is arranged with respect to the runway in a plan view so as to enclose an angle of 0°<α≤90°, preferably of 45°<α≤90°.To realize such an arrangement, a bogie or turntable can be used in particular between the land transport means and a stack of longitudinal rail modules.In addition to the above-mentioned possible adaptation to different terrain topographies, it is particularly advantageous to arrange the land transport means optionally transversely, i.e. with a relatively large angle of 70°≤α≤90°, with respect to the longitudinal direction L of the takeoff / landing arrangement, preferably at an angle of -45°≤α≤+45° perpendicularly to the longitudinal direction L, in order to optionally keep interference contours, for example a driver's cab or other superstructures of the land transport means, away from a required space for the takeoffs and landings. In particular, it is thereby also possible to keep a height level of the launch / landing arrangement above the underlying surface U low.It is also expedient that, in order to form a planar course of the runway with respect to an uneven ground (U), a height distance (D H) between the runway and at least one, preferably each, land transport means acting as a support is set up individually.This makes it possible to compensate for a plurality of elevations of land transport means, which may not be arranged in one plane. This also facilitates the variability of the use of the launch / landing arrangement according to the invention on uneven ground.To compensate for interlocking angles between a land transport means and the plane of the runway, it is particularly expedient that, in order to form a planar course of the runway with respect to an uneven ground (U), an angle β between a loading plane (L L) of one of the land transport means and the longitudinal direction (L) of the runway is set up individually for each land transport means.As a result, for example, an oblique position of the land vehicle due to unevennesses in the underlying surface can be compensated without the need to apply a support function of the runway by the land transport means. In terms of design, this can be achieved, for example, by a ball-joint-like or gimbal-like connection of one of the longitudinal rail modules with respect to a land transport means, such as, for example, by means of a correspondingly articulated rotary plate or rotary frame.In particular for preselection of a suitable terrain section for establishing the inventive takeoff / landing arrangement, it can be expedient that a runway plane (L E) is determined as a function of a ground contour along the longitudinal direction (L) and the runway plane (L E) is aligned with respect to the ground (U) in such a way that an admissible minimum height distance (D Hmin) between a ground transport means and the runway plane (L E) of the takeoff / runway or the ground (U) and the runway plane (L E) of the takeoff / runway is not undershot.This step also serves to determine whether the launch / landing arrangement according to the invention can be reasonably erected on a specific underlying surface U.In addition to the above specification, it is also expedient that a runway plane (L E) is determined as a function of a ground contour along the longitudinal direction (L) and the runway plane (L E) is aligned with respect to the ground (U) in such a way that an admissible maximum height distance (D Hmax) between a ground transport means and the runway plane (L E) of the runway / runway or the ground (U) and the runway plane (L E) of the runway / runway is not exceeded.In order to ensure mobility of the longitudinal rail modules relative to corresponding land transport means in the direction of the vertical axis Z between the limits of the above-mentioned maximum height distance (D Hmax) and the permissible minimum height distance (D Hmin) mechanical lifting devices or hydraulic lifting devices can be provided, for example. The mentioned lifting devices are expediently arranged between the rotary plate and the land transport means, so that the height distance between a rotary plate and the associated land transport means can be variably adjusted.As a possible configuration of such a hydraulically based lifting device, for example, an arrangement of three or more hydraulic cylinders is considered, which are fastened with their vertically lower end on the land transport means and are connected with their respective vertically upper end to the rotary plate, so that the rotary plate is supported via the hydraulic cylinders in the manner of a tripod or in the manner of a multibone.By suitable actuation of the hydraulic cylinders, which have, for example, a maximum stroke of 500 mm up to 750 mm, it is possible within the adjustment range of the hydraulic cylinders to set and define both an inclination of the rotary plate relative to spatial planes and a height positioning of the rotary plate, which carries the subset of the longitudinal rail modules on the top side, relative to the land transport means. As a result, both angular offsets and height offsets can be compensated, so that it is possible to establish a planar runway or runway at least within acceptable tolerances even over three or more supporting land transport means.This also makes it possible to distinguish a subgrade region suitable for establishing the launch / landing arrangement from a less suitable subgrade region. In addition, the latter two measures of not dropping below a minimum distance and not exceeding a maximum distance can be used for a suitable positioning of the land transport means along the longitudinal axis L.In order that a missile can launch and or land as far as possible in a neutral position about its roll axis, it is expedient for the launch / landing track to be aligned horizontally with respect to a transverse direction (Q).In order to make possible an uphill / downhill launch or an uphill / downhill landing of the missile or a launch or a landing about a neutral position of the missile with respect to its pitch axis, it is advantageous that the launch / landing path is aligned horizontally with respect to the longitudinal direction (L) or includes an angle γ of at most + / - 15°, preferably an angle γ of at most + / - 10°, particularly preferably an angle γ of at most + / - 5°, with a horizontal H.With regard to the technical apparatus tasks, according