Refueling system and systems with end effectors
A UAV catch and release system has a UAV adapted to fly a mission, an aircraft adapted to carry, launch, and retrieve the UAV, a fuel hose deployed and retrieved by mechanisms from the aircraft, an end effector joined by a gimbal joint to a lowermost end of the fuel hose, a downward projecting aerodynamic acquisition blade connected at a lowermost end of the hose, and an acquisition port opening upward from the body of the UAV, with a roller mechanism operable to engage the acquisition blade, and to draw the blade into the body until a refueling nozzle on an end of the acquisition blade is engaged to a refueling port of the UAV.
1. A UAV catch and release system, comprising:
a UAV having an elongated body, a turbine engine and wings, and computerized control circuitry, the UAV adapted to fly a mission;
an aircraft adapted to carry, launch, and retrieve the UAV;
a fuel hose that is deployed and retrieved by mechanisms from the aircraft both as a fueling conduit and as a tether;
an end effector joined by a gimbal joint to a lowermost end of the fuel hose, the end effector having airflow elements with control surfaces remotely activated from the aircraft for maneuvering the end effector;
a downward projecting aerodynamic acquisition blade connected at a lowermost end of the hose, separated from the end effector by the gimbal joint, the blade having a central vertical plane parallel to a forward direction of flight of the end effector, a height, a width less than the height, and curved sides; and
an acquisition port opening upward from the body of the UAV, the acquisition port having a shape corresponding to the shape of the acquisition blade and a roller mechanism in the body of the UAV beneath the acquisition port, the roller mechanism operable to engage the acquisition blade, and to draw the blade into the body until a refueling nozzle on an end of the acquisition blade is engaged to a refueling port of the UAV.
2. The UAV catch and release system of claim 1 wherein the airflow elements of the end effector comprise elevators, ailerons, a rudder and speed brakes that move the end effector through three axes of rotation and speed up and slow down the end effector.
3. The UAV catch and release system of claim 1 wherein the end effector further comprises remotely operated thrusters for propelling the end effector.
4. The UAV catch and release system of claim 1 further comprising a second wing firmly connected to the acquisition blade and effective to keep the acquisition blade vertical.
5. The UAV catch and release system of claim 4 further comprising first imaging devices on ends of the second wing and one or more April tags on wings or the body of the UAV, wherein the imaging devices acquire data from the April tag or tags, and the data is used to guide the end effector to engage the acquisition blade to the acquisition port of the UAV.
6. The UAV catch and release system of claim 1 further comprising a retrieval cradle deployable from the aircraft, with a grasping mechanism adapted to grasp the UAV on retrieval.
7. The UAV catch and release system of claim 1 further comprising a gimbal mounted second imaging device in a nose region of the end effector, the gimbal operable to move the second imaging device to view downward or upward.
8. The UAV catch and release system of claim 1 wherein the UAV is a Gremlin UAVs.
9. The UAV catch and release system of claim 8 comprising a plurality of Gremlin UAVs that are carried, launched, refueled and retrieved.