This invention relates to a movement system that enables control and movement of equipment in an air vehicle.

There are sensors on a body of a rotary wing air vehicle that obtain flight data, detect external threats and have various signal jamming features. Sensors are generally located on an outer surface of the air vehicle. Helicopters have electronic warfare sensors used for defense against rocket threats. Such sensors can detect heat, laser and radar guided rockets. There are precise placement requirements for electronic warfare sensors in order to detect a direction of a rocket. Although the arrangement of sensors on the air vehicle is adjusted very precisely, these sensors may exceed tolerance ranges required for their operation, after and during long-term flights. Sensors placed in areas such as the wing and tail tip can exceed the tolerance ranges.

EP0636862, which is included in the known-state of the art, discloses a system comprising a core inertial measurement unit with accelerometers and gyroscopes aligned along the x, y, and z axes to provide signals to an onboard computer. In the system according to said invention, an accelerometer is mounted outside the core inertial measurement unit around a shaft, and is operated by a motor.

LIS2021389435, which is included in the known-state of the art, discloses a system comprising a sensor housing; and an active or passive sensor arranged therein and held on a movable sensor holder.

Thanks to a movement system according to the present invention, deviations in the placement angles of the detectors on the outer surface of the air vehicle can be detected and corrected instantaneously, so that the detectors are kept in a desired position range, and placement angles of the detectors are changed very precisely to keep its performance at a highest level. Another object of the present invention is to control the placement angles of the detectors during flight instantaneously and to change the angle of the detector to be within a tolerance range, when the detector is detected to be out of tolerance.

A further object of the present invention is to reduce the possibility of malfunctioning or incorrect functioning due to distortions in the placement angle of the detector.

Another object of the present invention is to reduce production and assembly costs and shorten production and assembly periods by eliminating the need for precise positioning required for the assembly of structural parts.

A movement system realized to achieve the object of the present invention, which is defined in the first claim and other claims dependent thereon, comprises a body that can be a tail of an air vehicle. There is at least one actuator that enables the equipment on the body to be activated. There is a detector, which can be an electronic warfare sensor, placed at the tips of at least two actuators. There is a first position (I) determined by the manufacturer, in which the detector is placed on the body. There is a second position (II), wherein the detector moves to the second position (II) during a flight, and any point thereof deviates from the first position. In the second position (II), the detector deviates angularly from the first position (II) due to aerodynamic effects during flight. There is a sensor collecting information regarding the second position (II). A processor is provided in the body, which can be a central position computer that detects a difference between the second position (II) and the first position (I). The actuator is triggered to change a placement angle of the detector. The detector, which is exposed to aerodynamic effects during flight, deviates angularly from the first position (I), i.e. the desired position, and reaches the second position (II). Thanks to the sensor, position of the detector on the body is detected and this position information, i.e. the second position (II), is transmitted to the processor.

The movement system according to the invention comprises at least two actuators triggered by the processor in different amounts and/or directions, moving in the triggered amount and direction, thus moving the detector from the second position to the first position. By moving the actuators pointwise in different directions and amounts, the detector is enabled to move in at least three directions. In an embodiment of the invention, the movement system comprises an apparatus that surrounds a part of the detector, such that when the detector moves from the second position (II) to the first position (I), a portion of the apparatus that surrounds a part of the detector approaching the body shortens, and a portion thereof that surrounds a part of the detector moving away from the body extends. The apparatus is made of an elastic material such as rubber. Thanks to the elastic feature of the apparatus, the detector is protected from undesirable factors, such as air and dust between the detector and the body, during movement by the detector. The apparatus preferably has a polygonal form.

In an embodiment of the invention, the movement system comprises a first slot and a second slot on one surface of the apparatus. There is a first rod that can be completely inserted into the first slot due to its form, and a second rod that can be completely inserted into the second slot due to its form. The first slot and the second slot are located in different positions on the apparatus. The first slot is positioned opposite the first rod. The second slot is positioned opposite the second rod.

In an embodiment of the invention, the movement system comprises the apparatus that stretches such that a part thereof closest to the first rod moves away from the body when the first rod applies a forward force to the first slot. The second rod moves simultaneously with the movement of the first rod. In case the second rod applies a force to pull the slot towards the body, the part of the apparatus closest to the second rod is shortened to approach the body.