to the invention, a device is specified, wherein the device has at least one plurality of rail modules for forming the launch / landing arrangement, wherein the plurality of rail modules has at least one plurality of rail modules and at least one transverse rail module, and the device also has at least one receiving carriage which is designed and designed to cooperate with an unmanned missile to be received in an at least temporarily mechanically fixing manner with respect to the receiving carriage, wherein subsets of the plurality of rail modules are each assigned to one land transport means and are arranged movably with respect to the land transport means to an adjacent land transport means.With such a configuration according to the device, it is possible to carry out the method according to the invention in a simple, labor-saving and cost-effective manner. Furthermore, with the device according to the invention, by providing fewer or more land transport means which have a subset of the longitudinal rail modules, a longitudinal extension of the runway along the longitudinal direction L can be adapted as required and or by providing a specific number of land transport means, a maximum length of the runway can be limited in a simple manner.It is particularly expedient that the longitudinal rail modules of at least one of the sub-sets assigned to a land transport means are connected to one another such that they can be folded relative to one another about a transverse axis (Q A) such that they can be moved relative to one another.With this embodiment, it is possible to realize a kinematic, particularly easily implementable pivoting / folding movement of the longitudinal rail modules relative to one another.Additionally or alternatively to the above embodiment, it can also be expedient that the longitudinal rail modules of at least one of the partial quantities assigned to a land transport means are movable longitudinally in a displaceable manner with respect to one another and can be connected to one another by means of a relative movement with respect to one another in a height direction.Although this embodiment makes the relative movement of two longitudinal rail modules with respect to one another, which is required to achieve a coupling of two longitudinal rail modules, more complicated than in the case of the aforementioned folding solution, a translatory displacement solution can contribute to a substantial extent to the possibility of raising the takeoff / landing arrangement close to the ground, without the raising of such a takeoff / landing arrangement being widely visible by means of highly upstanding, deploying longitudinal rail modules. A better camouflaged, "uck" and thus at the same time a more non-noticeable erection is thus made possible.To increase the raising speed and or the mining speed, as well as to simplify the construction and or mining, it is expedient that at least those longitudinal rail modules which are not directly supported by the ground transport means in the erected state of the runway have support devices which are designed to be fold-out and extendable.To simplify the movement sequence of two longitudinal rail modules with respect to one another during erection, it is advantageous for the longitudinal rail modules to be longitudinally displaceable with respect to one another and horizontally displaceable with respect to one another along a predefined path, preferably by up to + / - 20 cm, particularly preferably by up to + / - 10 cm.For this purpose, in particular slotted guide guides are suitable which ensure a mechanical positively guided movement of two longitudinal rail modules with respect to one another in such a way that free ends of two adjacent longitudinal rail modules can be coupled to one another easily, in particular automatically, at the end of the movement sequence.To facilitate erection, in particular for erecting the takeoff landing arrangement with reduced personnel requirements, it is particularly advantageous for the longitudinal rail modules which are stored on one of the landing transport means to be displaceable, in particular foldable or displaceable, with respect to one another by motor in order to form a subsection of the takeoff / landing track.This makes it possible to form independent autonomous subsystems from a land transport means and the subset of the longitudinal rail modules stored thereon.In particular for the purpose of combining functions with respect to the land transport means and also with respect to a space-saving design possibility of the launch / landing arrangement according to the invention, it is expedient that, in the erected state of the launch / landing track, one of the longitudinal rail modules which is assigned to the land transport means is supported with respect to the underlying surface (U) by means of the land transport means.This design measure can achieve the same advantages as have already been explained above in connection with the method.For the ball-joint-like and or gimbal-like articulated connection of the longitudinal rail modules or one of the longitudinal rail modules from a subset of the longitudinal rail modules with respect to the land transport means, it is recommended that the longitudinal rail module supported by the land transport means is connected to the land transport means such that it can be rotated or pivoted about a vertical axis (Z) relative to the land transport means and / or that the longitudinal rail module supported by the land transport means is connected to the land transport means such that it can be pivoted about at least two different spatial axes (X; Y) orthogonal to the vertical axis (Z).For easier transport, the ground transport means is preferably a motorized driven ground transport means or a non-motorized trailer for a tractor.If it is provided that the subset of longitudinal rail modules assigned to the land transport means comprises an odd number of longitudinal rail modules, in particular three or five longitudinal rail modules, one of the longitudinal rail modules can be a central longitudinal rail module in a simple manner, to each of whose two free ends an adjacent longitudinal rail module is fastened. This serves in particular for a symmetrical and thus balance-balanced erection of sections of the runway, which facilitates a coupling of such sections to one