Electrically assisted aviation equipment loading and unloading support device

Abstract

To provide a device of supporting safe and sure loading and unloading of aviation equipment to / from an aircraft.SOLUTION: An electrically assisted aviation equipment loading and unloading support device according to an embodiment is a device that supports loading and unloading of aviation equipment to / from an aircraft. This device includes a holding unit, a link mechanism, an electric actuator, a control unit, and a load sensor. The holding unit holds aviation equipment supportably. The link mechanism supports the holding unit vertically movably. The electric actuator drives the link mechanism to raise and lower the holding unit. The control unit controls the electric actuator. The load sensor detects a load applied to the holding unit. The control unit further includes an assist control part and a stop control part. The assist control part assists in raising and lowering the aviation equipment by supporting the holding unit with a supporting force corresponding to the load. The stop control part stops the raising or lowering of the aviation equipment when the holding unit reaches a predetermined height.SELECTED DRAWING: Figure 15

Description

[Technical field]

[0001] The present invention relates to a technology for supporting the loading and unloading of aircraft equipment onto and from an aircraft. [Background technology]

[0002] An aircraft is made up of structural parts (such as the fuselage and wings) and engines, as well as other equipment. The latter are collectively called aviation equipment. For example, pylons, launchers, fuel tanks, rescue and search pods, data transmission relay pods, electronic warfare pods, missiles, bombs, etc. are all aviation equipment. Aviation equipment comes in a wide variety of shapes and sizes, and is quite heavy to carry by hand, so specialized equipment is used.

[0003] In order to load aviation equipment onto an aircraft, it is necessary to transport the equipment close to the aircraft, place it in an appropriate position relative to the loading area, and raise it safely and reliably to a high position. In addition, in order to unload the aviation equipment from the aircraft, it is necessary to lower it safely. Conventionally, large loaders, forklifts, and other equipment that use flammable fuel as a power source have been used for such work. However, in most cases, work is done in a narrow space, so there is a high risk of interference between the aircraft and the aviation equipment when using such equipment. In addition, the burden on workers is high due to exhaust gases and noise, so many people are required and the work tends to take a long time. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 7076851 [Patent Document 2] JP 2021-104693 A [Patent Document 3] JP 2017-77835 A [Patent Document 4] Patent No. 5719606 [Patent Document 5] Patent No. 7180415 [Patent Document 6] Patent No. 2628933 Summary of the Invention [Problem to be solved by the invention]

[0005] The number of missions that require aviation equipment to be loaded onto aircraft, including manned and unmanned aircraft (drones, etc.), is increasing. In addition, operations are being planned that require the loading and unloading of aviation equipment into the weapons area inside the aircraft. As such, it is certain that the loading and unloading of aviation equipment will become more frequent and more complicated in the future, and it is becoming an urgent task to reduce the burden on personnel at each process.

[0006] The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a device for assisting in the safe and reliable loading and unloading of aircraft equipment onto and from an aircraft. [Means for solving the problem]

[0007] An electrically assisted aviation equipment mounting and lowering support device according to an embodiment is a device that supports the mounting and lowering of aviation equipment onto an aircraft. The device includes a holding unit, a link mechanism, an electric actuator, a control unit, and a load sensor. The holding unit holds the aviation equipment so that it can be supported. The link mechanism supports the holding unit so that it can be raised and lowered. The electric actuator drives the link mechanism to raise and lower the holding unit. The control unit controls the electric actuator. The load sensor detects the load applied to the holding unit. The control unit further includes an assist control unit and a stop control unit. The assist control unit supports the holding unit with a supporting force according to the load, thereby assisting the raising and lowering of the aviation equipment. The stop control unit stops the raising and lowering of the aviation equipment when the holding unit reaches a predetermined height. Effect of the Invention

[0008] According to the present invention, it is possible to provide an electrically assisted aircraft equipment loading / unloading support device that supports the safe and reliable loading and unloading of aircraft equipment onto and from an aircraft. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a perspective view showing an example of an electrically assisted aircraft equipment mounting and lowering support device according to an embodiment. [Diagram 2] FIG. 2 is an enlarged view of the periphery of the holding unit 1 and the control unit 2. As shown in FIG. [Diagram 3] FIG. 3 is a view of the holding portion 1 as seen from above. [Figure 4] FIG. 4 is a diagram for explaining the load detected by the load sensor 1b. [Diagram 5] FIG. 5 is a graph showing an example of the relationship between the stress applied to the load sensor and the electric assist force applied to the lifting unit 10. As shown in FIG. [Figure 6] FIG. 6 is a functional block diagram showing an example of a configuration related to automatic driving. [Figure 7] FIG. 7 is a functional block diagram showing an example of a configuration related to electric power assist. [Figure 8] FIG. 8 is a diagram showing a configuration example of the lifting unit 10 using the Scott Russell / parallel link extension system. [Figure 9] FIG. 9 is a diagram showing a configuration example of the lifting section 10 using a scissor extension method. [Figure 10] FIG. 10 is a diagram for explaining the attachment of aviation equipment to an aircraft. [Figure 11] FIG. 11 is a side view showing the state in which the aircraft equipment 200 is suspended from the pylon 400. [Figure 12] FIG. 12 is a top view showing the state in which the aircraft equipment 200 is suspended from the pylon 400. As shown in FIG. [Figure 13] FIG. 13 is a cross-sectional front view of the aircraft equipment 200 suspended from the pylon 400. [Figure 14]FIG. 14 is a schematic diagram showing a state in which aircraft equipment 200 is transported by the electrically assisted aircraft equipment mounting and lowering support device 100 and aligned with the mounting location. [Figure 15] FIG. 15 is a diagram showing a state in which aircraft equipment 200 has been lifted up by the electrically assisted aircraft equipment loading and lowering support device 100. As shown in FIG. [Figure 16] FIG. 16 is a front view showing an example of an attachment provided on the holding portion 1. As shown in FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] 1 is a perspective view showing an example of an electrically assisted aircraft equipment mounting and lowering support device 100 according to an embodiment. This device is powered by electricity supplied from a power supply unit 8, and is equipped with an electric actuator that raises and lowers a table (holding unit) using a link mechanism, and a running unit equipped with electric wheels and caster wheels.

[0011] 1, a battery is removably attached to the housing of a power supply unit 8. For example, a device control unit 9 is installed next to the power supply unit 8. The device control unit 9 includes a processor such as a CPU (Central Processing Unit) and functions as a so-called ECU (Electronic Control Unit).

