Method and apparatus for automated de-icing of aircraft

Abstract

To provide a system for automated de-icing or contamination removal of an aircraft.SOLUTION: A system includes a mobile platform, the mobile platform including a set of wheels and a swirl drive unit for controlling movement of the set of wheels along with a contamination removal apparatus mounted to the mobile platform for delivering contamination removal treatment to the aircraft. The system also includes a processor for receiving instructions associated with the contamination removal treatment from an external party and for controlling the mobile platform and contamination removal apparatus to deliver the contamination removal treatment.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS This application claims priority to U.S. Provisional Patent Application No. 62 / 749,185, filed October 23, 2018, which is incorporated herein by reference. [Background technology]

[0002] The present disclosure relates generally to aircraft, and more particularly to a method and apparatus for automating a de-icing process on an aircraft. Summary of the Invention

[0003] Airport and airline de-icing management for decision making, marshalling, spraying, inspection, scheduling and radio direction finder (RDF) provisioning is largely manual. Some advanced information systems are used to reduce manual involvement and costs. However, this only partially mitigates or reduces the risks and shortcomings of the system, as human performance is the single most critical and challenging part of the process, leading to severe breakdowns and delays in winter flight schedules. The method and apparatus of the present disclosure overcomes at least one of these shortcomings.

[0004] This device can be considered to include two different innovations: the first can be considered as a driven platform, also described as an autonomous mobile platform (AMP), and the second can be considered as the integration of a set of spray arms (for supplying de-icing fluid) with the AMP.

[0005] In one embodiment, the AMP is a multi-wheeled chassis that can navigate and traverse an entire airfield (or airport) independently or under remote control. In another embodiment, a set of spray arms integrated with the AMP is configured to perform a specific task, which in this embodiment is supplying deicing fluid. In another embodiment, other liquids may be applied to the aircraft using the set of spray arms.

[0006] In one aspect of the present disclosure, a system for automatic de-icing of an aircraft is provided, the system comprising a movable platform including a set of wheels and a swivel drive for controlling the movement of the set of wheels, a contaminant removal device mounted on the movable platform for providing a contaminant removal process to the aircraft, and a processor configured to receive an instruction related to the contaminant removal process from an external person and control the movable platform and the contaminant removal device to provide the contaminant removal process.

[0007] In another aspect, the contaminant removal device comprises a crane arm portion and at least one spray arm portion. In one aspect, the crane arm portion is mounted on the movable platform and the at least one spray arm portion is pivotally connected to the crane arm portion. In yet another aspect, the at least one spray arm portion comprises an upper spray arm portion and a lower spray arm portion.

[0008] In another aspect, the upper spray arm portion is pivotally connected to the lower spray arm portion. In a further aspect, the upper spray arm portion and the lower spray arm portion each comprise a nozzle for supplying deicing fluid or compressed gas to the aircraft. In another aspect, the system comprises a sensor for determining environmental conditions and communicating the environmental conditions to the processor. It further includes a set of sensors. In yet another aspect, the system further includes a set of LEDs for indicating the operating status and / or event status of the system. In another aspect, the nozzle individually articulates about axes parallel and perpendicular to the spray arm portion to which the nozzle is attached.

[0009] Embodiments of the present disclosure will be described below by way of example only with reference to the accompanying drawings.

Brief Description of the Drawings

[0010]

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Modes for Carrying Out the Invention

[0011] The present disclosure relates to a method and system for automating aircraft de-icing. In one embodiment, the system can be considered a mobile de-icer that includes a mobile platform (which can be considered a swivel platform or a self-propelled mobile platform) that enables the system to move around the airport and move from a starting position to a de-icing position. In one embodiment, the starting position may be the position where the de-icer is located, and the de-icing position is the position where the aircraft in need of de-icing is located.

[0012] During operation, the system may apply or spray de-icing fluid in a continuous operation across the contour of the aircraft onto the fuselage and tail (and other parts) of the aircraft. The mobile platform preferably includes a set of swiveling wheels, whereby the mobile platform can also be considered a swivel drive platform. In one embodiment, this enables the device to pivot 90 degrees without moving from a stationary position.

[0013] In another embodiment of the present disclosure, the system includes a swivel drive platform and a dedicated / dynamic de-icing fluid and / or compressed gas spray system. The device may further include ice detection camera technology for monitoring the de-icing process or assisting in determining where de-icing is required. The device is preferably incorporated as part of an overall de-icing management system that can at least provide job identification information, position information, aircraft type information, liquid monitoring information, and / or pilot management information, among others.

