Abstract: An airplane transfer system for transferring an airplane comprising an airplane control component. The system comprises: a transfer module comprising at least one motor and adapted to transfer an airplane; and a controller coupled to the transfer module and configured to: i) receive a at least one transfer signal that is responsive to one or more commands provided via the airplane control component; and ii) control the transfer module in response to the transfer signal, wherein the commands are a priori capable of controlling the airplane or components thereof.

Abstract: Disclosed a method of transferring airplanes and an unmanned airplane transfer system. The transfer system comprises a transfer module adapted to transfer an airplane by moving a landing gear of the airplane; and a controller being assembled with the transfer system, coupled to the transfer module, and adapted to i) receive a transfer signal; ii) to control the transfer module in response to the transfer signal; and iii) to coordinate transferring the airplane by the unmanned airplane transfer system and at least one second unmanned airplane transfer system. The method of transferring an airplane by a plurality of unmanned airplane transfer systems comprises receiving by at least one unmanned airplane transfer system among said plurality of transfer systems a transfer signal, and in response to the transfer signal, coordinating the transfer of the airplane by at least two unmanned airplane transfer systems among said plurality of transfer systems.

Abstract: The invention relates to a plane tractor which grips the nose gear of a plane, including: a chassis; wheel modules connected to the chassis, each wheel module including at least one actuator for inducing a vertical movement of the module in relation to the chassis; a gripping platform for gripping the nose gear of a plane, the platform together with the chassis having freedom of movement substantially in circular translation; and a damping and actuating means connecting the platform and the chassis.

Abstract: An unmanned airplane transfer system, comprising: a transfer module adapted to transfer an airplane; a landing gear holder, adapted to firmly grip a landing gear of the airplane; wherein the landing gear holder is pivotally coupled to a structural element of the unmanned transfer system; and a controller, coupled to the transfer module, adapted to control the transfer module in response to a steering induced movement of the landing gear holder.

Abstract: A towbarless airplane tug comprising: a chassis mounted on a plurality of tug wheels, at least some of said plurality of tug wheels being steerable tug wheels; an airplane wheel support assembly, mounted on said chassis, for supporting rotatable wheels of a nose landing gear of an airplane; at least one tug wheel driver operative to drive said plurality of tug wheels in rotation to provide displacement of said chassis; and at least one tug controller operative to control speed of said tug, said at least one tug controller employing at least one feedback loop utilizing a mapping of speed limits along a travel path traversed by said tug and said airplane at said airport as well as an indication of the instantaneous location of said tug and said airplane along a travel path.

Abstract: The invention relates to a plane tractor which grips the nose gear of a plane, including: a chassis; wheel modules connected to the chassis, each wheel module including at least one actuator for inducing a vertical movement of the module in relation to the chassis; a gripping platform for gripping the nose gear of a plane, the platform together with the chassis having freedom of movement substantially in circular translation; and a damping and actuating means connecting the platform and the chassis.

Abstract: A primary controller disclosed. The primary controller is configured for controlling operation of a drive system comprising a prime mover, a generator, and a motor, wherein the prime mover is configured to provide energy to the generator, which is configured to drive the motor. The controller comprises a speed controller configured for determining a target speed of the motor dependent on externally-supplied speed input and a torque controller configured for determining a target torque of the motor based on externally-supplied torque input and on parameters of the vehicle. The primary controller is configured to simultaneously determine the target speed and the target torque and to simultaneously control the prime mover, generator, and motor to operate the motor at the target speed and the target torque.

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.

Abstract: A vehicle for towing an airplane by receiving thereupon a nose landing gear of the airplane having an airplane longitudinal axis. The vehicle having a vehicle longitudinal axis and is configured to tow the airplane along a straight or curved path and comprises a controller for directing its operation, including maintaining the vehicle's in-phase position in which the vehicle longitudinal axis is parallel to the airplane longitudinal axis.

Abstract: A towbarless airplane tug comprising: a chassis mounted on a plurality of tug wheels, at least some of said plurality of tug wheels being steerable tug wheels; an airplane wheel support assembly, mounted on said chassis, for supporting rotatable wheels of a nose landing gear of an airplane; at least one tug wheel driver operative to drive said plurality of tug wheels in rotation to provide displacement of said chassis; and at least one tug controller operative to control speed of said tug, said at least one tug controller employing at least one feedback loop utilizing a mapping of speed limits along a travel path traversed by said tug and said airplane at said airport as well as an indication of the instantaneous location of said tug and said airplane along a travel path.