[0012] A power supply unit 8, a device control unit 9, and a lifting unit 10 serving as a link mechanism are mounted on a base 20 of a running unit 18. The running unit 18 includes caster wheels 7 provided, for example, at the four corners of a rectangular base 20, and an omnidirectional drive wheel 6 installed at the center of the base 20. The caster wheels 7 support the entire device including the base 20. The omnidirectional drive wheel 6 is, for example, an omniwheel or a mecanum wheel, and enables the device to move in the longitudinal direction of the base 20 (defined as the X-axis) and in a direction perpendicular to the X-axis (defined as the Y-axis), as well as to rotate and swivel. In other words, the caster wheels 7 and omnidirectional drive wheels 6 support the base 20 so that it can move freely.

[0013] That is, the running unit 18 allows the device to autonomously run in the forward / backward direction (X direction) and the left / right direction (Y direction) perpendicular to the X direction. Furthermore, the omnidirectional drive wheels 6 enable the device to run diagonally and in turns.

[0014] The base 20 further includes an electric actuator that controls the extension of the lifting unit 10. The electric actuator includes an electric motor 3 that rotates a ball screw 4. By rotating the ball screw 4 forward / reversely using the electric motor 3, a nut portion that fits into the ball screw 4 slides along the axial direction, and the lifting unit 10 extends.

[0015] The lifting unit 10 lifts and lowers the holding unit 1. The holding unit 1 holds the aviation equipment so that it can be transported when it is loaded onto an aircraft or when it is removed from the aircraft. An attachment may be provided to the holding unit 1 so that the aviation equipment can be fixed to the holding unit 1 during transportation.

[0016] For example, a control unit 2 as a user interface and a monitoring unit 12 are attached near the holding unit 1. The monitoring unit 12 obtains image data of the surroundings of the device using, for example, an omnidirectional camera, and monitors in real time whether or not there are obstacles.

[0017] Furthermore, detection units 51, 52 are attached to the four corners of the base 20, or at least in the X-axis traveling direction. The detection units 51, 52 are, for example, LiDAR (Light Detection and Ranging), and detect obstacles around the device including the base 20. For example, a connection unit 19 may be formed in the center of the frame between the detection units 51, 52 so that the device can be towed by a towing vehicle or the like.

[0018] In the above configuration, information about obstacles from the monitoring unit 12 and the detection units 51, 52 is transmitted to the equipment control unit 9. The equipment control unit 9 generates control signals based on this information, the operation by the operator, the operation mode, various settings, etc., and controls each part of the equipment. In this embodiment, the driving force is electrically driven, thereby supporting the operator in each process of the loading and unloading work of aircraft equipment, and achieving safe and reliable loading and unloading work.

[0019] Fig. 2 is an enlarged view of the vicinity of the holding unit 1 and the control unit 2. The holding unit 1 is a table-like member on which aviation equipment is directly mounted, and is connected to the lifting unit 10 via a stage 11. As shown in Fig. 3, by connecting the holding unit 1 to the stage 11 via, for example, an angular bearing 1a, the aviation equipment can be rotated around a vertical axis (yaw axis), which is convenient for fine adjustment during positioning.

[0020] Returning to Fig. 2, the control unit 2 includes an operation stick 13 and a display unit 14 such as a liquid crystal display (LCD). The display unit 14 displays information related to various operations, such as the load of the electric motor 3, the load capacity of the holding unit 1, and camera images, and transmits the information to the operator. In addition, a power assist switch for switching the assist on / off may be provided in the control unit.

[0021] The operation stick 13 is a joystick-like operation interface with a degree of freedom in the vertical direction, and is mainly used to control the electric actuator to extend and retract the lifting unit 10 and move the holding unit 1 in the vertical direction.

[0022] In addition, in FIG. 2, the monitoring unit 12 includes a travel stick 13a and an omnidirectional camera 15. The travel stick 13a is a joystick-like operation interface with degrees of freedom in the forward, backward, left and right directions, and is mainly used to instruct the direction of travel of the travel unit 18 and to fine-tune the holding unit 1. In other words, when the electrically assisted aviation equipment mounting and lowering support device 100 is loaded with aviation equipment and moved, it is used as an input device for operating the travel direction and travel speed of the device. After arriving at a predetermined position, a mode change switch (not shown) is used to switch to fine adjustment mode, and the omnidirectional drive wheels 6 at the bottom of the travel unit 18 are driven by operating the travel stick 13a to perform delicate positioning. The travel speed of the travel unit 18 and the position of the holding unit 1 can be finely adjusted by the amount of tilt of the travel stick 13a. The omnidirectional camera captures images of the surroundings of the electrically assisted aviation equipment mounting and lowering support device 100 at a wide viewing angle and outputs image data. This image data is processed by the monitoring unit 12 or the device control unit 9, and obstacles around the device are detected with high accuracy.

[0023] Furthermore, the monitoring unit 12 is equipped with a GNSS (Global Navigation Satellite System) function. For example, the monitoring unit 12 is equipped with a GPS antenna 16 and detects its own position in real time by GPS positioning. In other words, the monitoring unit 12 can continuously obtain its own position information and provide information necessary for optimal movement to aircraft that load and unload aviation equipment.

[0024] FIG. 3 is a top view of the holding unit 1. The holding unit 1 is equipped with a wearable camera 17. The wearable camera 17 is attached, for example, with the lens facing vertically upward, and captures the positional relationship between the aircraft and the aviation equipment to obtain image information. This image information is sent to the device control unit 9. For example, a transmission unit may be provided in the monitoring unit 12, and the video data may be transmitted to the smart glasses worn by the operator via a wireless line. In other words, the acquired image information may be transmitted wirelessly to the smart glasses worn by the operator. With this configuration, the operator can operate the operating stick 13 while watching the image displayed on the smart glasses, and stop the holding unit 1 at the optimal position.

[0025] For example, a single or multiple load sensors 1b are provided on the holding unit 1. The load sensor 1b detects a vertical load applied to the holding unit 1. This load varies depending on the human force exerted by a person holding the aircraft equipment.

[0026] Fig. 4 is a diagram for explaining the load detected by the load sensor 1b. In Fig. 4, when aircraft equipment 200 is loaded onto the holding unit 1, gravity F1 acting on the aircraft equipment 200 is transmitted from the holding unit 1 to the stage 11 via the load sensor 1b. When the holding unit 1 is stationary, this gravity F1 and the supporting force (assisting force) F2 of the lifting unit 10 are in balance, and the load sensor detects a load that corresponds to the balance.

[0027] At this time, if a person tries to support the aircraft equipment 200 or the holding part 1 with his / her own strength (human power), a vertically upward human force F3 acts on the point of application of the force. This causes a change in the load detected by the load sensor 1b.

