Towbarless airplane tug

• US 8,774,983 B2
• Filed: 03/12/2013
• Issued: 07/08/2014
• Est. Priority Date: 11/25/2008
• Status: Expired due to Fees

• Current Assignee: Israel Aerospace Industries Limited (Government of Israel)
• Original Assignee: Israel Aerospace Industries Limited (Government of Israel)
• Inventors: Perry, Arie, Braier, Ran
• Primary Examiner(s): MARC-COLEMAN, MARTHE Y
• Application Number:
  US13/796,989
• Publication Number:
  US 20130238214A1
• Time in Patent Office: 483 Days
• Field of Search: 701/2, 701/23, 701/517, 244/50, 244/197, 180/14.7, 180/904, 180/11, 180/14.1, 180/14.4, 180/167, 416/426, 416/429, 280/477, 280/508
• US Class Current: 701/2
• CPC Class Codes: B60S 13/00 Vehicle-manoeuvring devices separate from the vehicle vehicle lifting , e.g. liftable turntables or pushing devices B66F; workshop equipment B25H
• CPC Class Codes: B64F 1/10 using self-propelled vehicles
• CPC Class Codes: B64F 1/22 for handling aircraft
• CPC Class Codes: B64F 1/227 for direct connection to aircraft, e.g. tow tractors without towing bars
• CPC Class Codes: F16H 61/4043 Control of a bypass valve
• CPC Class Codes: F16H 61/42 involving adjustment of a pump or motor with adjustable output or capacity F16H61/46 takes precedence
• CPC Class Codes: G06F 11/30 Monitoring
• CPC Class Codes: Y02T 50/80 Energy efficient operational measures, e.g. ground operations or mission management

Abstract

In an embodiment, a towbarless airplane tug configured for receiving a landing gear of an airplane and towing the airplane thereby at an actual speed is disclosed. The towbarless airplane tug includes a chassis configured for receiving thereon at least a portion of the landing gear, and a propulsion arrangement configured to move the towbarless airplane tug in a direction along a trajectory. The towbarless airplane tug further includes a controller configured to compare between the actual speed of the towbarless airplane tug, when towing the airplane, and a predetermined desired speed thereof, and to direct the propulsion arrangement to maintain the actual speed of the towbarless airplane tug if: the actual speed is lower than the desired speed, and the actual speed was maintained within a predefined speed range during a predefined period that preceded the comparing.

Claims

1. A towbarless airplane tug configured for receiving a landing gear of an airplane and towing the airplane thereby at an actual speed, said towbarless airplane tug comprising:

a chassis configured for receiving thereon at least a portion of said landing gear;

a propulsion arrangement configured to move the towbarless airplane tug in a direction along a trajectory; and

a controller configured to compare between the actual speed of the towbarless airplane tug, when towing the airplane, and a predetermined desired speed thereof, and to direct said propulsion arrangement to maintain the actual speed of the towbarless airplane tug if;

the actual speed is lower than the desired speed; and

the actual speed was maintained within a predefined speed range during a predefined period that preceded the comparing.

2. The towbarless airplane tug according to claim 1 wherein the controller is further configured to detect airplane pilot-controlled braking and deceleration of the airplane, and is further configured to direct said propulsion arrangement to maintain the actual speed if:

the actual speed is higher than the desired speed; and

at least one of an airplane pilot-controlled braking and deceleration of said airplane is detected.

3. The towbarless airplane tug according to claim 2, wherein the controller is further configured to direct said propulsion arrangement to change the actual speed of the towbarless airplane tug to match the desired speed if an airplane pilot-controlled braking is detected.

4. The towbarless airplane tug according to claim 1, being further configured to apply a positive traction force at all times during a towing of the airplane.

5. The towbarless airplane tug according to claim 1, being further configured to protect in real time the landing gear from exceeding its maximum allowed fatigue load.

6. The towbarless airplane tug according to claim 1, wherein the controller is further configured to calculate the desired speed.

7. The towbarless airplane tug according to claim 1, wherein the controller is further configured to calculate a desired traction force corresponding to the desired speed.

8. The towbarless airplane tug according to claim 1, wherein the controller is further configured to calculate the desired speed at least based upon a location of the tug.

9. The towbarless airplane tug according to claim 1, wherein the controller is further configured to calculate the desired speed at least based upon a location of the tug and a location of at least one other tug.

10. The towbarless airplane tug according to claim 1, wherein the controller is further configured to calculate the desired speed at least based upon a location of the tug and a location and a speed of at least one other tug that shares at least one path therewith.

11. The towbarless airplane tug according to claim 1, wherein the controller is further configured to calculate the desired speed at least based upon a location of the tug and a desired time of arrival thereof at an end of towing location.

12. The towbarless airplane tug according to claim 1, wherein the controller is further configured to calculate the desired speed at least based upon a location of the tug, an estimated time of arrival of another tug at an end of towing point, and a desired time of arrival of the tug at the end of towing location.

13. The towbarless airplane tug according to claim 1, further comprising a detector configured to detect a speed and a location of at least one other tug by utilizing a sensor;

said controller being configured to calculate the desired speed at least based upon the speed and location of said other tug.

14. The method according to claim 1, wherein said tug obtains said information relating to speed and location of at least one other tug utilizing a sensor.