FR2941920A1 - Captive aerodyne i.e. unmanned aerodyne, launching and receiving system for monitoring maritime area, has device measuring inclination angle of link to determine aerodyne position and modify position of engine to achieve determined position - Google Patents

Abstract

The system has an angle measurement device (34) for measuring angle of inclination of a filiform link i.e. power supply cable (12), of a propulsion engine of a captive aerodyne (10), so as to determine a position of the aerodyne based on the inclination of the link and to modify the position of the engine to achieve the determined position. A tubular sleeve (77) slidingly receives the cable, where the sleeve is fixed to plates (66, 67) by a universal joint. Sensors (75, 76) measure angular positions of the sleeve with respect to the plates. An independent claim is also included for a method for controlling and/or commanding a position of an aerodyne connected to a launching and receiving device by a deformable filiform link.

Description

DESCRIPTION

TECHNICAL FIELD The present invention relates to motorized powered captive gears and to control, take-off, and landing systems for motorized captive flying gears. The invention relates in particular to unmanned aerodynes comprising a faired propeller connected to a base by a filiform link providing electrical power to a motor driving in rotation the propeller which provides the lift of the aerodyne, and to control, take-off, and landing systems for such captive aerodynes. STATE OF THE ART Patents FR-1179597 and GB-897756 describe an air beacon connected to a control station by a flexible attachment device, the beacon being supported by one or two faired propellers. This beacon has a fairing with rounded leading edge which surrounds a propeller - or two counter-rotating propellers - moved (s) by an electric or thermal motor carried by arms integral with the fairing. The beacon is connected to a ground control station by a cable wound on a winch to control the altitude of the beacon, the cable used to power the electric motor of the beacon. A self-propelled vehicle is used to carry the beacon and serves as a checkpoint. This beacon can be used to raise and maintain at altitude 25 an iconoscope or a radar in particular. In order to keep the beacon above the ground control station, an installation is provided with detectors suitable for detecting a transverse offset of the beacon, a beacon locating beam, heat emission or polarized light. from the beacon, or by radar, and a device for lateral stabilization of the beacon by acting on flaps serving as control surfaces which are distributed around the periphery of the trailing edge of the fairing.

To allow lateral stabilization by tilting of the beacon, the connection between the cable and the beacon is performed by a cardan device whose center is located near the center of gravity of the beacon.

In order to prevent a torsion of the cable from imposing a rolling torque on the beacon, a bearing is provided between the end of the cable and the cardan fastener on the beacon, the bearing comprising friction and contact rings. to establish a continuity of the electrical circuits between the cable and the devices carried by the beacon.

A disadvantage of this captive beacon system is its instability when it takes off from the platform that is used to transpose it and when landing on this platform. A disadvantage of this system is that this beacon is not adapted to be positioned elsewhere than in line with its control station, nor, a fortiori, to move relative to the vertical of the control station. A disadvantage of this captive flying machine system is that a failure of the control surfaces, the drive motor of the propeller, and / or control means of these organs, is likely to cause the fall of the beacon and its destruction. SUMMARY OF THE INVENTION An object of the invention is to provide a base or platform facilitating the take-off and landing of such an aircraft. An object of the invention is to provide such an aircraft whose take-off and landing are facilitated. An object of the invention is to provide such an aerodyne whose recovery is facilitated in case of failure of one of its vital organs. An object of the invention is to provide a method of recovering such an aircraft in case of failure of one of its vital organs. An object of the invention is to provide a method and a control and control device which facilitate control of the movement of the aerodyne relative to the base to which the aerodyne is connected. An object of the invention is to provide captive aerodynes and control systems, takeoff, and landing of these captive aerodynes which are improved and / or which remedies, in part at least, to the shortcomings or disadvantages of aerodynes and known systems. According to one aspect of the invention, there is provided an aerodyne comprising a lift propeller, a hull surrounding the propeller, a rotary electric motor for driving the propeller in rotation relative to the hull, and a landing gear which is connected to the hull by a universal joint, the landing gear comprising connecting means for connecting the landing gear to a cable for retaining the captive aerodyne of a base or platform and for powering the electric motor, so as to facilitate the positioning and landing of the aircraft on the base or platform. According to preferred embodiments of the invention: the connection means between the landing gear and the cable can be provided in the lower central part of the landing gear; - These connecting means may be made by clamping the cable near its end, or by other means of securing the cable to the landing gear, in particular by mechanical locking means of a portion of the cable; A filiform link may be provided in addition to mechanically cooperate with and / or reinforce the power cable; in this case, preferably, the filiform link may surround or sheath the cable, or may be integrated otherwise therein - the landing gear may comprise a central part receiving or integrating all or part of said connecting means, as well as at least three arms forming pads and extending radially from the central piece; the landing gear arms may comprise, where appropriate each, a substantially rectilinear part fixed to the central part and an upwardly curved part extending the substantially rectilinear part of the arm; at least some of the arms of the landing gear; landing may comprise a hollow structure adapted to receive at least a portion of the conductors of the power cable; said connecting means and the arms or pads of the landing gear preferably extend at a distance from the fairing, under the lower end thereof. To ensure the connection by cardan, the landing gear comprises a ring surrounding the hull, two pivotal connections - along a first pivot axis - providing the connection between the ring and the hull; the landing gear further comprises two other pivotal connections - along a second pivot axis - which provide the connection between the crown and the lower part of the landing gear, the two pivot axes being perpendicular and intersecting, their point of intersection being preferably close to the - in particular substantially coincident with the - center of gravity of the aircraft.