[0028] FIG. 5 is a graph showing an example of the relationship between the stress on the load sensor 1b and the electric assist force on the lifting unit 10. In general, the stress (compressive force) on the load sensor 1b is equal to the combined weight of the lifting unit 10 and the gravity F1 on the aircraft equipment 200. However, when the aircraft equipment 200 is lifted by human force against gravity, the sensor value of the load sensor decreases by the amount of the human force F3. When the device control unit 9 detects this decrease in the sensor value, it increases the assist force F2 assuming that an upward human force F3 has been applied. In other words, the smaller the stress on the load sensor, the larger the assist force F2, and therefore the graph in FIG. 5 shows a downward sloping line to the right. When the initial load is applied and the balance is achieved, the assist force is 0. As the stress of the load sensor increases from this state, the assist force enters the negative region, lowering the holding unit 1. On the other hand, as the stress of the load sensor decreases, the assist force enters the positive region and gradually increases, allowing the operator pushing up the holding unit 1 to lift the aircraft equipment 200 with less force.

[0029] However, when the holding part 1 reaches, for example, a predetermined height, the supply of the assist force F2 is stopped and the lifting and lowering of the holding part 1 is stopped. This makes it possible to prevent accidents such as the aviation equipment 200 colliding with or coming into contact with the aircraft. This will be explained in detail below.

[0030] Fig. 6 is a functional block diagram showing an example of a configuration related to automatic driving. Mechanisms related to driving control and obstacle avoidance control will be described with reference to Fig. 6. In Fig. 6, self-position information acquired by the GNSS (GPS) of the monitoring unit 12 is input to a self-position information acquisition unit 21 of the control unit 2 together with target position information (map information) previously stored in a storage unit or the like (not shown).

[0031] Meanwhile, image data from omnidirectional camera 15, wearable camera 17, etc. are input as camera information to obstacle information acquisition unit 22. Similarly, radar information from various radars (acoustic sensors, etc.) and LiDAR information from detection units 51, 52 are also input to obstacle information acquisition unit 22. These pieces of information are appropriately processed and passed to path generation control unit 23 as self-position information, target position information, and obstacle information. The obstacle information is also passed to device control unit 9.

[0032] The route generation control unit 23 generates route information that can reach the target position while avoiding obstacles, based on the self-position information and target position information passed from the self-position information acquisition unit 21, and the obstacle information passed from the obstacle information acquisition unit 22, and generates a control signal for moving along this route. This control signal is given to the omnidirectional drive wheels 6 via the X-direction motor control unit 24 and the Y-direction motor control unit 25. This allows the electrically assisted aviation equipment mounting and lowering support device 100 to travel autonomously to the target position while avoiding obstacles.

[0033] The self-position information acquisition unit 21, the obstacle information acquisition unit 22, the path generation control unit 23, the X-direction motor control unit 24, and the Y-direction motor control unit 25 may be realized as software executable by the processor of the control unit 2.

[0034] Fig. 7 is a functional block diagram showing an example of a configuration related to an electric assist. Mechanisms related to driving the electric actuator and detecting overload will be described with reference to Fig. 7. In Fig. 7, information related to the control of the operation stick 13 by the operator (stick input such as tilt direction and tilt angle of the stick) is sent to the device control unit 9 via the control unit 2. In addition, the sensor value (including an abnormal value) of the load sensor 1b is sent to the control unit 2.

[0035] Driving power from the battery 81 is provided from the power supply unit 8 to the control unit 2 and also to the inverter 31. The output of the inverter is input to the device control unit 9. The device control unit 9 outputs a control signal for controlling the electric motor 3. When the control signal is provided, the electric motor 3 drives the ball screw 4. Then, the rotational driving force is converted via the linear rail 32 into an assist force that assists in lifting the holding unit 1, and drives the lifting unit 10. Here, if an abnormal value is detected by the load sensor 1b, the control unit 2 and the device control unit 9 immediately stop driving the electric actuator 34.

[0036] Incidentally, the control unit 2 includes, as functions related to the embodiment, an assist control unit 26 and a stop control unit 27. The assist control unit 26 and the stop control unit 27 may be realized as software executable by the processor of the control unit 2.

[0037] The assist control unit 26 supports the holding unit 1 with a supporting force corresponding to the load detected by the load sensor 1b, and assists the ascent and descent of the aircraft equipment 200 by human power. When the holding unit 1 reaches a predetermined height, the stop control unit 27 turns off the assist of the holding unit 1 to the human power and stops the aircraft equipment 200 at that height. In other words, it stops the lifting and lowering of the holding unit 1 by the electric actuator.

[0038] Figure 8 is a diagram showing an example of the configuration of the lifting unit 10 using the Scott Russell / parallel link extension method. In Figure 8, when the electric motor 3 is rotated, the nut part 41 that fits into the ball screw 4 slides along the axial direction, and the lifting unit 10 extends. This causes the stage 11 and the holding unit 1 to rise and fall only in the height direction. The height control of the rise and fall is linked to the operation control of the electric motor 3 of the electric actuator.

[0039] FIG. 9 is a diagram showing an example of the configuration of a lifting unit 10 using a scissor extension method. The lifting unit 10 is a link mechanism consisting of two pairs of intersecting support rods on the left and right. One end of the support rods is attached to a nut portion 41 that fits into a ball screw 4. When the electric motor 3 is rotated, the nut portion 41 that fits into the ball screw 4 slides along the axial direction, and the lifting unit 10 is extended. This causes the stage 11 and the holding unit 1 to rise and fall only in the height direction. The height of the rise and fall is controlled in conjunction with the operation control of the electric motor 3 of the electric actuator.

[0040] Next, the operation of the above configuration will be described in detail. FIG. 10 is a diagram for explaining the attachment of aviation equipment to an aircraft. For example, if the aircraft 300 is a fighter jet, it may be equipped with a pylon 400 for mounting (suspending or suspending) aviation equipment 200 such as a missile. A missile weighs as much as 100 to 200 kg, and a large one can weigh over 1 ton. Conventionally, transportation, mounting, and lowering of aviation equipment 200 have mostly relied on human power and human-powered equipment, or heavy equipment, requiring a large number of people and time.

[0041] Fig. 11 is a side view showing the aviation equipment 200 suspended from the pylon 400. Fig. 12 is a top view, and Fig. 13 is a cross-sectional view seen from the front. Both are illustrated with respect to a rail-type launcher.