In an embodiment of the invention, the movement system comprises the first rod and the second rod, which are triggered at different amounts such that at least one point of the detector approaches the body and at least one point thereof moves away from the body. The first rod pulls the apparatus towards the body, allowing the detector to approach the body from at least one point. Thanks to the second rod, which moves the apparatus away from the body simultaneously with the first rod, the detector moves away from the body from at least one point. Moving the detector closer to the body from at least one point and moving it away from the body from at least one point contributes to bringing the detector to the desired position for its operation. In an embodiment of the invention, the movement system comprises a processor in the body, which stores information of the first position (II), communicates with the sensor to receive information of the second position (II), and detects the actuator movements required for the detector to move from the second position to the first position. The processor is a computer, such as a central position computer in a helicopter. It produces a command required to correct the second position where the detector deviates from the first position.

In an embodiment of the invention, the movement system comprises the actuator which is triggered by a command related to the actuator movement determined by the processor, thereby triggering the first rod and the second code according to this command. Said command comprises information about which rod will be triggered, how much and in which direction.

In an embodiment of the invention, the movement system comprises the processor which stores a position tolerance range (T) determined by the detector manufacturer, wherein the position tolerance range indicates at what angles the detector must be positioned on the body to function correctly. The position tolerance range is quite precise for electronic warfare sensors (e.g. ± 0.2). The processor calculates the difference between the second position (II) and the first position (I) of the detector, and determines whether this difference is within the position tolerance range (T). If the difference between the second position (II) and the first position (I) exceeds the position tolerance range (T), the processor triggers at least one actuator. Thanks to the processor, if the position of the detector is incorrect, the deviation is detected so that the detector required to be placed within precise tolerances can be brought back to the tolerance range.

In an embodiment of the invention, the movement system comprises a frame for attaching the actuator in a fixed manner, in which a part of the detector is located. The detector can be attached to the frame in alignment with the center of gravity.

In an embodiment of the invention, the movement system comprises a third rod located between the apparatus and the frame, with a certain distance between the first rod and the second rod. The third rod can move in different directions and/or different amounts, independently of the first rod and the second rod, and contributes to the precise movement of the detector between the second position (II) and the first position (I).

In an embodiment of the invention, the movement system comprises the first rod and second rod moving in different directions and/or in different amounts from each other; and the third rod moving in different directions and/or different amounts from the first rod or second rod. While the first rod and the second rod direct the detector to the right or left, the detector is directed upward or downward thanks to the third rod, which moves in a different direction and/or a different amount compared to the first rod. It is possible to direct the detector by moving any of the first rod, second rod and third rod.

In an embodiment of the invention, the movement system comprises a first recess allowing an actuator to be engaged into the frame in a form-compatible manner; and a second recess at a certain distance from the first recess, wherein the first recess and the second recess are aligned with at least two actuators on the frame. Another actuator is engaged with the second recess in a form-compatible manner.

In an embodiment of the invention, the movement system comprises a fixing piece that extends outwards from the body, contains a part of the detector, and in which the frame is fixed. The fixing piece is fixed to the body from its base, and the edges (or circular base) of the fixing piece fixed to the body are manufactured without any gaps between the fixing piece and the slopes on the body surface. A cross-sectional area of the base of the fixing piece fixed to the body may be in a polygonal or circular form.

In an embodiment of the invention, the movement system comprises the fixing piece which is fixed to the body at its base, extends outwards from the body, and has a conical form with a cross-sectional area decreasing from its base. The detector is at least partially contained within the fixing piece. When the detector is attached to the frame, at least one part of thereof remains inside the fixing piece, and the other part thereof remains outside the fixing piece.

In an embodiment of the invention, the movement system comprises the detector placed on the body that may be a tail of a helicopter. The movement system realized to achieve the object of the present invention is illustrated in the attached drawings, in which:

Figure 1 is a perspective view of the actuator, detector, sensor, apparatus, rod, slot, frame, recess and fixing piece.

Figure 2 is an exploded view of the movement system.

Figure 3 is a perspective view of the body, detector, processor, apparatus and fixing piece.