Preferably, the pivotal connections are hollow and receive at least a portion of the conductors of the power cable. The invention makes it possible to avoid the damage of the machine - or aerodyne - to take-off and landing (substantially) vertical, by shocks against the ground or against a landing or take-off platform, when the aircraft is close from the ground or from this platform. The invention makes it possible to limit the instability and other harmful consequences of the turbulence likely to appear in the flow of air ejected by the base of the fairing of the apparatus, when the aircraft is close to the ground or a platform of take off or landing.

The invention also makes it possible to limit the instability of the aerodyne likely to result from movements of the landing gear and / or the cable relative to the hull of the aircraft.

For this purpose in particular, according to another aspect of the invention, there is provided a system for launching and receiving a captive aerodyne which comprises a take-off and landing platform which is pierced with one or more openings (s). ) - or perforated - so that at least a portion of the airflow - descending and substantially vertical - blown by the propeller at the base of the fairing can cross the platform through the opening (or openings) provided in it. Preferably, the platform has a shape or configuration adapted to the shape or configuration of the landing gear of the flying machine, so as to facilitate the centering of the aerodyne relative to the platform during landing. In particular, when the landing gear of the flying machine comprises substantially rectilinear arms and pads coplanar, the platform has a perforated structure extending along a plane which is generally substantially horizontal. This perforated structure may comprise crosspieces (or intersecting beams) delimiting between them (they) openings allowing the passage of the air flow. When the landing gear has raised arms (curved) upwards, the platform may further comprise a perforated structure of corresponding dimensions and inclination; this structure may then comprise a mesh or lattice flared upward, in particular extending along a truncated cone. According to one embodiment, this platform on which the flying machine can rest by its landing gear, before its takeoff and after landing, is supported above the ground or the structure of a mobile - such as a ship - equipped with the launching system of the flying machine, at a height in the range of about one meter to about five or ten meters.

For this purpose, the platform may be attached to the upper end of a mast whose base is fixed to the ground, the mast may be telescopic or height variable and / or adjustable.

According to another aspect of the invention, there is provided a system for launching and receiving an aerodyne held captive by a cable, which comprises a device for measuring the inclination of the cable, so as to make it possible to determine the position (in flight) of the aircraft according to the measured inclination, and to possibly change the position of the aircraft to reach a specific position (desired). According to a preferred embodiment, the measuring device comprises a sleeve designed to receive the link / cable by allowing it to slide, the sleeve being fixed to a support via a universal joint, as well as two measurement sensors. the angular position of the sheath relative to the support, respectively according to two orthogonal inclination axes respectively corresponding to the two axes of rotation of the universal joint.

The launching and receiving system further comprises for this purpose a device for measuring the length of the link / cable extending between the sheath - and / or the platform - and the aerodyne. The measurements of angular position and length of the link / cable thus make it possible to directly determine the position of the aerodyne relative to the platform - in the sheath - in a cylindrical coordinate system with a marker whose origin corresponds to the sheath - on the platform-. For this purpose also, the launching and receiving system preferably comprises means for measuring the voltage of the link / cable, as well as calculation means coupled to the measuring means for estimating the deformation of the link / cable, and for determining the distance separating the flying machine from the sheath according to this deformation and the length of the link / cable extending between the sheath and the flying machine.