another.The invention is explained in more detail below by way of example with reference to the drawings. The following are shown: FIGS. 1A to 1C : schematically an outline of an unmanned flying object (FIG. 1A ), schematically a side view of a launch / landing arrangement according to the invention (FIG. 1B ) and in a schematic side view a land transport means with a stowed subset of longitudinal rail modules; FIG. 2 : schematically, a flow diagram of a landing process of an unmanned aerial object on a launch / landing arrangement; FIG. 3 : an isometric view of a section of the launch / landing arrangement according to the invention in an assembled arrangement with an unmanned missile ready for launch; FIG. 4 : shows a section of an erected runway supported by a land transport means and the section of the runway in a stowed arrangement on the land transport means; FIG. 5 : a perspective view of a section of the runway supported on two adjacent land transport means with land transport means arranged in mutually mutually mutually interdigitated fashion on the underlying surface (U); FIG. 6 : the section of the runway in a viewing direction opposite to the viewing direction according to FIG. 5 ; FIGS. 7A to 7E show a subset of a plurality of landing rail modules disposed on a landing transport means in a stowed and partially deployed position; FIGS. 8A to 8E show different embodiments of different placement principles / construction principles for establishing the runway.FIG. 1A shows a side view of a silhouette of an unmanned missile 100, for example a drone. Drones of this type do not have a wheel chassis and are designed and configured to cooperate with a ground-supported launch / landing arrangement 101, as shown in a schematic side view in FIG. 1B. Such a launch / landing arrangement 101 is arranged on a subgrade U and has a longitudinal rail 102A composed of longitudinal rail modules 102, on which a transverse rail 103A formed from at least one transverse rail module 103 is arranged such that it can be driven and braked displaceably in a longitudinal direction L of the longitudinal rail 102A. The transverse rail 103A in turn carries a receiving carriage 104 which is equipped with suitable receiving means 105 which are designed and designed to mechanically connect the unmanned aerial vehicle 100 at least temporarily to the receiving carriage 104. Expediently, the receiving carriage 104 is connected rotatably or pivotably about a vertical axis Z in order to be able to be adapted to an unmanned missile 100 deflected at an angle about the vertical axis Z, for example in landing approach.For the further description, the longitudinal direction L is also defined as a further spatial axis X. An axis perpendicular to the plane of the drawing of FIG. 1B is defined as a spatial axis Y. The spatial axes X, Y are perpendicular to one another and are perpendicular to the vertical axis Z. The spatial axis Y is thus oriented parallel to a transverse direction Q.FIG. 1C shows, in a side view in the form of a silhouette, a ground transport means 106 in the form of a towing vehicle 111 having a trailer / trailer 111A, wherein a subset of longitudinal rail modules 102, in this case a number of 3 longitudinal rail modules 102, is stored on the ground transport means 106 on the trailer / trailer 111A.FIG. 2 schematically shows a landing process of an unmanned missile 100 in cooperation with a launch / landing arrangement 101 according to the invention. The transverse rail 103A together with the receiving carriage 104 is located in a starting position P at the left-hand end of a runway 107 formed by the longitudinal rail 102A in the illustration according to FIG. 2. In this position, the unmanned missile 100 is in a approach / descent onto the runway 107. Starting from the position P 1, the receiving carriage 104 is accelerated together with the transverse rail 103A in the longitudinal direction L. The acceleration takes place until a synchronization of the speed of the recording carriage 104 along the longitudinal direction L and an approach speed of the unmanned missile 100 in the direction of the longitudinal direction L. The unmanned missile 100 is subsequently intercepted and can be floated on the carriage 104 or set thereon. After a mechanical connection has been reached between the recording carriage 104 and the unmanned aerial vehicle 100, the combination of recording carriage 104 can be decelerated along a specific distance in the longitudinal direction L together with the moving transverse rail 103A and the coupled unmanned aerial vehicle 100. The braking takes place until standstill. The landing operation is thus completed. Expediently, the length of the runway 107 still provides a certain reserve section in the direction of the longitudinal direction L if, for some reasons, the landing distance extends, for example because braking cannot take place with the desired braking deceleration.In the illustration according to FIG. 3, a subsection 108 of the runway 107 is illustrated, which is constructed from a total of three longitudinal rail modules 102 along the longitudinal direction L. On one of the longitudinal rail modules 102, the transverse rail 103A, which carries the receiving slide 104, is seated so as to be drivable and or slowable in the longitudinal direction L. The receiving carriage 104 is mechanically connected to the unmanned aerial vehicle 100 in the illustration according to FIG. 3. The subsection 108 of the runway / runway 107 is supported with respect to the underlying surface U by means of, for example, the trailer of the land transport means 106. On this land transport means 106, further support structures with support devices 110 can also be assigned. For orientation, the vertical axis Z as well as the spatial axes X and Y and the transverse direction Q as well as the longitudinal direction L are also shown in FIG. 3.FIG. 4 shows the subsection 108 of the runway 107, supported by the land transport means 106 and the supporting devices 110, without the transverse rail 103A and without the receiving carriage 104 and without the unmanned missile 100. A towing vehicle 111 suitable for displacing the agricultural transport means 106 is arranged decoupled next to the section 108. At an angle below this illustration, the section 108 is illustrated in its storage position with the three longitudinal