[0014] Referring to FIG. 1, a schematic diagram of a system for automatic de-icing of an aircraft is shown. System 10 includes a mobile platform 12, which itself includes a platform 14 and a set of wheels 16 attached to the platform 14 to enable the system 10 to move from a starting position to a de-icing position. In a preferred embodiment, the wheels 16 can rotate or swivel relative to the platform 14. This may be enabled by a swivel drive unit 25. More importantly, the swiveling of the wheels is the system This means that it can be executed when the item or device 10 is in the stationary position.

[0015] In this embodiment, the crane arm portion 18 is attached to the platform 14. The crane arm portion 18 is attached so as to be able to pivot or move with respect to the platform 14. The de-icing spray arm portion 20 is attached to the crane arm portion 18. Although three separate de-icing spray arm portions are shown in FIG. 1, it will be understood that the design of the spray arm portion 20 can be based on the requirements of the system 10. In a preferred embodiment, the system includes a system drive train that controls the crane arm portion and the de-icing spray arm portion. In a preferred embodiment, the spray arm portion is electrically driven by one battery. In another embodiment, the spray arm portions can extend and contract relative to each other.

[0016] The integration of the spray arm portions 20 with each other and of the spray arm portion 20 with the crane arm portion 18 is preferably effected via individual joints 22 that enable the spray arm portion 20 and the crane arm portion 18 to pivot relative to each other. In FIG. 1, the device is shown in one of the many operating positions where the spray arm portion 20 is ready to supply the de-icing liquid. Alternatively, the spray arm portion can supply a compressed gas for removing contaminants or a combination of de-icing liquid and compressed gas. The spray arm portion 20 further includes a set of de-icing nozzles 24 for supplying de-icing liquid (and / or compressed gas) to the aircraft. Each nozzle 24 can be individually articulated about both an axis parallel and an axis perpendicular to the boom or spray arm portion. The device 10 can also include a de-icing liquid supply mechanism and reservoir 27. This mechanism and reservoir include a pump that helps supply de-icing liquid or compressed gas to the spray arm portion 20 and the de-icing nozzles 24. In one embodiment, the pump is an electric diaphragm pump. In this embodiment, the system further includes a heating device 29 for heating the de-icing liquid, although the de-icing liquid can be heated at another location and then placed in the reservoir 27 at a predetermined temperature maintained by the reservoir 27.

[0017] The apparatus 10 also includes a processor 26 that controls the apparatus 10. The processor 26 can be arranged, incorporated or mounted at any position within the apparatus, such as within or on the wheeled platform 14, or within the crane arm portion 18. In this embodiment, the processor 26 is arranged within the platform 14. The processor 26 is preferably protected from damage by a housing or by another component of the apparatus 10. The processor 26 preferably includes a communication module that enables communication with external parties using a wireless communication protocol. The processor can also process messages or instructions received from external parties. The processor can also transmit information such as, but not limited to, the status of the apparatus and the current progress of operation, fault reports, incomplete operations or jobs that cannot be completed. Also, the system can determine the level of remaining liquid in order to determine when the reservoir of the system needs to be refilled. Also, the processor can receive movement instructions such as movement paths, or can receive control instructions from a joystick controlled by a remote user.

[0018] The apparatus can further include a set of sensors 31 that assist in determining safe operating conditions including wind speed, temperature and other environmental conditions. The set of sensors and cameras can further determine the level of contamination.

[0019] The use of a swiveling platform that enables the wheels 16 to rotate, for example, 90 degrees when in a stationary position is new to the de-icing industry and provides advantages that have not been recognized heretofore. Also, by enabling the apparatus to move independently (or at least without an operator), the de-icing process can be carried out without the need for a human to be present to manually control the mobile platform 12 and / or the spray arm portion 20 and the crane arm portion 18. can be executed.

[0020] In a further embodiment, the device includes components for communicating with an external party to transmit information, thereby enabling the external party to adjust a fleet of mobile de-icers to effectively address complex winter operation requirements. In one embodiment, each device can include a Visual Indication Process System (VIPS) including high-intensity LEDs for communicating the operating status and mode of the mobile de-icer. Different colors indicate safe times for ground workers to approach the de-icer, and also provide the remote operator with the ability to interpret, using a camera system (described later), the state of the de-icer (which state indicates a correlation with a given system). In one embodiment, the colors can be used as follows (it will be understood that the colors can be coordinated with other operating states and events).

[0021]

Table 1

[0022] In a further embodiment, the device may have a function of performing a self-test to detect whether the device is operating efficiently and as intended. This self-test may include all systems and subsystems mounted on the mobile platform or device. The Built-In Self-Test (BIST) is preferably executed at startup, periodically during operation, and also when switching between operation modes and settings. The mobile platform can also detect errors and malfunctions that occur during operation. The mobile platform notifies these errors and alarms to an external third party.