The deformation of the link or cable may correspond substantially to a chain, this deformation being essentially due to the weight of the link / cable, and possibly to the wind (relative wind when the system is mounted on a mobile moving), and / or weather conditions. In other words, and according to another aspect of the invention, there is provided a method for controlling and / or controlling the (relative) position of an aerodyne connected by a cable to a launching and receiving device , in which: - the inclination of the cable with respect to the launching and receiving device is measured, - the distance separating the aerodyne from the launching and receiving device is determined, in particular by determining the length as well as the deformation of the link / cable connecting the aerodyne to the launching and receiving device, the position (relative) of the aerodyne relative to the launching and receiving device is determined as a function of the distance and the inclination; the position of the aerodyne thus determined is compared to a position setpoint for the aerodyne and, where appropriate, the aerodyne is moved according to the result of the comparison, in order to match the position 20 determined at the position setpoint. The invention makes it possible to simply produce a system for controlling the position of the aerodyne with respect to the launching and receiving device, which is particularly simple and effective, in particular when the distance separating the aerodyne from its launcher 25 is weak, especially when this distance is situated in a range from a few meters to a few tens or hundreds of meters. The invention also makes it possible to facilitate the recovery of the aerodyne during a failure of one of its vital organs, in particular in the event of a failure of the propulsion motor of the lift propeller, in the event of failure of the aircraft. one or more rudders of the aerodyne, or in the event of failure of an on-board electronic or mechanical measurement or control unit, such as an altimeter, a satellite positioning system, an inertial unit, an actuator steering, or a power converter of electric actuators, for example. For this purpose, in accordance with another aspect of the invention, the aerodyne is equipped with a parachute and, when a breakdown of a vital organ of the aircraft is detected: deployment of the parachute, and - the aerodyne is brought closer to its launching and receiving device by exerting traction on the link / cable. During the approach phase, it may be necessary to control the position of lines fitted to the parachute to follow a specific trajectory to the aerodyne connected / suspended parachute. During this phase, the control of the aerodyne trajectory is also facilitated by the use of the position determination device by means of the measurement of the inclination of the link / cable. Thus, according to one aspect of the invention, there is provided an aerodyne comprising a lift propeller, a hull surrounding the propeller, a rotary electric motor for driving the propeller in rotation relative to the hull, and a compartment connected to the hull and designed to receive a parachute allowing, when deployed outside the compartment, to slow down the fall of the captive aerodyne, so as to facilitate the approximation of the aerodyne of a launching and receiving platform, the connection being obtained by a traction exerted on a link or cable connecting the aerodyne to the platform. For this purpose, the compartment is provided with a mobile or removable wall - ejectable - whose opening or ejection allows the deployment of the parachute, and the aircraft is equipped with control means to control the opening or the ejection of this wall according to a failure detection signal of a vital organ of the aircraft. According to a preferred embodiment, the compartment is disposed above the hull, upstream of the air inlet opening in the hull, with reference to the direction of movement of the air passing through the hull, and is connected to at the hull by at least two arms, in particular by three or four arms. These arms preferably have a hollow structure, in particular a tubular structure, the arms being able to receive electrical conductors (wires or cables), in particular electrical conductors carrying actuator supply or control signals, for the opening compartment in particular.

Other aspects, features, and advantages of the invention appear in the following description which refers to the appended figures and illustrates, without any limiting character, preferred embodiments of the invention. BRIEF DESCRIPTION OF THE FIGURES FIG. 1 illustrates an aerodyne and its launch and recovery system according to one embodiment of the invention. Figure 2 illustrates, in perspective view with tear, an aerodyne according to one embodiment of the invention. FIG. 3 illustrates, in exploded perspective view, a landing gear and its connection to the hull of an aerodyne according to one embodiment of the invention. FIG. 4 illustrates an aerodyne and its launch structure as well as an enlarged detail of the part of this structure which comprises a device for measuring the inclination of the cable connecting the aerodyne to the launch structure. FIG. 5 illustrates, on an even larger scale, in a different configuration and under a different angle of view, the device for measuring the inclination of the cable connecting the aerodyne to the launch structure. FIG. 6 schematically illustrates, in plan view, the open structure for receiving and launching the aerodyne as well as the device for measuring the inclination of the connecting cable.