[0042] In Fig. 11, a rail formed on the lower part of a pylon 400 is provided with an insertion hole 402 for the forward lug. As shown in Fig. 12, a notch 401 is formed on the rear of the rail. Meanwhile, a forward lug 202 and a rear lug 201 are formed on the aviation equipment 200. When mounting, it was necessary to align the rear lug 201 and the notch 401, and the forward lug 202 and the insertion hole 402 to the millimeter, and then slide the aviation equipment 200 forward.

[0043] As shown in Figure 13, the lug of the aircraft equipment must fit snugly with the rail of the aircraft in both the AA section and the BB section (Figure 11). To achieve this state, alignment to the millimeter is required. Although not shown, the situation is the same for the hook-type launching device, which is attached by fitting the hook on the aircraft with the lug on the aircraft equipment.

[0044] 14 is a schematic diagram showing the state in which aviation equipment 200 is transported and aligned to an installation location by the electrically assisted aviation equipment mounting and lowering support device 100. The aviation equipment 200 is fixed to the holding part 1 by the attachment 203, and the omnidirectional drive wheels 6 are controlled to automatically transport it to the pylon 400 under the wing of the aircraft 300. Furthermore, the alignment between the rear lug 201 and the notch 401, and between the front lug 202 and the insertion hole 402 can also be easily fine-tuned by motor drive.

[0045] FIG. 15 is a diagram showing the state in which the aviation equipment 200 is lifted up by the electrically assisted aviation equipment loading and lowering support device 100. The aviation equipment 200 is fixed to the holding unit 1 by the attachment 203. The operator slowly lifts the aviation equipment 200 while controlling the control unit 2. The assist control by the electric actuator works until halfway, so the operator is hardly burdened. When approaching a predetermined height, the rail-type or hook-type launching device and the aviation equipment come into contact, and this contact force becomes a downward force in FIG. 4, so that it acts to reduce the human force F3, the assist force gradually decreases, and the rise stops at a predetermined height. After that, by fine-tuning the position, the aviation equipment can be loaded by almost one person. By performing the reverse operation, the lowering can also be completed by almost one person.

[0046] Next, several modes of use of the electrically assisted aircraft equipment loading and lowering support device 100 according to the embodiment will be described.

[0047] <Towing and transport> In this configuration, the function of the running unit 18 is turned off, and transportation by a towing vehicle is considered. To achieve this configuration, the caster wheels 7 are replaced with free casters or the like having a larger diameter, and the omnidirectional drive wheels 6 are raised above the ground surface.

[0048] Before starting up the device, a fully charged battery is inserted into the slot of the power supply unit 8. Then, the display unit 14 of the control unit 2 displays that the battery has been connected to the power supply unit 8, and the operator confirms this.

[0049] In a hangar where the aviation equipment 200 is stored, the aviation equipment 200 is moved close to the electrically assisted aviation equipment mounting and lowering support device 100 using a forklift or the like, and is then mounted on the holder 1. At this time, it is preferable to hold the equipment 200 stably using an attachment or the like. In this state, it is confirmed that there is no deviation in the load detected by the load sensor 1b. If an overload is detected, the mounting situation is corrected using a forklift.

[0050] When loading is complete, the lifting unit 10 is retracted to the base 20, the holding unit 1 is lowered to the bottom, and the towing vehicle is connected to the connection unit 19 (Fig. 1) with the center of gravity lowered. The towing vehicle may be either a manned or unmanned type.

[0051] In this manner of transportation while connected to the towing vehicle, the detection units 51, 52 installed on the running section 18 of the electrically assisted aviation equipment mounting and lowering support device 100 and the omnidirectional camera 15 installed on the monitoring unit 12 are operated to detect obstacles around the electrically assisted aviation equipment mounting and lowering support device 100. When an obstacle is detected, the obstacle information is transmitted to the towing vehicle, which then slows down or stops the device as necessary.

[0052] Information indicating that an obstacle has been detected is transmitted from the detection units 51, 52 or the monitoring unit 12 to the control unit 2. In response to this, the control unit 2 stops the drive signal to the drive motor of the omnidirectional drive wheels 6. Then, when the vehicle arrives at the transportation destination point set in advance, the towing vehicle is detached and the electrically assisted aviation equipment loading and lowering support device 100 is set to a state in which it can operate independently.

[0053] <Solo transport> In this embodiment, the function of the traveling unit 18 is turned on to consider autonomous traveling. In this embodiment as well, the detection units 51, 52 and the omnidirectional camera 15 installed in the monitoring unit 12 are operated to detect obstacles around the device. Furthermore, if there is an abnormal approach to an aircraft carrying aviation equipment, the drive signal to the drive motor of the caster wheels 7 is stopped. At this time, abnormal approach information is notified to the control unit 2, and a specified message is displayed on the display unit 14.

[0054] When the obstacle and the abnormal approach have been avoided, the reset ([RESET]) function installed in the control unit 2 is operated, and the electrically assisted aviation equipment mounting and lowering support device 100 is driven to travel in the normal control mode.

[0055] The aviation equipment 200 is transported in either the <tow transport> mode or the <solo transport> mode to the vicinity of the aircraft on which it is to be loaded, and the control unit 2 is operated to set it to either (manual control mode) or (automatic control mode) to stop the drive of the omnidirectional drive wheels 6.

[0056] <Aircraft equipment loading> In this embodiment, the power assist switch installed in the control unit 2 is turned on to drive the electric motor 3 and operate the Scott Russell mechanism or the scissor mechanism to provide a supporting force. At this time, the load sensor 1b checks that no deviation occurs in the load data of the aviation equipment 200 mounted on the holding unit 1.

[0057] Wearable camera 17 installed on holding unit 1 transmits image information of the positional relationship between the aircraft to be loaded and aviation equipment 200 to the smart glasses worn by the operator. The operator stops holding unit 1 at the optimal position (predetermined height) by trimming the operation stick 13 and the power assist switch.

[0058] Control unit 2 may be equipped with an image recognition processing function that utilizes artificial intelligence, for example, and image information from wearable camera 17 may be provided to the image recognition processing function to stop it at an optimal position through autonomous control.

[0059] When the aircraft equipment 200 that has been raised to the optimum position is to be displaced horizontally from the mounting position, the rotating disk installed on the holding unit 1 is operated horizontally by the travel stick 13a and stopped at the optimum position.

[0060] Furthermore, when the aviation equipment 200 that has been moved to the optimum position is to be slid (moved horizontally) relative to the part on the aircraft body, the omnidirectional drive wheels are driven by the operation stick 13 to slide the running part 18 . 16 is a front view showing an example of an attachment provided to the holding unit 1. The attachment is, for example, two cylindrical members arranged in parallel, and is capable of rotating around an axis. The aviation equipment 200 is mounted on the attachment with its axis aligned, and fixed to the holding unit 1. By rotating the attachment, the aviation equipment 200 can be rotated around its axis (roll rotation), which can be useful for fine adjustment when mounting it on an aircraft.

