Aircraft deployment and retrieval of unmanned aerial vehicles
An aircraft system incorporates a first aircraft having a grappling device including a first gripper with a first actuator and a second gripper with a second actuator. The first gripper and the second gripper are movable between an open and a closed position to engage a hooking device and pivot together to change a capture angle. A first controller receives a command and operates the actuators in response to open and close the first and second grippers of the grappling device. The controller also receives a second command and operates the first and second actuators to pivot the grippers and provide grappling at a range of capture angles. A second aircraft, which may be a UAV, incorporates the hooking device. The hooking device includes a ring rotatable from the surface and a third actuator to rotate the ring between a stowed and an extended position.
1. An Unmanned Aerial Vehicle (UAV) deployment and retrieval system comprising:
an aircraft having
a grappling device, and
a carousel adapted to receive and store a plurality of UAVs and positionable for deployment of a selected UAV,
each UAV in said plurality of UAVs having
a hooking device adapted for engagement by the grappling device;
a mission controller receiving a mission requirement and selecting a respective one of said plurality of UAVs;
a carousel controller responsive to the mission controller for aligning the respective one UAV for deployment; and,
a grappling device controller responsive to the mission controller for retrieving a UAV with the grappling device.
2. The system of claim 1 wherein the grappling device comprises:
a first gripper operatively attached to a first actuator;
a second gripper operatively attached to a second actuator independent from the first actuator, the first gripper and the second gripper being operatively attached and configured to move between an open and a closed position, the first gripper and the second gripper being configured to pivot together to change a a capture angle; and further wherein the grappling device controller is configured to receive a command from the mission controller, operating the first and second actuators in response to the command to selectively open and close the first and second grippers of the grappling device, the controller being configured to receive a second command, to operate the first and second actuators to pivot the grippers and provide grappling at a range of capture angles.
3. The system of claim 2 wherein the hooking device comprises:
a ring rotatable from a fuselage of the UAV; and
a third actuator operatively attached to the ring and configured to rotate the ring between a stowed and an extended position.
4. The system of claim 1 , wherein the first and second grippers are asymmetric to each other.
5. The system of claim 1 , wherein the first gripper incorporates a surface with a non-binding profile enhancing release of the hooking device, and the second gripper provides a surface with a closed profile enhancing capture of the hooking device.
6. The system of claim 1 , further comprising a first sensor integrated into the grappling device and configured to provide a signal to the controller when the grappling device is in contact with the hooking device, the controller issuing the command to operate the grappling device first and second actuators to close the first and second grippers responsive to the signal.
7. The aircraft system of claim 6 further comprising a sensor attached to the hooking device and configured to provide a hooking sensor signal.
8. The system of claim 1 wherein the aircraft is one of a rotorcraft and a fixed wing aircraft.