FIGS. 7 and 8 schematically illustrate the use of an aerodyne according to the invention, on board a vessel equipped with the observation system including the aerodyne, in two distinct configurations: a configuration illustrated in FIG. 7 in which the aircraft looks over the vessel, and a configuration shown in Figure 8 in which the defective aerodyne is supported by a parachute. DETAILED DESCRIPTION OF THE INVENTION Unless otherwise explicitly or implicitly indicated, like reference numerals in the figures denote structurally or functionally identical or similar elements, members, or components. Unless expressly or implicitly stated otherwise, the terms arnont and aval are used with reference to the direction of air circulation in the hull of the aircraft, which is illustrated by arrows 38 and 39 in Figure 2. Unless explicitly or implicitly stated otherwise , the term roll is used to designate, for a given mobile such as an aerodyne or a ship, a rotation along the longitudinal axis of the mobile considered; in the same way, the terms pitch and yaw are used to designate the rotations along two orthogonal axes and perpendicular to the roll axis, for each mobile considered. Consequently, when the respective longitudinal axes of two mobiles are neither coincidental nor parallel, as is the case with the respective longitudinal axes of the aircraft and the ship illustrated in FIGS. 7 and 8, their respective roll axes are not merged. nor are their respective pitch or yaw axes. The aerodynes, processes and systems according to the invention can in particular equip a ship (reference 99 FIGS. 7 and 8) in order to facilitate the surveillance of a maritime zone by means of a camera (reference 21 FIG. 2) equipping the ship. aerodyne. A surveillance system according to the invention essentially consists of an aerodyne 10 connected to a system 11 for taking off, landing and controlling the flight of the aircraft, as illustrated in particular in FIG. 1, by a cable 12. The cable or umbilical 12 can supply power to the propulsion engine of the aerodyne, the supply (low voltage) sensors, actuators and / or electronic equipment on board, and the mechanical tensile strength exerted by the aerodyne (which exceeds the weight of the aerodyne and the cable suspended there). The supply voltage of the propulsion motor may be of the order of several hundred volts, in particular of the order of 400 volts to at least 600 volts, which makes it possible to reduce the weight of the conductors of the cable 12 as well as that of the engine. With reference to FIGS. 1 and 2 in particular, the system 11 includes a take-off and landing unit 18 and a control and control unit 22.

The aerodyne 10 comprises a tubular hull 14 equipped at its lower end with a transparent housing 17 housing an observation sensor 21, and control surfaces 23 extending substantially radially around the housing 17, with reference to the longitudinal axis 24. of the aerodyne. The sensor 21 may consist of a fixed or steerable camera; other sensors, including temperature sensors, can be embarked on board the aircraft. The control system, which serves to direct the flow of air expelled at the base of the fairing under the impulse of a propulsion propeller, may comprise one or two pairs of pitch control surfaces, one or two pairs of roll control surfaces. , and one or two pairs of yaw governors. Each of these control surfaces may consist essentially of a flap, the flaps being articulated along axes perpendicular to the axis 24, the inclination - around these axes - of these flaps being controlled by respective electric actuators in order to deflect the air flow exiting the hull, to cause the desired tilt of the hull and direct the aircraft in the desired direction.