[0061] When the aircraft equipment 200 that has been slid to the optimum position is to be rotated in the roll direction (around an axis) relative to the aircraft mounting portion, the attachment 203 is rotated in the roll direction using a roll rotation mechanism to perform fine adjustment.

[0062] When the aviation equipment 200 mounted on the holding part 1 is moved in the sliding and rolling directions by the drive of an electric motor, a depth camera continuously monitors three-dimensional information around the mounting site and the relative positional relationship to the aircraft's mounting hook, and corrects it to the optimal position and attitude.

[0063] Then, aviation equipment 200 is loaded and restrained in the optimal position by the aircraft's latch mechanism and lock mechanism. Finally, wearable camera 17 is used to confirm that aviation equipment 200 has been properly loaded and restrained in the aircraft.

[0064] <Withdrawal> In this embodiment, first, the operator operates the operation stick 13 of the control unit 2 to lower the holding unit 1 to the lowest position. That is, the electric motor 3 is operated in a direction to contract the electric actuator, and the lifting unit 10 is stored in the traveling unit 18 at a horizontal level.

[0065] Next, the operator operates the travel stick 13a to activate the omnidirectional drive wheels 6, and moves the electrically assisted aviation equipment mounting and lowering support device 100 to a safe location outside the parking area.

[0066] <Aviation Equipment Sha> In this form, the electric motor 3 is started to contract the electric actuator, lifting the holding unit 1 and connecting it to the aviation equipment 200 mounted on the aircraft. At that time, the wearable camera 17 installed on the holding unit 1 transmits an image of the optimal position to the smart glasses worn by the operator. The operator operates the operation stick 13 of the control unit 2 while looking at the image displayed on the smart glasses, adjusts the position in the up and down direction by the lifting unit 10, and in the front-back and left-right directions by sliding the running unit 18, and moves the holding unit 1 to the optimal position.

[0067] Once the aircraft equipment 200 has been moved to the optimum position for holding it, the aircraft control device is operated to change the aviation equipment 200 from a locked state (restrained state) to an unlocked state (released state) and removed from the aircraft. The aviation equipment 200 is then moved to the holding section 1, which holds the aviation equipment 200. At this time, the load sensor 1b is monitored to safely hold the aviation equipment 200, and it is confirmed that balance is being maintained.

[0068] After the aviation equipment 200 is fixed to the holding unit 1, the operator operates the operation stick 13 to lower the lifting unit 10 to a height parallel to the traveling unit 18. In this state, the omnidirectional drive wheels 6 are driven to move the electrically assisted aviation equipment mounting and lowering support device 100 with the aviation equipment 200 mounted thereon.

[0069] Next, the electrically assisted aviation equipment loading and lowering support device 100 carrying the aviation equipment 200 that has been moved outside the parking area is connected to a towing vehicle, and is transported, under manual or automatic control, to a hangar in which the aviation equipment 200 is stored.

[0070] <Charging> In this mode, after the aviation equipment 200 is transported to a hangar, the battery is removed from the power supply unit 8 of the electrically assisted aviation equipment mounting and lowering support device 100 and charged with an accessory charging device. Then, after charging is completed, the battery is mounted on the power supply unit 8, and the electrically assisted aviation equipment mounting and lowering support device 100 is put into an operational mode.

[0071] [Summary of composition and function] The connecting part 19 installed on the running part 18 can be connected to a manned or unmanned towing vehicle, which allows the vehicle to travel more quickly and move closer to the aircraft.

[0072] The omni-wheels, which are omnidirectional drive wheels 6 that are attached to the left and right central locations of the lower part of the running part 18 and drive in the running direction (X direction), cross direction (Y direction), diagonal direction, and turning direction, can run by electric drive. This omni-wheel allows the vehicle to run in the running direction (X direction), cross direction (Y direction), diagonal direction, and turning direction.

[0073] The running unit can be rotated by rotating the omni-wheels attached to the left and right central locations of the running unit 18 in opposite directions, and by driving the omni-wheels in the intersecting direction (Y direction), the running unit 18 can be rotated around any point (X, Y) on the running unit 18.

[0074] The above-described configuration allows for the loading and placement of aircraft equipment in a lower position of the hull efficiently and without the need for human power.

[0075] By operating the power assist switch arranged in the control unit 2, the electric motor is driven and the ball screw 4 is operated by the electric actuator 34 to extend the holding part, thereby lifting up the aviation equipment to the height required for loading and lowering. Alternatively, by driving the electric motor and using the Scott Russell method or the scissor method with the electric actuator to operate the support rod and extend the holding part, the aviation equipment can be lifted to the loading and lowering height. This makes it possible to connect the aviation equipment, which is a heavy item, to the part to be loaded and lowered on the aircraft without requiring human labor or by supporting human labor for loading and lowering the aviation equipment.

[0076] The rotating disk built into the holding unit 1 allows the aviation equipment to rotate 360 ​​degrees horizontally and has a trim function that allows fine adjustments. This allows the aviation equipment to be placed in a more optimal position relative to the aviation equipment mounting area of ​​the aircraft.

[0077] In order to safely connect the above, the detection units 51, 52 (LiDAR (Light Detection and Ranging)) installed on the running unit 18, the omnidirectional camera 15 of the monitoring unit 12 installed on the holding unit 1, and the load sensor 1b installed on the holding unit 1 can be operated to monitor and detect obstacles to the operation of the running unit 18 and the lifting unit 10, as well as abnormal operation.

[0078] The adjuster and band for fixing the aviation equipment placed in the holding section 1 to prevent it from shifting can prevent abnormal operation during travel and lifting / lowering. This allows the loading and unloading of aviation equipment to be carried out more safely.

[0079] The processing unit calculates the deviation direction and deviation distance from the position difference between the position information (latitude and longitude) of the aviation equipment loading and unloading location input before the loading and unloading work and the position information (latitude and longitude) from the GPS positioning device equipped in the holding unit 1, and can calculate the movement direction and movement speed of the electrically assisted aviation equipment loading and unloading support device 100 from the operating distance and acceleration from the electric motor that controls the caster wheels 7 of the running unit 18.

[0080] In manual mode, the control unit 2 can convert the operation input from the travel stick 13a into a signal. This allows the optimal travel direction and travel speed to be transmitted to the electric motor of the travel unit 18, driving the electric motor. This also greatly reduces the burden of human labor involved in the movement of aviation equipment. Furthermore, in the case of autonomous travel by automatic control, the number of operators involved in the movement can be reduced.