Abstract: Disclosed a towbarless airplane tug and method of operating thereof.

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.

Abstract: An airplane tug for receiving a landing gear of an airplane. Tug comprises a chassis for receiving the landing gear, a propulsion arrangement for moving tug, force sensor(s) for measuring a force exerted by the chassis on the gear due to a speed differential between tug and airplane, and a controller for altering movement parameter(s) of tug for maintaining the force below a value. Propulsion arrangement comprises a variable angle swash plate hydraulic pump coupled to a variable angle swash plate hydraulic motor and to a bypass path valve such that fluid circulates between the pump and motor to activate the arrangement to increase the speed and/or traction force when bypass path is in a closed state, and the fluid circulates across the motor via the valve to reduce a rotational speed and/or traction force of the tug when the path is in an opened state.

Abstract: A primary controller disclosed. The primary controller is configured for controlling operation of a drive system comprising a prime mover, a generator, and a motor, wherein the prime mover is configured to provide energy to the generator, which is configured to drive the motor. The controller comprises a speed controller configured for determining a target speed of the motor dependent on externally-supplied speed input and a torque controller configured for determining a target torque of the motor based on externally-supplied torque input and on parameters of the vehicle. The primary controller is configured to simultaneously determine the target speed and the target torque and to simultaneously control the prime mover, generator, and motor to operate the motor at the target speed and the target torque.

Abstract: A vehicle for towing an airplane by receiving thereupon a nose landing gear of the airplane having an airplane longitudinal axis. The vehicle having a vehicle longitudinal axis and is configured to tow the airplane along a straight or curved path and comprises a controller for directing its operation, including maintaining the vehicle's in-phase position in which the vehicle longitudinal axis is parallel to the airplane longitudinal axis.

Abstract: A method of transferring a plurality of containers to storage is provided, the method comprises providing at least one multi-level structure (12) with an elevator (22) configured to receive and transport one or more containers thereupon and being configured to ascend and descend to a predetermined level (18a), each of the levels (18a) comprising a plurality of bays (24) being sized to receive and store therein one of the containers; providing a plurality of unmanned autonomous guided vehicles (AGV) configured to perform front/back and sideways movements and to receive a container thereupon; receiving each of the containers on a receiving AGV (rAGV) of the AGVs; and positioning the rAGV with the container received thereby in a target bay (24) on a target level (18a) of the structure (12).

Abstract: A method for transferring airplanes and an unmanned airplane transfer system. The airplane transferring system includes: receiving a transfer signal responsive of a movement of an airplane control component; and transferring an airplane, by an unmanned airplane transfer system, in response to the transfer signal.

Abstract: An unmanned airplane transfer system, comprising: a transfer module adapted to transfer an airplane; a landing gear holder, adapted to firmly grip a landing gear of the airplane; wherein the landing gear holder is pivotally coupled to a structural element of the unmanned transfer system; and a controller, coupled to the transfer module, adapted to control the transfer module in response to a steering induced movement of the landing gear holder.

Abstract: An airplane transfer system for transferring an airplane comprising an airplane control component. The system comprises: a transfer module comprising at least one motor and adapted to transfer an airplane; and a controller coupled to the transfer module and configured to: i) receive a at least one transfer signal that is responsive to one or more commands provided via the airplane control component; and ii) control the transfer module in response to the transfer signal, wherein the commands are a priori capable of controlling the airplane or components thereof.

Abstract: A towbarless airplane tug configured for receiving a landing gear of an airplane and towing it thereby is provided. The tug comprises a chassis configured for receiving thereon at least a portion of the landing gear, a propulsion arrangement configured to move the tug in a direction along a trajectory, at least one force sensor configured to measure, directly or indirectly, a force exerted by the chassis on the landing gear in at least the direction due to a speed differential between the tug and the airplane, and a controller in communication with the force sensor and being configured to alter one or more parameters of movement of the tug such that the force exerted by the chassis on the landing gear is maintained below a predetermined value.