[0023] Referring to FIG. 2, a schematic view of another embodiment of the crane arm portion 18 and the deicing spray portion 20 in the retracted position is shown. In this embodiment, there are only two spray arm portions 20. As described above, the crane arm portion 18 is connected to one of the deicing spray arm portions 20 via a pivot joint 22. In this embodiment, the deicing spray arm portion 20 includes a lower spray arm portion 28 and an upper spray arm portion 30, and the two spray arm portions 28 and 30 are connected by a pivot joint 22. Due to the pivot joint 22, the device can move from this retracted position to one of the operating positions, such as the position schematically shown in FIG. 1. The device can further include an ice blaster spray 32 dedicated to deicing areas where it is usually difficult to deice with the deicing spray 24. In this embodiment, the lower spray arm portion 28 can be regarded as an ice blade deicing portion, and the upper spray arm portion 30 can be regarded as an ice hammer deicing portion used for the fuselage of the aircraft. The ice blade deicing portion may be used to scrape off excess ice from the fuselage of the aircraft, and the ice hammer deicing portion may be used to remove larger ice accumulated on the fuselage of the aircraft.

[0024] Referring to FIG. 3a, a schematic front view of a system for automatic deicing of an aircraft is shown. In this embodiment, the system includes a pair of devices 10 for performing automatic deicing of the aircraft 50, and each device 10 is configured to deice one side of the aircraft 50.

[0025] During operation, each device 10 preferably receives instructions from a remote controller, such as a joystick, controlled by an external person or a deicing operator. These instructions may include the position of the aircraft to be deiced (or deicing position) (such as global positioning system (GPS) coordinates) within the airport, the type of the aircraft to be deiced, and the type of deicing required. The type of deicing required may include the position on the aircraft where deicing is required, or the type of deicing fluid required for deicing the aircraft, or both. As will be understood by those skilled in the art, other deicing information may be transmitted.

[0026] Each device 10 can be located at any location (departure position) within the airport, such as a different hanger or a different de-icing facility. It is assumed that this departure position is known to external parties. Alternatively, each device 10 may be arranged within the same de-icing facility or may be arranged within a different aircraft bay. By having a mobile de-icing device 10, a single mobile de-icing machine can perform operations on multiple aircraft bays, so fewer devices are required compared to some current systems where each aircraft de-icing bay has its own fixed-position de-icing machine and is usually operated by on-site de-icing workers.

[0027] After receiving the instruction, the device 10 moves from the departure position within the airport to the de-icing position or the position of the aircraft instructed to be de-iced. During the movement, it is preferable that the crane arm portion 18 and the spray arm portion 20 are in the retracted position. After reaching the de-icing position, the crane arm portion 18 and the spray arm portion 20 move from the retracted position to the operating position schematically shown in Fig. 3a. The operating position of the spray arm portion is preferably determined by an instruction received from an external party and may be changed during the decontamination removal process.

[0028] Next, the device 10 can start the de-icing process based on the received instruction. Since the instruction preferably includes the type of the aircraft on which the operation is being performed, each device 10 moves around or along the contour of the aircraft along one side of the aircraft based on the de-icing position information and the type of aircraft information, and applies or sprays de-icing fluid (and / or compressed gas). In some cases, the movement of the mobile platform may be continuous, and in some cases, the mobile platform may stop and long-term de-icing or contamination removal may be performed. As shown in Fig. 3a, the device is spraying or applying de-icing fluid to each side of the fuselage of the aircraft 50.

[0029] When the deicing fluid is sprayed on the aircraft 50, the device moves along the side of the aircraft, such as from the front part to the rear part of the aircraft. To enable the lateral movement of the device, the wheeled platform preferably includes rotary wheels such as those enabled by a swivel drive unit. While each device moves along the aircraft 50, the crane arm portion 18 and the spray arm portion 20 can also move accordingly based on the received instructions when the movable platform moves along the contour of the aircraft.

[0030] Referring to FIG. 3b, another schematic front view of the system for automatic deicing of an aircraft is shown. As can be seen from this figure, the spray arm portion 20 is in another operating position and the fuselage and tail of the aircraft 50 are being deiced. The position of the spray arm portion 20 is controlled by the processor 26 via instructions provided by an external person. The movements of the spray arm portion 20 and the crane arm portion 18 are preferably controlled by the processor 26. In a preferred embodiment, the movements of the movable platform 14 and the swivel drive unit 25 are also controlled by the processor 26. Although not shown, it will be understood that various safety measures, such as but not limited to light detection and ranging (LIDAR), can be taken to reduce the possibility of collisions or accidents involving the device. Other safety measures related to autonomous vehicles can also be considered.