[0081] The altitude of the aviation equipment's loading / lowering position is measured from the omnidirectional camera 15 of the monitoring unit 12, the difference is calculated from the height dimension of the aviation equipment, and the moving altitude for raising / lowering the elevator unit 10 can be calculated. Furthermore, the control unit 2 generates an electric signal for operating an electric motor that operates the electric actuator of the elevator unit 10 based on the altitude required for the aviation equipment, and transmits the drive information. This drives the electric motor, and the ball screw is utilized to move the aviation equipment to the position where it will be loaded or lowered on the aircraft by the electric actuator. Furthermore, the load of human labor involved in moving the aviation equipment in the vertical direction can be greatly reduced. Furthermore, in the case of autonomous movement by automatic control, the number of operators involved in the movement can be reduced.

[0082] Based on peripheral information from the omnidirectional camera 15 mounted on the holding unit 1 and holding direction information from a turntable installed at the bottom of the holding unit 1, the turntable is rotated horizontally to fine-tune the aviation equipment to the optimal loading / unloading position for the equipment, in terms of latitude, longitude, and height, relative to the aircraft's aviation equipment loading / unloading position. This significantly reduces the human labor required to move the aviation equipment to the optimal loading position on the aircraft. In addition, if the movement is performed under automatic control, the number of operators required for the movement can be reduced.

[0083] The load from the aircraft equipment can be constantly monitored for operations related to loading and lowering onto the aircraft by the load sensor 1b installed in the holding unit 1. This makes it possible to monitor that there is no abnormal load on the aircraft equipment. Furthermore, when the load sensor 1b detects an applied load, a stop signal can be transmitted from the processing control unit of the control unit 2 to the electric motor of the lifting unit 10, thereby stopping the lifting and lowering.

[0084] The wearable camera 17 installed in the holding part 1 can wirelessly transmit images of the loading and unloading work status in real time to the smart glasses worn by the operator. This makes it possible to grasp the loading and unloading work of aviation equipment carried out in a narrow space.

[0085] Image information from the wearable camera 17 can be shared with relevant operators, allowing safe loading and unloading.

[0086] The control unit 2 has a processing control function that performs calculations based on the position information of the aircraft equipment, the holding status, and the aircraft equipment mounting / lowering position information of the aircraft, and transmits the optimum movement information to the drive parts of the traveling unit 18, the lifting unit 10, and the holding unit 1.

[0087] The control unit 2 has a function to continuously monitor the normal and abnormal operating conditions related to the loading and lowering of aviation equipment and display them to the operator. This provides a built-in test BIT (Built In Test) function when the electrically assisted aviation equipment loading and lowering support device 100 starts operation. If an abnormality occurs during the BIT function, the support work is stopped and improvements are made. The control unit 2 has an operation function to control and instruct operations related to the loading and lowering of aviation equipment.

[0088] [effect] According to the embodiment, it is possible to provide a configuration of an electrically assisted aviation equipment mounting and lowering support device capable of mounting and lowering aviation equipment 200 safely and with the aim of reducing the labor of the operator and saving the number of operators, and a technology relating to a safety assurance method and a drive control method for carrying out mounting and lowering work safely and efficiently. By carrying out mounting and lowering of aviation equipment safely and efficiently using an electrically assisted method, it is possible to achieve labor and manpower savings compared to work carried out using conventional heavy equipment.

[0089] It is now possible to quickly and reliably load and unload the aviation equipment 200 in the narrow space of the weapon area inside recent aircraft. In addition, it can be used not only for loading and unloading the aviation equipment 200, but also as a support device for loading and unloading heavy objects in narrow spaces.

[0090] Furthermore, by incorporating artificial intelligence, it will be possible to operate it as an autonomous electrically assisted aviation equipment loading and lowering support device, enabling significant labor and manpower savings.

[0091] The electrically assisted aviation equipment loading and unloading support device utilizes electric power to perform travel, lifting, and safety functions, making it possible to support safe and efficient loading and unloading operations, thereby reducing the number of operators required and complementing the work of holding aviation equipment and ensuring safety during loading and unloading.

[0092] Because it uses electric power, it is possible to reduce noise during loading and unloading operations and improve the working environment caused by flammable fuel compared to support equipment that uses flammable fuel.

[0093] In order to build a control system using electrical signals, it is important to have an electrically assisted aviation equipment mounting and lowering support function that can complement operational tasks by facilitating integration with safety sensor signals and remote control of the driving and lifting functions.

[0094] In addition, electrically assisted equipment, which is smaller than the large loaders and forklifts that are conventionally powered by combustible fuel, improves workability in narrow spaces.

[0095] Furthermore, because it is electrically powered, it is possible to reduce exhaust gases from flammable fuel and excessive noise, ensuring a healthy working environment.

[0096] Considering future loading and unloading operations near aircraft, each drive unit is configured with an electric drive system. In addition, by equipping the control unit with artificial intelligence, it can be operated as an autonomous electric-assist aviation equipment loading and unloading support device, contributing to further labor-saving and manpower-saving. In addition, by adopting an electric-assist system, it is possible to configure and control the control functions, which include the aviation equipment loading and driving function, aviation equipment lifting and lowering function, surroundings monitoring function, obstacle detection function, and operation and display functions, all with an electric system.

[0097] As described above, according to the embodiment, it is possible to provide a device that assists in safely and reliably loading and unloading aviation equipment onto and from an aircraft.

[0098] Although the embodiment has been described, this embodiment is presented as an example and is not intended to limit the scope of the invention. This novel embodiment can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. This embodiment and its modifications are included in the scope and spirit of the invention, and are included in the scope of the invention and its equivalents described in the claims. Other characteristic features of the embodiment are described below as supplementary notes.

[0099] [Appendix 1] This electrically assisted aviation equipment mounting and lowering support device is characterized by the fact that it can move forward and backward (X direction), left and right (Y direction), diagonally, and rotate using a battery and a travel stick mounted on the base of the traveling part, and its operation is electrically operated and the operating area can be controlled with simple operation using an operating stick mounted on the base.

[0100] [Appendix 2] The battery is charged by an external commercial power source and can be easily attached to start the device. The electrically assisted aviation equipment mounting and lowering support device can be easily removed by charging and preparing multiple batteries and can be easily attached to continue operation.

[0101] In addition, this electrically assisted aircraft equipment loading and lowering support device is characterized by its improved working environment, including lower noise levels and reduced exhaust gas emissions, compared to conventional devices powered by flammable fuels.