The flaps 28, 29 of a pair of control surfaces may extend substantially radially, with reference to the axis 24, on either side of the housing 17, as illustrated in FIG. 2. The upper part (upstream) of the hull is articulated to a landing gear 13 detailed below, along two axes 41, 42 of pivoting perpendicular to each other and perpendicular to the axis 24. The upper portion of the hull is equipped with profiled fixed vanes 27 which extend substantially radially between a central body equipped with a housing 25 housing the motor (mark 26 Figure 2) propulsion of the aerodyne, and the upstream peripheral portion 30 of the hull. These fixed guide vanes are used to cause a recovery of the air flow sucked at the entrance of the hull to improve the efficiency of the propeller propeller 84 disposed downstream of these blades. With reference to FIG. 2, the motor 26 rotates the propeller 84 by means of a transmission shaft 83 extending along the longitudinal axis 24 of the aerodyne. The upper part of the hull also receives an upper housing 16 of elongate shape along the axis 24, which is fixed to the hull by four arms 15; the housing 16 delimits a lower compartment 100 receiving electronic components 97 onboard control actuators of the aircraft, and delimits where appropriate an upper compartment 94 housing a parachute (reference 91 Figure 8). The parachute 91, when deployed outside the compartment 94, to slow down the fall of the aircraft, so as to facilitate the approximation of the aerodyne of a launching platform and reception, the approximation which can be obtained by traction exerted on the cable 12 connecting the aerodyne to the platform. For this purpose, the housing 16 is provided with a mobile wall 96 or removable - ejectable - whose opening or ejection allows the deployment of the parachute, and the aircraft is equipped with (electric) control means for controlling opening or ejecting this wall according to a fault detection signal. The housing 16 is connected to the hull by four arms 15 (see Figures 1 and 2); at least some of the arms have a hollow structure, in particular a tubular structure, within which electrical conductors (wires or cables) carrying control or control signals, in particular control or signal signals, extend. control of the opening of the housing 16. The unit 18 of takeoff and landing comprises a platform adapted to support the aerodyne resting by its landing gear. With reference to FIGS. 1 and 6 in particular, this platform comprises intersecting beams 20 delimiting openings 31 for passing the flow of air ejected by the base of the aerodyne, and is surrounded by a perforated structure 19 of flared shape towards the above.

According to an alternative embodiment not shown, the perforated structure 19 may have a basket shape, this structure having a substantially plane perforated / perforated bottom, disposed on the beams and adapted to support the aerodyne resting on this bottom by its train. landing.

The platform 18 rests on a structure 32 via spacers 40; the structure 32 rests on the ground so that the platform 18 is raised above the ground. In the embodiments of Figures 7 and 8, the platform is attached to the upper end of a mast-shaped support 95 whose base is fixed to the deck of the ship 99. A device 34 for measuring angles is disposed on the structure 32 and under the platform 18, near the landing plane of the landing gear on the beams 20, which measures the inclination of the cable 12 relative to the plane of the platform 18. 30 For this purpose , the cable 12, which is attached by its portion 12a to the base of the undercarriage 13, has a portion 12b through the platform 18 and a sleeve of the device 34 tilt measurement. A portion 12c of the cable extends between the structure 32 and a console 33 equipped with control elements including a computer screen 37. A member 35 (see FIGS. 4, 7 and 8) for guiding the cable such as a pulley is arranged for this purpose in the structure 32 while a winch or reel 36 (see FIGS. 7 and 8), on which is wound up the cable, is housed in the console 33. Between the device 34 for measuring angles and the pulley 35, there is provided a reel 98 and a voltage sensor of the umbilical 12. The reel 98 can be essentially constituted by a pulley or a drum on which the umbilical makes a turn, the drum being driven by a motor controlled by the control unit 22, in order to control the unwinding speed or winding of the cable, and control the upward or downward speed of the aerodyne. The retractor or winch 36 may consist essentially of a drum receiving the umbilical 12, exerting thereon a constant tension, and equipped with a sensor delivering to the unit 22 a signal (or data) representative of the cable length unrolled. With reference to FIG. 3 in particular, the landing gear 13 comprises four tubular hoops marked 43 to 46, which are connected two by two by four sleeves 57, 58 to form a crown encircling the upstream end piece 54 of the hull. . The pivoting connection between this ring and the piece 54 is obtained by two hollow shafts 63 extending through two aligned bearings 62 which are integral with the piece 54 and arranged in a diameter thereof. The shafts 63 also extend through two bores respectively provided in the two sleeves 57, so that the part 54 can pivot freely about the axis 42 with respect to the landing gear ring, the pivot axis 42 being perpendicular to the axis 24 of general symmetry of the aerodyne, these two axes being intersecting. The lower part of the landing gear comprises six radial tubular arms marked 47 to 52 which are respectively fitted, at one of their ends, into six sleeves provided in a central part 53 connecting. The cable 12 is fixed by its portion 12a to the part 53, the conductors of the cable 12 extending partly inside the arm 47, and partly inside the arm 48 which is diametrically opposite the arm 47. Fixing the cable 12 to the part 53 can be obtained by clamping the cable sheath near its end, or by other mechanical fastening means.