[0031] In some de-icing operations, as schematically shown in FIGS. 3a and 3b, since it may be necessary to combine a plurality of movable de-icing machines to complete the operation, different parts of the operation may be assigned to the movable de-icing machines individually or as a group. The de-icing process can be divided into several parts. For example, a specific area of the aircraft (e.g., the left wing) may be assigned to one movable de-icing machine or a group of movable de-icing machines, or the movable de-icing machine may be assigned to apply a specific type of de-icing fluid or a de-icing fluid at a specific temperature or concentration. In addition, each movable de-icing machine is also assigned a "standby" mode, and it is ready to replace another movable de-icing machine in a "hot swap" manner when liquid replenishment or unexpected maintenance is required.

[0032] Each device 10 preferably has a function of communicating with other devices 10 to share information and reaching an agreement on environmental and operating conditions. By sharing weather data (collected inside and outside the platform), the movable platform can determine whether the environmental conditions are safe for the de-icing operation (e.g., the wind speed for determining whether it is safe to extend the boom).

[0033] In a preferred embodiment, an external person can issue a stop command to immediately stop all current operations and enter the "safe mode". In this safe mode, all positions of the wheels, booms, sprays, and other moving parts of the device 10 are immediately suspended and maintained. If any part of the device is moving when the stop command is issued, that part will immediately stop within the pre-determined speed constraints and maintain its position. In addition, each device 10 preferably has a function of issuing a stop command when it detects an unintended physical contact with an aircraft, another movable platform, an obstacle, or itself (e.g., the boom hitting the body). Other devices operating in cooperation with the device that issued the stop command must also follow the stop command until an external third party corrects the obstacle or the situation is considered safe enough to continue the operation.

[0034] Referring to FIG. 4a, another schematic front view of a system for aircraft automatic de-icing is shown. In this embodiment, the system may further include a set of cameras used to assist in monitoring the de-icing process, in addition to the device 10 used to de-ice the aircraft 50. One set of cameras 52 may be attached to a pole 54 away from the aircraft at a position where an image of the aircraft can be captured. As shown, the camera 52 is directed towards the fuselage of the aircraft to capture an image of the fuselage during the de-icing process. In one embodiment, the set of cameras 52 can acquire thermal images. The images captured by these cameras 52 may be used by an individual to confirm that sufficient de-icing has been completed by the device 10, or may be used to issue further de-icing instructions for areas where further de-icing or contaminant removal is required.

[0035] The system may include a further set of cameras 56, such as cameras attached to the device 10, to acquire images of the aircraft fuselage. Images, schematically shown in FIG. 4a and labeled "Icebot view", may be sent to a predetermined operator. It will be understood that in some embodiments, only one set of the set of cameras may be used. Images captured by any set of cameras may all be sent to a predetermined operator. The images may be sent from the camera to the pilot or to a remote display for a predetermined operator to view. Based on these images, the pilot may be given permission to proceed onto the runway, or instructions may be provided to the device to perform further de-icing.

[0036] As shown below FIG. 4a, by providing an image to the pilot, the pilot may also be configured to provide processing verification items, or to be satisfied with the performance of the de-icing device. Alternatively, the pilot processing verification items may be a request from the pilot regarding de-icing and may form part of the instructions provided to the device 10 by an external person. By understanding the position of each device under control, the main control system can provide an overview or geospatial management screen so as to monitor the position of each device.

[0037] FIG. 4b is another schematic front view of a system for automatic de-icing of an aircraft, with the device de-icing the tail of the aircraft. FIG. 4c is a view similar to FIG. 4a, in which the portion showing the geospatial has been replaced by an operation control interface. In a preferred embodiment, the control of the device is preferably carried out via a de-icing control management system, which can also be regarded as an external person.

[0038] Referring to FIGS. 5a and 5b, a schematic diagram of a single device system is shown. FIG. 5a is a top view of the operation of a single device for a Boeing 777 aircraft. As shown in FIG. 5a, an embodiment of the stages at which a single device can stop to de-ice the aircraft is shown. In this embodiment, the device 10 stops at 20 stages around the aircraft to apply or spray de-icing fluid based on instructions from an external person, although the number of stages and the positions of the stages may be different. In one embodiment, the device moves in the direction of the arrow, although it will be understood that the device may move in the direction opposite to the arrow. FIG. 5b shows a top view of the operation of a single device system for a Boeing 747. FIG. 5c shows a similar top view and also shows a screen that can be displayed to the operator based on information provided by the device.