rail modules 102 arranged one above the other in a pack-like manner, stored on the agricultural transport means 106 with the tractor 111 coupled thereto. In this state, the subsection 108 of the runway 107, which contains a subset of the plurality of longitudinal rail modules 102 (here 3 pieces), is shown in its stowed position on the land transport means 106. A plurality of subsection 108 is required to form a complete runway 107. For example, it may make sense that a complete runway 107 can be constructed from eight to twelve subsection 108. An overall length of the runway 107 depends substantially on the length of the individual longitudinal rail modules 102 and the resulting total number of longitudinal rail modules 102 for achieving a sufficient runway length for an unmanned missile 100 of a specific weight at a specific approach speed.FIG. 5 shows a perspective view of a setup situation of two sections 108 of the runway 107 comprising a plurality of longitudinal rail modules 102. The first longitudinal rail modules 102 in the foreground are assigned to a first land transport means 106 (shown in the foreground) and are arranged via a bogie or a rotary plate or a rotary plate device 112 so as to be pivoted about the vertical axis Z by an angle α with respect to a longitudinal direction L LTM of the land transport means 106 and are connected to the land transport means 106. The longitudinal rail modules 102 each have a longitudinal direction of the longitudinal rail modules L LSM, which in the assembled state according to FIG. 5 run parallel to the longitudinal direction L. The angle α can lie between 0° and 90° in the plan view along the vertical axis Z. The size of the angle α is preferably at least dimensioned such that a protruding region of the ground transport means 106, for example a driver's cab 113, which protrudes beyond a runway plane L E, formed by the longitudinal rail modules 102, in the direction of the vertical axis Z. Such a driver's cab 113 would form, for example, a disturbing contour for the erection of the runway 107. This can be effectively prevented by rotating the longitudinal axis of the land transport means L LTM with respect to the longitudinal direction of the longitudinal rail modules L LSM about the vertical axis Z.The second land transport means 106' shown in the background of FIG. 5 is interlaced with respect to the land transport means 106 shown in the foreground, i.e. is arranged rotated about the longitudinal axis of the land transport means L LTM which can occur, for example, because the underlying surface U has a corresponding topography which a first land transport means 106 makes to stand, for example, horizontally, wherein a second parking space for a second land transport means has, for example, an inclination, such that the land transport means 106' is set obliquely rotated about its longitudinal axis L LTM. To compensate for such an interdigitated arrangement of two or more adjacent land transport means 106, 106', it is also provided that the longitudinal rail module 102 connected to the land transport means 106, 106' is connected to the land transport means 106, 106' so as to be pivotable about the transverse axis Q A. This makes it possible to compensate for an angular compensation of a land transport means 106 possibly arranged in an interlaced manner with respect to the runway plane L E. It is expedient that an angular offset described in this way up to an angle of 0°≤β≤20° is possible. It is also expedient that the angle is defined and set in such a way that a maximum angular misalignment of two adjacent land transport means 106, 106' with respect to one another by a certain maximum misalignment angle, for example 40°, is made possible. Such a maximum interlocking of two adjacent land transport means 106, 106' with respect to one another can be achieved, for example, if the maximum angle β=20° at each of the land transport means 106, 106' can be utilized by suitable positioning with respect to one another.FIG. 6 shows the arrangement according to FIG. 5 from a perspectively opposite viewing direction. The land transport means 106' which is arranged in the background in the illustration according to FIG. 5 is arranged in the foreground in the illustration according to FIG. 6. The land transport means 106, which is arranged in the foreground in the illustration according to FIG. 5, is arranged in the background in the illustration according to FIG. 6.In the illustration according to FIG. 6, a highest elevation or zenith 120 of an unevenness 121 of the underlying surface U is illustrated. By the entanglement of the land transport means 106, 106' about their longitudinal axis L LTM, L LTM' a planar alignment of the runway 107 can be ensured, although the underlying surface U is uneven. The interaction of the turntables 112, which in this example form a loading plane L L between the land transport means 106, 106' and a pivoting of the longitudinal rail modules 102 by the angle β, can be effected well in such a topography compensation of an uneven underlying surface U.In this case, the aim is for the longitudinal direction L, that is to say the landing strip plane LL, to be oriented as horizontally as possible in the longitudinal direction L and in the transverse direction Q. Nevertheless, an angle γ between a horizontal H and a longitudinal inclination of the runway plane L E, i.e. of the longitudinal axis L, can be up to + / - 5°, optionally up to + / - 10°, in the extreme case up to + / - 15°, for example for the purpose of an uphill or a downhill landing or an uphill or a downhill launch of the unmanned missile 100.A transverse inclination of the landing strip plane L E in the transverse direction Q is to be avoided as far as possible, but it can certainly be a few degrees, for example up to + / - 3°, in the extreme case up to + / - 5°, without the functionality being significantly restricted.FIGS. 7A, 7B and 7C show a land transport means 106 106', wherein a subset of the plurality of longitudinal rail modules 102, in the case shown three longitudinal rail modules 102, are arranged in a stowed position on the land transport means 106, 106'. In particular, it is particularly advantageous to assign an odd number of individual longitudinal rail modules 102, in particular 3 or 5 longitudinal rail modules 102, to one of the land transport means 106, 