Each of the arms 47 to 52 has a first rectilinear portion 59 fitted in the part 53, a curved portion extending the first rectilinear portion, and a second straight portion 60 extending the curved portion. FIG. 3 shows that the rectilinear portions 59 of the six arms are substantially coplanar and are regularly angularly arranged around the piece 53. The rectilinear portions 59 have a length that is close to the radius of the opening at the base of the structure. perforated 19 (Figures 1 and 6 in particular), while the inclination of the straight portions 60 of the arms 47-52 substantially corresponds to that of the perforated structure 19, to facilitate 1 docking of the aircraft on the receiving platform during the final landing phase. As illustrated in FIGS. 2 and 3, the portion 60 of each of the main arms 47 and 48 is curved upwards, each curved portion 25 being extended by a third rectilinear portion 61. The respective upper ends 47a, 48a of the two opposite arms 47, 48 are each equipped with a coupling 64 provided with a bore enabling a pivoting connection to be obtained between these arms and the ring 43 to 46, 57, 58. This pivoting connection is obtained by two other hollow shafts 65 s extending respectively through the bores provided in the connectors 64.

The shafts 65 also extend through two bores respectively provided in the two sleeves 58, so that the arms 47, 48 can freely rotate along the axis 41 relative to the crown of the landing gear.

The pivot axis 41 is perpendicular to the axis 24 of general symmetry of the aerodyne, these two axes being secant, and the pivoting axes 41 and 42 of the links are also orthogonal, so that the four pivotal links form a gimbal allowing a free oscillation of the hull of the aerodyne relative to the landing gear.

In FIG. 3, fine mixed lines represent the path of conductive wires of the cable 12 inside the tubular elements of the landing gear. It can be seen in FIGS. 2 and 3 that wires run in the workpiece 53 to the arm 47, walk in this arm to its end 47a located in the connection 64, and leave this connection (see FIG. a loop 12d. These son then walk in the hollow shaft 65 from which they emerge to form a second loop 12e before entering the sleeve 58 and walk in the arch 43.

These son out of the arch 43 to form a third loop similar to the first two, before passing through the hollow shaft 63 to be connected to connectors (not shown) integral with the hull of the aircraft, to ensure a electrical connection between the actuators - including the motor 26 - and the onboard electronic sensors and units, and the supply and control unit 22 located on the ground. FIG. 3 shows that other wires coming from the cable 12 have a similar path inside the arm 48, the arch 45 and the hollow shafts 63, 65 of the two other pivoting links of the landing gear.

This symmetrical routing of the wires inside the hollow elements of the undercarriage 13 makes it possible to obtain that the center of gravity of these conductive wires is situated on the axis 24, which avoids unbalancing the aerodyne. In addition, the son loops such as those marked 12d and 12e make it possible to avoid applying a torque opposing the free relative rotation of the parts of the train connected by the pivoting links along the axes 41 and 42. FIGS. 4 and 5 in particular, the measuring device 34 makes it possible to measure the angle of inclination of the portion 12b of the cable 12 with respect to two coplanar plates 66, 67 integral with the structure 32 of the launching system. The device 34 comprises two bearings 70 and 71 aligned along an axis 68 parallel to the plane of the plates 66, 67, which are respectively fixed to these plates by screws 72. The device 34 also comprises a ring 73 mounted freely pivoting - according to the axis 68 - in the bearings 70, 71. A first angle measuring sensor 75 is coupled to the bearing 71 so as to measure the angular position of the ring 73 relative to the plate 67. The ring 73 comprises two bearings (not visible in the figures) aligned along an axis 69 diametral orthogonal to the axis 68, and a shaft 74 extending inside the ring 73 is mounted freely pivoting - along the axis 69 - in these two bearings. A second angle measuring sensor 76 is integral with the ring 73 and coupled to one of the bearings of this ring so as to measure the angular position of the shaft 74 with respect to the ring 73.