[0039] Referring to FIG. 6, another schematic diagram of the device is shown.

[0040] In another embodiment, the mobile platform is capable of withstanding 60,000 pounds, includes safety measures such as ground collision avoidance, can receive latitude and longitude measurements and a set of coordinates, and can track the straight-line vector between points while maintaining the X, Y orientation of the platform such that it does not rotate when the platform moves along a vector segment, is configured to define low and high speeds, and can be remotely controlled.

[0041] The spray arm section is preferably capable of communicating with a processor in order to indicate a possible intrusion / collision to enable correction of the movement direction of the platform or device. The processor preferably includes a function for determining the fuel capacity (battery and diesel). The device is preferably capable of storing a type 1 liquid tank and a type 4 liquid tank. Also, the device is preferably capable of providing operating power for a predetermined period such as 8 hours.

[0042] Some of the technical requirements regarding the spray arm section may include that its power requirements are electrical and hydraulic. In a preferred embodiment, the spray arm section or the crane arm section is bolted to the platform, although other fixing methods are also conceivable. The spr The spray arm section preferably includes an articulated arm that can move in an extended, retracted, and / or vertical direction. Further, the spray arm section preferably includes, at its end portion, an articulated motion hand that houses an analysis sensor package before and after deicing liquid application and liquid and air injection nozzles. The device may further include sensors for measuring the flow rate, temperature, and density of the liquid. In a preferred embodiment, the liquid is applied independently.

[0043] The overall control of the device preferably includes a computer system or module configured to combine the overall commands and control for driving the chassis drive and sensors of the wheeled platform, executing the control of the spray arm section, and coordinating the device.

[0044] Although the present disclosure has been illustrated and described herein with reference to preferred embodiments and specific examples thereof, it will be readily apparent to those skilled in the art that other embodiments and examples can perform similar functions and / or achieve similar results. All such equivalent embodiments and examples are within the spirit and scope of the present disclosure.

[0045] In the foregoing description, for purposes of explanation, numerous details have been set forth in order to provide a thorough understanding of the embodiments. It will be apparent, however, to one skilled in the art that these specific details may not be required. In other instances, well-known structures may be shown in block diagram form in order not to obscure the understanding. For example, the specific details are not described herein regarding whether the elements of the embodiments described herein are implemented as software routines, hardware circuits, firmware, or combinations thereof.

[0046] Embodiments of the present disclosure or its components can be provided or represented as a computer program product stored on a machine-readable medium (also referred to as a computer-readable medium, a processor-readable medium, or a computer-usable medium encoded with computer-readable program code). The machine-readable medium can be any suitable tangible non-transitory medium including magnetic, optical, or electrical storage media such as a floppy disk, a compact disc read-only memory (CD-ROM), a memory device (volatile or non-volatile), or similar storage mechanisms. The machine-readable medium can contain various sets of instructions, code sequences, configuration information, or other data, which, when executed, cause a processor or controller to perform the steps of a method according to embodiments of the present disclosure. Those skilled in the art will understand that other instructions and operations necessary to implement the described implementations can also be stored on the machine-readable medium. The instructions stored on the machine-readable medium can be executed by a processor, controller, or other suitable processing device and can interface with circuitry to perform the described tasks.

Claims

1. 1. A system for automatic de-icing of an aircraft, comprising: a mobile platform including a set of wheels and a swivel drive for controlling movement of the set of wheels; a contaminant removal device mounted on said mobile platform for providing contaminant removal treatment to said aircraft; a processor configured to receive instructions from an external entity relating to the contaminant removal process and to control the mobile platform and the contaminant removal device to provide the contaminant removal process.

2. The system of claim 1 , wherein the contaminant removal device comprises a crane arm portion and at least one spray arm portion.

3. The system of claim 2 , wherein the crane arm section is mounted to the mobile platform and the at least one spray arm section is pivotally connected to the crane arm section.

4. The system of claim 2 , wherein the at least one spray arm section comprises an upper spray arm section and a lower spray arm section.

5. The system of claim 4 , wherein the upper spray arm section is pivotally connected to the lower spray arm section.

6. 6. The system of claim 5, wherein the upper spray arm section and the lower spray arm section each include a nozzle for supplying deicing fluid or compressed gas to the aircraft.

7. The system of claim 1 , further comprising a set of sensors for determining environmental conditions and communicating said environmental conditions to said processor.

8. The system of claim 1 , further comprising a set of LEDs for indicating operational and / or event status of the system.

9. 7. The system of claim 6, wherein the nozzles articulate independently in axes parallel and perpendicular to the spray arm portion to which they are attached.

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