106'. This has the advantage that, in the case of an odd number of longitudinal rail modules 102, there is always a "middle" longitudinal rail module 102 which, in an extended state, is arranged centrally with respect to the subsection 108 of the takeoff runway 107 which is formed by this land transport means 106, 106'. This achieves a symmetrical and weight-balanced loading of the rotary plate 112, which helps to prevent, at least minimize, unintentional entanglements or unintentional introductions of force into a chassis of the agricultural transport means 106, 106' and thus asymmetrical compressions of the wheels of the agricultural transport means 106, 106'.FIG. 7A shows a side view of the land transport means 106, 106' with the subset of longitudinal rail modules 102 in a stowed arrangement in a side view. FIG. 107B shows the stowage situation according to FIG. 7A in a rear view. FIG. 7C shows the stowage situation according to FIGS. 7A, 7B in an isometric view from the front right, as seen from the land transport means 106, 106'.FIGS. 7D and 7E show, corresponding to the preceding figures, a partially unfolded arrangement of the longitudinal rail modules 102 on the land transport means 106, 106', wherein the three longitudinal rail modules 102 are each pivotably connected at the end side about the transverse axes Q A in an articulated manner. The present example shows a variant in which not the middle of the longitudinal rail modules 102, but one of the outer, in particular the lower, longitudinal rail modules 102 is connected to the rotary plate 112. FIG. 7E shows the situation with a partially unfolded subset of longitudinal rail modules 102 from FIG. 7D in a rear view of the land transport means 106, 106', wherein the partially unfolded package of the longitudinal rail modules 102 with respect to their longitudinal direction L LSM is already oriented transversely to the longitudinal axis of the land transport means L LTM in a plan view. In this position, the package or the subset of the longitudinal rail modules 102 is thus already in a position deflected by an angle α relative to the longitudinal axis of the land transport means L LTM.In FIGS. 8A to 8E, different types of installation of longitudinal rail modules 102 and different types of coupling of longitudinal rail modules 102 of different land transport means 106, 106' are schematically illustrated. For reasons of simplification, these figures illustrate diagrammatically that the land transport means 106, 106' are oriented with their longitudinal axis L LTM parallel to the longitudinal direction of the longitudinal rail modules L LSM. Of course, the above-mentioned arrangement of an arrangement of these longitudinal axes rotated by an angle α with respect to one another is likewise expedient and advantageously applicable in all installation variants according to FIGS. 8A to 8E.In FIG. 8A, it is schematically indicated that each land transport means 106, 106' is assigned a subset of two longitudinal rail modules 102. The longitudinal rail modules 102 are arranged, for example, on the rotary plate 112. The turntable 112 is assigned to a laying module 114 which can contain guides and drives, for example, which at least contribute to the mechanical movement of the longitudinal rail modules 102 with respect to one another for the purpose of laying, in particular can completely carry out the laying of the longitudinal rail modules 102 with respect to one another. The support devices 110 are shown in a retracted storage position. A land transport means 106, illustrated at the top in the stowage position, having two of the longitudinal rail modules 102 is further developed by unfolding or chaining mounting to form a subsection 108. Each of the packages of the longitudinal rail modules 102 is unfolded or laid in a laying process, so that each land transport means 106, 106' is assigned a subsection 108, which was formed in each case from the subset of the longitudinal rail modules 102 assigned to one of the land transport means 106. Each subsection 108 of the total runway 107 is supported on the underlying surface U via the land transport means 106, 106' and via the support devices 110, as described above. In each case two adjacent partial sections 108 are mechanically coupled to one another, wherein a connector module 115 is provided for the mechanical coupling. Such a connector module 115 can be, for example, a latch mechanism or a latch mechanism or an otherwise semi-automatic or automatically functioning mechanical connection mechanism, which in particular ensures a connection of the partial sections 108 that is flexurally rigid about a transverse axis Q A.FIG. 8B shows a construction variant in which, in the erected state of the runway 107, the runway is supported on the underlying surface U only by the supporting devices 110. In this variant, the land transport means 106, on which the longitudinal rail modules 102 were arranged before the erection process or before the laying process, have been removed in the erected state. Furthermore, this design variant according to FIG. 8B differs from the design variant according to FIG. 8A shown above in that no rotary plate 112 is present between the laying modules 114 and the runway 107. Such a rotary plate device 112 is not necessary in the variant according to FIG. 8B, since after removal of the land transport means 106 below the runway, the land transport means 106 can no longer form an interfering contour and thus a rotation relative to the land transport means 106, 106' is possibly no longer necessary.FIG. 8C shows a further variant of the laying or the erection of the runway 107. The individual longitudinal rail modules 102 are connected to one another at their free ends such that they can be pivoted about the transverse axis Q A such that, from a stowage position on the land transport means 106, the package of longitudinal rail modules 102 is first pivoted about the transverse axis Q A relative to the laying module 114 in an arrow direction 116 by the erection process. In an erected position after a pivoting movement along the arrow direction 116, the individual longitudinal rail modules 102 are pivoted A to one another along an arrow direction 117 about the transverse axis Q and are thus unfolded. The land transport means 106, 106' are positioned at a distance from one another such that the length