A tubular sheath 77 of axis 78 is fixed by a connecting piece 79 to the shaft 74 through which it passes. The axis 78 passes substantially through the point 80 of intersection of the axes 68 and 69. A counterweight 81 integral with the ring balances the mass of the sensor 76 and its support 82. The sleeve 77 is thus rotatably mounted, according to the pins 68 and 69, relative to the plates 66, 67. The cable 12 is freely sliding with a small clearance inside the sleeve 77, so that the measurement of the angle of inclination of the portion 12b of cable coming out of the sheath can be obtained by measuring the inclination of the sheath which is carried out by the sensors 75 and 76. With reference to FIG. 6, the perforated structure 19 surrounds the beams 20 of the reception platform and launching the aerodyne, and the device 34 for measuring the inclination of the cable which occupies a central position. In the embodiments illustrated in FIGS. 1, 4 and 6, this structure 19 and the platform are integral with the support 32 resting on the ground. According to another embodiment not shown, the structure 19 and the receiving platform can be mounted on such a support 32 via a cardan device such as that of the measuring device 34, so that the structure and the platform at all times have the same inclination as that of the sheath (reference 77 Figures 4 and 5) for guiding the cable 12. According to another embodiment not shown, the support 32 can rest - on the deck of a ship by for example - by means of a stabilizing device ensuring the support 32 a horizontal position 20 when the ship is tilted under the effect of a pitching or rolling motion. In an embodiment corresponding to that illustrated in the figures, an inclinometer may be provided for measuring the inclination of the launching platform - and the plates 66, 67 -, and the signals delivered by the inclinometer may be used to correcting the inclination measurements of the cable delivered by the sensors 75, 76. Moreover, the measurements of inclination of the cable at the launching platform which are obtained from the measurement of the inclination of the sheath 77 can be corrected for other parameters to obtain position data of the aircraft. Indeed, as illustrated in FIGS. 7 and 8, the inclination 85 of the sheath relative to the vertical 87 passing through the center (reference 80 FIG. 5) of rotation of the sheath can be greater - as in the configuration illustrated in FIG. 7 - or lower - as in the configuration shown in Figure 8 - at the inclination 86 of the line segment passing through the center 80 and the point 88 for attaching the cable to the aircraft. In the configuration illustrated in FIG. 7, in which the respective speeds of displacement 89, 90 of the aerodyne and of the ship - on board which the launch platform 18 is installed - are identical, in terms of modulus and direction, the difference between the inclinations 85 and 86 may in particular result from the self weight of the portion of the cable 12 extending between the aerodyne and the platform and the voltage of this portion of cable. In the configuration illustrated in FIG. 8 in which the respective speeds of displacement of the aircraft and the ship are substantially zero, the aerodyne being suspended from a parachute 91, the difference between the inclinations 85 and 86 may result from the force exerted on the wind cable 92, as well as the dead weight and the voltage of the portion of the cable 12 extending between the aerodyne and the platform. The system (reference 11 FIG. 1) for feeding and controlling the aerodyne is equipped with a device / sensor for measuring the length of cable separating the aerodyne from the platform, and an electronic unit coupled to this device / sensor and incorporating means for calculating the deformation of the cable portion suspended from the aerodyne under the effect of its own weight.

The system 11 also comprises a device / sensor for measuring the voltage of this portion of the cable, which is also coupled to the electronic unit to estimate the influence of this voltage on the deformation of the cable. The system 11 may also include a device for measuring the winding speed or winding of the cable on the winch, which is coupled to the electronic control unit for controlling the aerodynamic speed of the aerodyne during a take-off and its descent speed during a landing. Thus, the measurement of the inclination 86, ie of two angles in two respective planes which are orthogonal and contain the vertical axis 87, of the segment connecting the platform to the aerodyne, can be obtained from the measurements of the inclination 85 of the sheath and parameters influencing the deformation of the cable. This allows, knowing the length of cable separating the aerodyne platform, to determine - directly in a system of 10 cylindrical coordinates - the coordinates of the aircraft in a benchmark linked to the platform. The knowledge of these coordinates makes it possible to control the control surfaces of the aircraft to obtain the desired displacement, i.e. a stationary or non-stationary flight. The control control unit 22 preferably comprises a PLC programmed to perform the following operations: control the state of the elements of the system when the unit 22 is put into operation; - Start the engine of the aircraft and control its speed of rotation; - disengage the reel and control its rotational speed as well as the length of umbilical rolled out of the winch; - control the position of the aircraft to make it a specific flight; - control the traction of the umbilical between the reel and the reel; - monitor that the aerodyne does not exceed a specific flight range - in terms of mechanical and aerodynamic performance - and control the return of the aerodyne when the flight envelope is exceeded; Monitoring the operational state of the aircraft and controlling the deployment of the parachute and the return of the aircraft when a failure is detected; - control the return of the aircraft to the reception platform. In particular, the unit 22 and / or the automaton can be programmed to perform the following operations: - measure the inclination of the aerodyne power cable in relation to the launching and receiving device - determine the distance separating the aerodyne from the launching and receiving device, by determining the length and the deformation of the link / cable connecting the aerodyne to the launching and receiving device, 10 - determining the position of the aerodyne relative to the launching and receiving device, as a function of distance and inclination, - comparing the position of the aerodyne thus determined with a position setpoint for the aerodyne and, if appropriate, - controlling a displacement of the aircraft according to the result of the comparison in order to match the determined position to the position setpoint. The system / PLC may in particular be programmed to correct the tilt measurements of the link / cable as a function of signals delivered by an inclinometer measuring the inclination of the launching and receiving device, to determine the deformation of the link / cable in measurement function of the length of the link / cable portion that is suspended from the aerodyne, the tension and the self weight of this portion. For the recovery of a broken aircraft, the system or automaton can be programmed to control the position of the 2.5 lines of the parachute during the bringing operation, in order to follow a determined trajectory to the aerodyne connected / suspended parachute. The invention facilitates the production and implementation of captive aerodynes whose fairing delimits an air passage vein whose diameter can be in a range from a few tens or hundreds of millimeters to one or more meters.