All the parts illustrated in figures are individually assigned a reference numeral and the corresponding terms of these numbers are listed below:

1. Movement system

2. Body

3. Actuator

4. Detector

5. Sensor

6. Processor

7. Apparatus

71. First slot

72. Second slot

8. First rod

9. Second rod

10. Frame

101. First recess

102. Second recess

11. Third rod

12. Fixing piece

(I) First position

(II) Second position

The movement system (1) comprises a body (2) on an air vehicle; at least one actuator (3) on the body (2), which enables avionics equipment to move; at least one detector (4) positioned on the body (2) by means of at least two actuators (3); a first position (I) in which the detector (4) is positioned on the body (2) by the manufacturer; a second position (II) to which the detector (4) reaches by moving, wherein at least one point of thereof is different from the first position (I); a sensor (5) located on the body (2) and detecting the second position (II); a processor (6) in the body (2), which is configured to determine a difference between the second position (II) and the first position (I).

The movement system (1) according to the invention comprises at least two actuators (3) triggered independently by the processor (6) and moving in different amounts, thereby causing the detector (4) to move from the second position (II) to the first position (I).

The movement system (1) comprises at least one actuator (3) provided on a body (2) of an air vehicle for the movement of the equipment on the body (2). At least one detector (4) is positioned on the body (2) by means of at least two actuators (3). The detector (4) is positioned on the body in a first position (I) predetermined by the manufacturer. The detector (4) moves and reaches a second position (II) that is different from the first position (I). A sensor (5) is provided on the body (2) for detecting the second position (II). There is a processor (6) inside the body (2) that determines the difference between the second position (II) and the first position (I). The detector (4) collects data by being mounted on the body (2) via at least two, preferably three actuators (3). The position of the detector (4), which moves to the second position (II) during the flight, is measured instantaneously by the sensor (5). The sensor (5) transmits the determined information of the second position (II) to the processor (6) provided in the body (2). The processor (6) stores information of the first position (I) and compares it with the information of the second position (II).

There are at least two actuators (3) triggered independently by the processor (6) to move in different amounts, so that the detector (4) is moved from the second position (II) to the first position (I). Moving at least two different actuators (3) independently of each other enables precise angle adjustment. By triggering one actuator (3) in a different amount and/or direction than the other actuator (3), the deviation in the second position (II), where the sensor (4) deviates from the first position (I), can be eliminated with the desired precision. Thanks to the movement combinations, i.e. keeping one actuator (3) stationary while moving the other actuator (3), moving one actuator (3) in the same direction as the other actuator (3) but at a different amount, and moving one actuator (3) in a different direction from the other actuator (3) by any amount, placement angle of the detector (4) can be changed only in the desired direction. In this way, the need to place the detector on the body is eliminated, so that the desired precise angle adjustment can be made during flight.

In an embodiment of the invention, the movement system (1) comprises an apparatus (7) made of a flexible material and located between the body (2) and the detector (4) so as to at least partially surround the detector (4), wherein during a movement of the detector (4) between the second position (II) and the first position (I), the apparatus (7) at least partially shortens as the detector approaches the body (2), and at least partially extends as the detector (4) moves away from the body. Since the apparatus (7) is made of a flexible material, factors such as air and dust are prevented from entering between the detector (4) and the body (2) during the movement of the sensor (4) between the second position (II) and the first position (I), so that the detector is protected.

In an embodiment of the invention, the movement system (1) comprises at least a first slot (71) located on the apparatus (7); at least a second slot (72) located on the apparatus (7) at a distance from the first slot (71); at least a first rod (8) form-compatible with the first slot (71) to fit tightly into the first slot (71); at least a second rod (9) form-compatible with the second slot (72) to fit tightly into the second slot (72). The first slot (71) and the second slot (72) are preferably located at the corners of the apparatus (7). Therefore, the first rod (8) and the second rod (9) are prevented from disengaging from the apparatus (7) while moving.

In an embodiment of the invention, the movement system (1) comprises the apparatus (7) extending at least partially when the first rod (8) pushes the first slot (71) and shortening at least partially when the second rod (9) pulls the second slot (72) simultaneously with the movement of the first rod (8). Simultaneously with the first rod (8) pushing the first slot (71) forward, the second rod (9) pulls the second slot (72) back. While the first rod (8) moves forward, the second rod (9) is pulled back, thus enabling the sensor to be moved in different axes.

In an embodiment of the invention, the movement system (1) comprises the first rod (8) and the second rod (9) that are triggered by the actuator (3) at different amounts, causing a distance between the detector (4) and the body (2) to change. The deviation of the detector (4) is avoided by triggering the first rod (8) and the second rod (9) independently of each other while moving in synchronization.