of an unfolded subsection 108 of the land transport means 106 is sufficient to bridge the gap between two adjacent land transport means 106, 106', such that a free end of the subsection 108 of the land transport means 106 can be connected to a corresponding free end of the subsection 108' of the land transport means 106'. Thus, in FIG. 8C, the articulated connection of the individual longitudinal rail modules 102 to one another illustrates an erection process which is carried out in the course of the unfolding of the longitudinal rail modules 102 of a subset of the longitudinal rail modules 102. Both during unfolding along the arrow direction 116 and also particularly during unfolding along the arrow direction in 117, a free end 119 of the subsection 108 or of one of the longitudinal rail modules 102 which form the subsection 108 is moved toward an adjacent land transport means 106, 106', so that a mechanical coupling of the subsections 108, 108' is possible there. The support devices 110 support the segments 108 as well as the entire runway 107 alone or in cooperation with the land transport means 106, 106' remaining below the runway 107 during the laying process as well as after the laying process.FIG. 8D shows an alternative possibility for erecting a subsection 108 by horizontally displacing two longitudinal rail modules 102 with respect to one another, wherein, following a horizontal displacement (first horizontal displacement step HS 1), the longitudinal rail modules 102 are vertically displaced (first vertical displacement step VS 1) with respect to one another, as a result of which these form one of the subsection 108. Such a subsection 108 can then, if required, be displaced in a further horizontal laying step (second horizontal displacement step HS 2) toward an adjacent land transport means 106' and be coupled in the region of the adjacent land transport means 106' to the subsection 108' thereof, for example by a second vertical displacement step VS 2. The support devices 110 support the segments 108 as well as the entire runway 107 alone or in cooperation with the land transport means 106, 106' remaining below the runway 107 during the laying process as well as after the laying process. Although the rotary plate 114 is not shown in each of the schematic partial views according to FIGS. 8C and 8D, it can naturally be arranged as prescribed between the land transport means 106, 106' and the subsection 108, as described in connection with FIG. 8A. The representations according to FIGS. 8C and 8D are likewise shown as prescribed in a simpler, schematic representation without the land transport means 106, 106' being rotated by the angle α about the vertical axis Z.FIG. 8C shows a modification of the horizontal installation alternative according to FIG. 8D with a subset of a total of three longitudinal rail modules 102 which are arranged on a land transport means 106. First, in a first horizontal displacement step HS 1, the uppermost longitudinal rail module 102 is horizontally displaced relative to the remaining longitudinal rail modules 102 in a first direction. A first vertical displacement step VS 1 is then carried out, in which the originally uppermost longitudinal rail module 102 is connected to the lowermost longitudinal rail module 102. Subsequently, in a second horizontal displacement step HS 2, which is directed opposite to the first horizontal displacement step HS 1, the originally central longitudinal rail module 102 is displaced relative to the originally lowermost longitudinal rail module 102 and, in a subsequent second vertical displacement step VS 2, is likewise connected to the originally lower longitudinal rail module 102, which is now the central longitudinal rail module 102 with respect to the subsection 108 thus formed. Coupling to adjacent sub-regions 108 of adjacent land transport means 106 is not shown in FIG. 8E, but these can then easily take place correspondingly as described above in connection with FIGS. 8A to 8D.During or after the erection of a sufficiently long runway 107 according to the invention, at least one transverse rail module 103 for forming the transverse rail 103A is also placed on the longitudinal rail 102A of the runway 107 in order to complete the runway / landing arrangement 101 according to the invention. The at least one transverse rail module 103 carries the carriage 104 with the receiving means 105, and the receiving carriage 104 is rotatable together with the receiving means 105 about the vertical axis Z, i.e. azimuthally with respect to the transverse rail module 103.In summary, the launch / landing arrangement according to the invention provides: a) modular, mobile individual systems which can be assembled to different launch and landing rail lengths; b) wherein the launch / landing track is constructed in a variant from automatically foldable and deployable longitudinal rail modules 102, which c) are mounted on land transport means 106, 106', for example self-propelled rafts, in a rotatable and pivotable manner (horizontally alignable), d) are automatically displaceable transversely with respect to the mutual locking and / or e) are independently deployable and foldable together; f) furthermore, the longitudinal rail modules 102 can be locked between the self-propelled rafts, that is to say between the land transport means 106, preferably automatically.As a result, the system according to the invention, i.e. the launch / landing arrangement 101 according to the invention and the method specified for this for establishing the same substantially avoid the following disadvantages of the prior art or achieve the following advantages:With automatic control units, generally based on hydraulic, electrical or optionally pneumatic actuators, which implement the folding mechanism and the horizontal alignment and, if necessary, a rotation of the longitudinal rail modules 102 and their mutual locking, the personnel outlay can be drastically reduced.An alignment that is horizontal in the longitudinal direction L or an alignment with a maximum angle γ≤20° with respect to the horizontal H of the longitudinal rail modules 102 is possible in a simple manner in cooperation with the land transport means 106, for example lafetts, standing on the terrain, i.e. on the ground U. Irregularities in the underlying surface U can easily be compensated.Foldable and / or chainable longitudinal rail modules 102 allow modular greater total web lengths of the runway / runway 107.Even in an initially unknown terrain, a three-dimensional map model of the ground profile or of the underlying surface can be created in a relevant area using known technical means, such as e.g. terrestrial trigonometric measurement methods and / or using satellite measurement data or satellite images.In the relevant area, the exact location and the planned orientation of the runway to be created can be determined in relation to the celestial directions and the now known ground profile.Depending on the partial lengths that can be achieved with the subsets of the longitudinal rail modules located on a land transport means, the land transport means are brought into position along the planned orientation of the runway at corresponding distances.The planned runway can then be created using the method described here and the device proposed here, for example using automatically operating and self-leveling laser measurement means.With the explained method for establishing a launch / landing arrangement comprising a plurality of rail modules and / or with the associated device, a launch / landing track having a length of a few hundred meters to at least 500 m and moreover up to about 750 m can be provided and operated ready for use at any time in rough terrain.It is thus possible to safely launch and land a plurality of different flight systems up to heavy and fast flight systems, with an exemplary maximum total weight of up to 2,000 kg over 5,000 kg up to 7,500 kg, an exemplary total length of up to 5 m over 10 m up to about 20 m or above and / or an exemplary span of up to 5 m up to at least 10 m up to about 15 m or above.List of reference characters100 Unmanned missile 101 launch / landing arrangement 102 longitudinal rail module 103 transverse rail module 102 A longitudinal rail 103A transverse rail 104 receiving carriage 105 receiving means 106, 106' land transport means 107 launch / landing track 108 subsection 110 supporting devices 111 towing vehicle 111 A trailer 112 rotary plate device / laying module 113 driver's cab 114 laying module 115 connecting module 116, 117 arrow direction 119 free end 120 zenith 121 free-protruding section P 1 initial position L longitudinal direction U underlying surface Q transverse direction Q A transverse axis L LSM longitudinal direction of the longitudinal rail modules L LTM longitudinal axis of the ground transport means D H height distance L E landing track plane L L loading plane D Hmax maximum height distance Z vertical axis X; Y spatial axes H horizontal α angle β angle γ angle HS 1 first horizontal displacement step HS 2 second horizontal displacement step VS 1 first vertical displacement step VS 2 second vertical displacement step

Claims

Method for establishing a launch / landing arrangement (101) for unmanned missiles (100), in particular drones or the like, having a plurality of rail modules (102, 103), wherein - a plurality of longitudinal rail modules (102), - at least one transverse rail module (103), and - at least one receiving carriage (104) are provided, wherein - the plurality of longitudinal rail modules (102) are provided for forming a longitudinal rail (102A) and, in the case that a plurality of transverse rail modules (103) are present, the transverse rail modules (103) are mechanically fixed to one another for forming a transverse rail (103A), and wherein - the receiving carriage (104) is configured and configured to cooperate mechanically with an unmanned missile (100) to be received therewith at least temporarily, characterized in that, a plurality of subsets of the plurality of longitudinal rail modules (102) are each assigned to a land transport means (106, 106'), and a) the land transport means (106, 106') are arranged on a subgrade (U) spaced apart from one another along a longitudinal direction (L) of a runway (107) to be formed from the longitudinal rail modules (102), b) the plurality of longitudinal rail modules (102) of the subsets of one of the land transport means (106) is moved towards the adjacent land transport means (106') forming a subsection (108) of the runway (107) in each case on at least one adjacent land transport means (106') for mechanical coupling to at least one longitudinal rail module (102) of the adjacent land transport means (106'), c) at least one free end of a longitudinal rail module (102) of the land transport means (106) is mechanically coupled to a free end of a longitudinal rail module (102) of the adjacent land transport means (106'), d) wherein, by repeating steps b) and c), the longitudinal rail modules (102) of the plurality of subsets of the longitudinal rail modules (102) form the continuous runway / runway (107) of the star / landing arrangement (101) extending along the longitudinal direction (L).Method according to claim 1, characterised in that the longitudinal rail modules (102) are provided to a subset of at least one of the land transport means (106, 106') in a storage position on the land transport means (106, 106') in which they are coupled pivotably articulated with respect to one another about a transverse axis (Q A) transversely to the longitudinal direction (L LSM) of the longitudinal rail modules (102).Method according to claim 1 characterised in that the longitudinal rail modules (102) are provided to a subset of at least one of the land transport means (106, 106') in a storage position on the land transport means (106, 106') in which they are stacked and arranged such that they can be displaced with respect to one another along the longitudinal direction (L LSM).Method according to one of Claims 1 to 3daz characterized in thatthe launch / landing arrangement (101) is supported on the underlying surface (U) in the erected state at least by means of one of the land transport means (106, 106').Method according to one of the preceding claims, characterized in that a section (121) of the runway (107) which protrudes freely between two adjacent land transport means (106, 106') is supported on the underlying surface (U) by means of supporting devices (110).Method according to one of the preceding claims, characterized in that a longitudinal axis (L LTM) of a land transport means (106, 106') is oriented in a plan view at an angle of 45° < α ≤ 315° to the longitudinal direction (L) of