[0102] [Appendix 3] In the manual control mode of the monitoring unit's travel stick, the signal input by the operator is transmitted as an electric signal to the motor unit for movement in the X and Y directions, and the weight of the device is supported by caster wheels (for moving in a straight line) or electric wheels equipped on the front, back, left and right sides of the base, and precise movement in the X and Y directions is achieved by omni wheels or Mecanum wheels equipped on the center left and right sides of the base. This is an electrically assisted aviation equipment mounting and lowering support device.

[0103] [Appendix 4] An electrically assisted aviation equipment mounting and lowering support device characterized by transmitting required data to a motor unit that moves in the X and Y directions to shift in a direction that reduces the relative direction and distance between the position information (latitude and longitude) recognized by a GNSS position information acquisition device equipped on the base of the traveling unit and the target position information (latitude and longitude) set before the movement, using an automatic control mode switch installed near the traveling stick of the monitoring unit to control the motor unit that moves in the X and Y directions.

[0104] [Appendix 5] An electrically assisted aviation equipment mounting and lowering support device characterized in that, when an obstacle detected by the omnidirectional camera of the monitoring unit installed on the top of the running unit and the LiDAR (Light Detection and Ranging) of the detection unit installed on the front, rear, left and right positions of the running unit base approaches within a threshold, the control unit automatically judges this and sends a drive stop signal to the driving unit of the running unit and the lifting unit to stop driving, and cuts off the connection of the motor unit connection point in the transmission system in manual control mode and automatic control mode, thereby ceasing operation.

[0105] The threshold value for detecting an obstacle is a function that can be preset by the operator depending on the aircraft that loads or unloads the aircraft equipment and the shape of the target aircraft equipment.

[0106] [Appendix 6] An electrically assisted aviation equipment loading and lowering support device that is connected to a manned or unmanned towing vehicle via a connection section installed under the running section and runs using the power of the towing vehicle.

[0107] [Appendix 7] An electrically assisted aircraft equipment mounting and lowering support device that features a function to control running and stopping via a control unit installed on the running part by remote operation using radio waves.

[0108] [Appendix 8] The holding section is an electrically assisted aviation equipment loading and lowering support device that is equipped with fixing adjusters and fixing bands to prevent rotation and shifting in order to stably hold various aviation equipment when traveling and when ascending and descending.

[0109] [Appendix 9] This electrically assisted aviation equipment loading and lowering support device is characterized by having multiple load sensors installed on the base of the holding section, calibrating the load sensor data when the aviation equipment is loaded, and checking the loaded load from the load sensors to maintain the balance of the loading configuration.

[0110] [Appendix 10] An electrically assisted aviation equipment loading and lowering support device is characterized in that a platform equipped with a ball screw mechanism linked to an electric motor is installed under the base of the holding part, and the ball screw rotated by the electric motor and a nut on the underside of the base enable sliding movement along a slide guide, allowing the holding part to be raised and lowered, making it easy to load aviation equipment.

[0111] [Appendix 11] The ball screw mechanism linked with the electric motor in appendix 10 uses an electric actuator or an electric pinion gear, and enables sliding movement along a slide guide of a rack structure by driving the electric motor, thereby enabling the holding part to be raised and lowered, thereby easily loading aviation equipment.

[0112] [Appendix 12] An electrically assisted aviation equipment mounting and lowering support device that manually adjusts the position of three axes (X-axis, Y-axis, and Z-axis) to suit the shape of the mounting part (hook) of the aircraft to which the aviation equipment is attached using a mechanical position and attitude adjustment device equipped on the base of the holding part, as well as correcting the roll angle, pitch angle, and yaw angle.

[0113] [Appendix 13] This electrically assisted aviation equipment mounting and lowering support device is characterized in that it uses a laser receiving module mounted on the base of the holding part and wearable camera 17 to perform positioning on three axes (X-axis, Y-axis, and Z-axis) that are compatible with the set shape of the mounting part (hook) of the aircraft, and corrects the roll angle, pitch angle, and yaw angle using laser three-point correction from the laser transmitting and receiving module and wearable camera 17, automatically setting the device to the optimal mounting position.

[0114] [Appendix 14] This electrically assisted aviation equipment mounting and lowering support device has the function of easily raising and lowering the holding part by using a Scott Russell / parallel link extension method with ball screw extension operated by an electric actuator installed in the lifting section, and the height of the lifting and lowering is controlled in conjunction with the operation control of an electric motor connected to the electric actuator.

[0115] [Appendix 15] The load sensor of appendix 9 makes it possible to monitor the loading status of the aircraft and aviation equipment, and when the load sensor detects a load, transmits an electric signal to interrupt the operation of the electric motor that controls the ball screw deployment type electric actuator of the lifting section, thereby preventing abnormal contact between the aircraft and the aviation equipment.

[0116] [Appendix 16] In addition, when loading and lowering heavy aviation equipment using a ball screw extension method based on the shape of the aviation equipment and the loading position on the aircraft, the device is an electrically assisted aviation equipment loading and lowering support device that has the function of transmitting power from the electric motor in the lifting section to the scissor extension method in which two pairs of crossed support rods on the left and right slide horizontally using a ball screw operated by an electric motor and pushing up the holding section vertically to extend the support rods.

[0117] [Appendix 17] The load sensor of Appendix 17 makes it possible to monitor the loading status of the aircraft and aviation equipment, and when it detects an overload, it transmits an electric signal to interrupt the operation of the electric motor that controls the scissor-extending type support rod of the lifting section, thereby preventing abnormal contact between the aircraft and the aviation equipment.

[0118] [Appendix 18] An electrically assisted aviation equipment mounting and lowering support device is characterized by the function of installing a swivel plate under the base of the holding section, enabling the aviation equipment mounted on the base to rotate, holding it in the forward and backward directions while traveling, rotating it to the required angle near the aircraft, and mounting it on the aircraft.

[0119] The rotating holding section of this electrically assisted aircraft equipment loading and lowering support device is characterized by its ability to rotate and travel in a stable form when separated from the aircraft and lowered during lowering operations.

[0120] [Appendix 19] An electrically assisted aviation equipment mounting and lowering support device is characterized by a function of avoiding abnormal contact with the aircraft by capturing images of the relative positions of the aircraft and aviation equipment in real time using a wearable camera 17 attached to the base of the holding part and transmitting the captured image data to smart glasses that are an accessory to the electrically assisted aviation equipment mounting and lowering support device worn by the operator.

[0121] The image data can be shared with nearby operators via wireless transmission, and the electrically assisted aviation equipment loading and unloading support device has the function of transmitting the data to a system that centrally monitors and controls the loading and unloading of aviation equipment.