In an embodiment of the invention, the movement system (1) comprises the processor (6) in the body (2), which is configured to receive the second position (II) determined by the sensor (5) and to determine a command for each actuator (3) movement to move the detector (4) from the second position (II) to the first position (I). The processor (6) may be a central position computer provided in a helicopter. The processor (6) communicates with the sensor (5) and receives information about the second position (II) in which the detector (4) has deviated from the first position (I). Thanks to the processor (6), each actuator (3) movement and command that will move the detector (4) from the second position (II) to the first position (I) is determined separately (Figure 3).

In an embodiment of the invention, the movement system (1) comprises the first rod (8) and the second rod (9) that are triggered by the actuator (3) upon a command for the movement of actuator (3) determined by the processor (6). The processor (6) triggers the first rod (8) and second rod (9) of the actuator (3) by means of each determined command for the actuator (3). In this way, different commands required for the movement of the detector (4) are created (Figure 2).

In an embodiment of the invention, the movement system (1) comprises the processor (6) which stores a position difference range (T) information predetermined by the manufacturer, and which is configured to trigger at least one actuator (3) in case a difference between the second position (II) and the first position (I) exceeds the position difference range (T). The processor (6) instantaneously checks whether the difference between the second position (II) and the first position (I) exceeds the position difference range (T) during the flight of the air vehicle. Thanks to the processor (6), the first position (I) information is compared with the second position (II) information received from the sensor (5), such that a difference thereof is determined, and if this difference exceeds the predetermined position difference range (T), it is detected instantaneously.

In an embodiment of the invention, the movement system (1) comprises at least one frame (10) to which the actuator (3) is fixed, and in which the detector (4) is at least partially placed. The frame (10) is preferably in a polygonal form and allows the detector (4) to be placed therein from a point that can be the center of gravity.

In an embodiment of the invention, the movement system (1) comprises a third rod (11) located between the apparatus (7) and the frame (10), with a distance from the first rod (8) and the second rod (9), wherein the third rod (11) moves differently and/or in a different amount from the movement of the first rod (8) and/or the second rod (9), so that the detector (4) is moved from the second position (II) to the first position (I). Thanks to the third rod (11), the precision of the movement of detector (4) is improved (Figure 2).

In an embodiment of the invention, the movement system (1) comprises the first rod (8) or the second rod (9) that move differently and/or in different amounts so as to direct the detector (4) to the right or left; the first rod (8) or the third rod (11) that move differently and/or in different amounts so as to move the detector (4) upwards or downwards. Therefore, the detector (4) is rotated to the right or left by a desired amount with the movement of the first rod (8) and the second rod (9), and is directed upwards or downwards by a desired amount with the movement of the first rod (8) and the third rod (11). Thus, the detector (4) is moved in three different axes, and distortions in the placement angle of the detector (4) can be corrected a desired precision.

In an embodiment of the invention, the movement system (1) comprises at least a first recess (101) located on the frame (10) facing at least two actuators (3) and allowing the actuator (3) to be placed on the frame (10) in a form-compatible manner; and at least a second recess (102) located at a distance from the first recess (101). The first recess (101) and the second recess (102) located on the frame (10) have a structure formcompatible with the actuator (3), and ensure the rigid connection of the actuator (2) to the frame.

In an embodiment of the invention, the movement system (1) comprises at least one fixing piece (12) extending outwards from the body (2) and at least partially containing the detector (4), wherein the frame (10) is fixed in the fixing piece (12), wherein each side of the fixing piece (12) contacting the body (2) is almost completely fixed to at least one surface of the body (2). In case fixing piece (11) is to be mounted on an inclined surface of the body (2), since it is produced to fully contact the relevant surface, air and dust tightness is ensured (Figure 2).

In an embodiment of the invention, the movement system (1) comprises the fixing piece (12) with a conical form extending outwards from the body (2) and having a narrowing cross-sectional area along the direction it extends. Thanks to the conical form of the fixing piece (12), its base with a larger area is fixed to the air vehicle body (2), so that the detector (4) is placed at one end in a direction where the cross-sectional area narrows, thereby facilitating movement of the detector (4).

In an embodiment of the invention, the movement system (1) comprises the detector (4) located on the body (2) that is a tail area of a helicopter. The detector (4) is preferably an electronic warfare sensor. Electronic warfare sensors are preferably placed close to or in the tail area of the helicopter.