the runway (107), or in that at least one longitudinal axis (L LTM) of a land transport means (106, 106') is arranged in a plan view so as to enclose an angle of 0° < α ≤ 90°, preferably of 45° < α ≤ 90°, particularly preferably of 70° < α ≤ 90°.Method according to one of the preceding claims, characterized in that, in order to form a planar course of the runway / runway (107) with respect to an uneven underlying surface (U), a height distance (D H) between the runway / runway (107) and at least one, preferably each, land transport means (106) acting as a support is set up individually.Method according to one of the preceding claims, characterized in that, in order to form a planar course of the runway (107) with respect to an uneven ground (U), an angle β between a loading plane (L L) of one of the ground transport means (106) and the longitudinal direction (L) of the runway (107) is set up individually for each ground transport means (106).Method according to one of the preceding claims, characterized in that a runway plane (L E) is determined as a function of a ground contour along the longitudinal direction (L) and the runway plane (L E) is aligned with respect to the ground (U) in such a way that an admissible minimum height distance (D Hmin) between a land transport means (106) and the runway plane (L E) of the runway (107) or the ground (U) and the runway plane (L E) of the runway (107) is not undershot.Method according to one of the preceding claims, characterized in that a runway plane (L E) is determined as a function of a ground contour along the longitudinal direction (L) and the runway plane (L E) is aligned with respect to the ground (U) in such a way that an admissible maximum height distance (D Hmax) between a land transport means (106) and the runway plane (L E) of the runway (107) or the ground (U) and the runway plane (L E) of the runway (107) is not exceeded.Method according to one of the preceding claims, characterized in thatthe runway / runway (107) is aligned horizontally with respect to a transverse direction (Q).Method according to one of the preceding claims, characterized in that the runway (107) is aligned horizontally with respect to the longitudinal direction (L) or encloses an angle γ of at most + / - 15°, preferably an angle γ of at most + / - 10°, particularly preferably an angle γ of at most + / - 5°, with a horizontal (H).Device for carrying out the method according to one of Claims 1 to 12, characterized in that the device has at least one plurality of rail modules (102, 103) for forming the launch / landing arrangement (101), wherein the plurality of rail modules (102, 103) has at least one plurality of longitudinal rail modules (102) and at least one transverse rail module (103), and the device also has at least one receiving carriage (104) which is designed and designed to cooperate with an unmanned missile (100) to be received at least temporarily mechanically fixing them with respect to the receiving carriage (104), wherein subsets of the plurality of longitudinal rail modules (102) are each assigned to a land transport means (106, 106') and are arranged movably with respect to the land transport means (106, 106') towards an adjacent land transport means (106).Device according to claim 13, characterised in that the longitudinal rail modules (102) of at least one of the sub-sets assigned to a land transport means (106, 106') are connected to one another such that they can be moved relative to one another such that they can be folded about a transverse axis (Q A) with respect to one another.Device according to claim 13 or 14, characterised in that the longitudinal rail modules (102) of at least one of the partial quantities assigned to a land transport means (106, 106') are movable longitudinally displaceably with respect to one another and can be connected to one another in a height direction by means of a relative movement with respect to one another.Device according to one of Claims 13 to 15, characterized in that at least those longitudinal rail modules (102) which, in the erected state of the runway / runway (107), are not supported directly by the ground transport means (106, 106') have supporting devices (110) which are designed to be capable of being deployed and or extended.Device according to one of Claims 13 to 16, characterized in that the longitudinal rail modules (102) can be displaced longitudinally with respect to one another and horizontally with respect to one another along a predefined path, preferably on a rotary plate, preferably by up to + / - 20 cm, particularly preferably by up to + / - 10 cm.Device according to one of Claims 13 to 17, characterized in that the longitudinal rail modules (102), which are stored on one of the land transport means (106, 106'), can be displaced, in particular foldable or displaced, with respect to one another by motor in order to form a subsection of the runway / runway (107).Device according to one of Claims 13 to 18, characterized in that, in the erected state of the runway (107), one of the longitudinal rail modules (102) which is assigned to the land transport means (106, 106') is supported with respect to the underlying surface (U) by means of the land transport means (106, 106').Device according to one of Claims 13 to 19, characterized in that the longitudinal rail module (102) supported by the land transport means (106, 106') is connected to the land transport means (106, 106') such that it can be rotated or pivoted about a vertical axis (Z) relative to the land transport means (106, 106').Device according to one of Claims 13 to 20, characterized in that the longitudinal rail module (102) supported by the land transport means (106, 106') is connected to the land transport means (106, 106') such that it can be pivoted about at least two different spatial axes (X; Y) which are orthogonal to the vertical axis (Z).Device according to one of Claims 13 to 21, characterized in that the ground transport means (106, 106') is a motorized driven ground transport means (106, 106') or a non-motorized trailer (111A) for a tractor (111).Device according to one of Claims 13 to 22, characterized in that the subset of longitudinal rail modules (102) assigned to the land transport means (106, 106') comprises an odd number of longitudinal rail modules (102), in particular three or five longitudinal rail modules (102).