The invention is of course capable of numerous variants; in particular, the aerodyne may comprise several propulsion propellers.

Claims (10)

Claims1 - System for launching and receiving an aerodyne (10) held captive by a filamentary link (12), in particular by a power cable of a motor (26) for propelling the aircraft, characterized in that it comprises a device (34) for measuring the inclination of the filiform link, in particular a device for measuring the inclination of the feed cable, so as to make it possible to determine the position of the aerodyne as a function of the inclination measured, and to possibly change the position of the machine to reach a specific position. 2 - System according to claim 1 wherein the measuring device comprises a sleeve (77) adapted to receive the link / cable allowing its sliding, the sleeve being fixed to a support (66, 67) via a cardan connection, as well as two sensors (75, 76) for measuring the angular position of the sheath relative to the support, respectively along two orthogonal tilt axes (68, 69) respectively corresponding to the two axes of rotation of the link to gimbal. 3 - System according to claim 1 or 2 which further comprises a device for measuring the length of the link / cable extending between the aerodyne and a sleeve (77) for guiding a platform (18 to 20) launching and of reception of the aerodyne. 4 - System according to claim 3 which further comprises a device for measuring the voltage of the link / cable, as well as calculation means coupled to the length and voltage measuring means for estimating the deformation of the link / cable, and for determining the distance separating the aerodyne from the sheath according to this deformation and the length of the link / cable extending between the sheath and the aerodyne. 5 - System according to claim 3 or 4 wherein the platform (18 to 20) is mounted on a support (32) resting on the solou on a mobile (99), via a cardan device, so that the platform has the same inclination as that of the guide sleeve (77) of the link or cable (12). 6 - Method for controlling and / or controlling the position of an aerodyne (10) connected by a deformable filiform link (12) to a launching and receiving device, characterized in that: - the inclination is measured of the filamentary link, in particular by measuring the inclination of a feeder cable of the aerodyne, with respect to the launching and receiving device, the distance separating the aerodyne from the launching and receiving device is determined; , in particular by determining the length and the deformation of the link / cable connecting the aerodyne to the launching and receiving device, the position of the aerodyne relative to the launching and receiving device 15 is determined as a function of the distance and inclination, - the position of the aerodyne thus determined is compared to a position setpoint for the aerodyne and, where appropriate, - a movement of the aerodyne is controlled as a function of the result of the appearing in order to match the determined position to the position setpoint. 7 - Process according to claim 6 wherein one corrects tilt measures of the link / cable according to signals delivered by an inclinometer measuring the inclination of the launching device and reception. 8 - Process according to claim 6 or 7 wherein the deformation of the link / cable is determined according to measurements of the length of the link / cable portion which is suspended from the aerodyne, and the weight of this portion itself. 30 9 - Process according to any one of claims 6 to 8 wherein the deformation of the link / cable is determined as a function of the tension of the link / cable portion which is suspended from the aircraft. 10 - Process according to any one of claims 6 to 9 wherein the inclination of a platform (18 to 20) of the launch device is measured using an inclinometer, and the signals delivered are used. by the inclinometer for correcting the inclination measurements of the cable delivered by sensors (75, 76).