[0122] [Appendix 20] This electrically assisted aviation equipment mounting and lowering support device is characterized by the fact that the raising and lowering of aviation equipment is smoothly operated to the required height by an electric motor installed in the running section and an electric actuator consisting of a ball screw in response to an electric signal from the control section.

[0123] [Appendix 21] This is an electric aircraft equipment loading and lowering support device that allows for minute lifting and lowering by adjusting the power assist switch installed on the lifting section, making it possible to assist in fine adjustments that were previously performed manually, thereby reducing the manpower and labor required for loading and lowering work.

[0124] [Appendix 22] The lifting section carrying the aviation equipment moves up and down using the expansion and contraction function of an electric actuator consisting of an electric motor and a ball screw, and by doing so, the loading and lowering motions can be changed only in the Z direction without moving in the X and Y directions, making this an electrically assisted aviation equipment loading and lowering support device that allows efficient loading and lowering in a narrow operating environment.

[0125] [Appendix 23] A depth camera installed in the monitoring unit performs 3D measurements of the aircraft on which aviation equipment is to be loaded, and the depth camera information is transmitted to the operator's smart glasses to display images of the area around the loading area and the relative distance, making this an electrically assisted aviation equipment loading and lowering support device that features efficient loading and lowering in a narrow operating environment. [Explanation of symbols]

[0126] 1...holding unit, 1a...angular bearing, 1b...load sensor, 2...control unit, 3...electric motor, 4...ball screw, 6...omnidirectional drive wheel, 7...caster wheel, 8...power supply unit, 9...device control unit, 10...lifting unit, 11...stage, 12...monitoring unit, 13...operation stick, 13a...travel stick, 14...display unit, 15...omnidirectional camera, 16...GPS antenna, 17...wearable camera, 18...travel unit, 19...connecting unit, 20...base, 21...self-position information acquisition unit, 22...obstacle information information acquisition unit, 23...path generation control unit, 24...X-direction motor control unit, 25...Y-direction motor control unit, 26...assist control unit, 27...stop control unit, 31...inverter, 32...linear rail, 34...electric actuator, 41...nut unit, 51...detection unit, 52...detection unit, 81...battery, 100...lower support device, 200...aviation equipment, 201...rear lug, 202...front lug, 203...attachment, 300...aircraft, 400...pylon, 401...notch, 402...insertion hole.

Claims

1. A device for supporting the loading and unloading of aircraft equipment onto and from an aircraft, A holding portion that supports the aircraft equipment; A link mechanism that supports the holding portion so that the holding portion can be raised and lowered; an electric actuator that drives the link mechanism to raise and lower the holding portion; A control unit that controls the electric actuator; A load sensor that detects a load applied to the holding portion, The control unit is an assist control unit that supports the holding unit with a supporting force corresponding to the load and assists the lifting and lowering of the aircraft equipment; and a stop control unit that stops the raising and lowering of the aviation equipment when the holding unit reaches a predetermined height.

2. the electric actuator includes a ball screw, an electric motor that rotates the ball screw, and a nut portion that is fastened to the link mechanism and engaged with the ball screw; The electrically assisted aviation equipment mounting and lowering support device according to claim 1, wherein the stop control unit calculates a height of the holding part based on a position of the nut part corresponding to the rotation of the ball screw.

3. The stop control unit is 2. The electrically assisted aviation equipment mounting and lowering support device according to claim 1, wherein the assist is turned off when a distance between the aviation equipment held in the holding section and the aircraft becomes equal to or less than a preset value.

4. 2. The electrically assisted aviation equipment mounting and lowering support device according to claim 1, wherein the assist control unit changes the supporting force in accordance with a distance between the aviation equipment held by the holding unit and the aircraft.

5. The electrically assisted aircraft equipment mounting and lowering support device according to claim 4, wherein the assist control unit reduces the supporting force as the interval becomes shorter.

6. a base on which the link mechanism and the electric actuator are mounted; 2. The electrically assisted aircraft equipment loading and lowering support device according to claim 1, further comprising wheels for supporting the base so as to be capable of moving freely.

7. The electrically assisted aviation equipment loading and lowering support device according to claim 6, wherein the wheels are electrically powered wheels.

8. The electrically assisted aviation equipment loading and lowering support device according to claim 7, characterized in that the electric wheels include omnidirectional driving wheels.

9. A positioning system for acquiring self-location information; and an input unit for inputting target position information, The control unit is The electrically assisted aviation equipment mounting and lowering support device according to claim 8, further comprising a path generation control unit that controls the electric wheels based on the acquired self-position information to move to the target position.

10. Further, a detection unit is provided for detecting an obstacle around the base and acquiring obstacle information, The electrically assisted aviation equipment mounting and lowering support device according to claim 9, wherein the route generation control unit avoids the obstacle based on the obstacle information.

11. The electrically assisted aviation equipment loading and lowering support device according to claim 1, wherein the link mechanism is of a Scott Russell / parallel link extension type.

12. The electrically assisted aviation equipment loading and lowering support device according to claim 1, wherein the link mechanism is of a scissor extension type.

13. The electrically assisted aviation equipment loading and lowering support device according to claim 6, further comprising a connecting part that is installed on the base and can be connected to a towing vehicle.

14. 8. The electrically assisted aviation equipment mounting and lowering support device according to claim 7, further comprising a remote control unit that receives remote control of the electric wheels by radio waves.

15. 2. The electrically assisted aviation equipment loading and lowering support device according to claim 1, further comprising a fixing attachment or a fixing band attached to the holding part and fixing the aviation equipment to the holding part.

16. The load sensor may be one or more. The electrically assisted aviation equipment mounting and lowering support device according to claim 1, wherein the control unit determines a state of mounting of the aviation equipment on the holding unit based on a sensor value of the load applied to the one load sensor or sensor values ​​of the loads applied to the multiple load sensors.

17. The electrically assisted aviation equipment mounting and lowering support device according to claim 1, characterized in that, when the load sensor detects an overload, the stop control unit turns off the assist and stops the lifting and lowering of the aviation equipment.

18. an imaging unit attached to the holding unit and configured to acquire video data; The electrically assisted aviation equipment mounting and lowering support device according to claim 1, further comprising a transmission unit that transmits the video data as an image to smart glasses worn by an operator via a wireless line.

19. The imaging unit is a depth camera capable of acquiring relative distance information, The electrically assisted aviation equipment mounting and lowering support device according to claim 18, wherein the transmission unit transmits the relative distance information to the smart glasses for display.

20. The electrically assisted aviation equipment mounting and lowering support device according to claim 1, wherein the control unit includes a power assist switch that switches the assist on and off.

Images