WO2015195175A2 - Système pour décollage et atterrissage automatiques par interception de petits véhicules aériens sans pilote - Google Patents

Système pour décollage et atterrissage automatiques par interception de petits véhicules aériens sans pilote Download PDF

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Publication number
WO2015195175A2
WO2015195175A2 PCT/US2015/022001 US2015022001W WO2015195175A2 WO 2015195175 A2 WO2015195175 A2 WO 2015195175A2 US 2015022001 W US2015022001 W US 2015022001W WO 2015195175 A2 WO2015195175 A2 WO 2015195175A2
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WIPO (PCT)
Prior art keywords
uav
lcm
landing
storage mechanism
storage
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Ceased
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PCT/US2015/022001
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English (en)
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WO2015195175A3 (fr
Inventor
Brandon BORKO
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Individual
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Individual
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Publication date
Priority claimed from US14/222,158 external-priority patent/US9505493B2/en
Application filed by Individual filed Critical Individual
Publication of WO2015195175A2 publication Critical patent/WO2015195175A2/fr
Publication of WO2015195175A3 publication Critical patent/WO2015195175A3/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F1/00—Ground or aircraft-carrier-deck installations
    • B64F1/12—Ground or aircraft-carrier-deck installations for anchoring aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U60/00—Undercarriages
    • B64U60/50—Undercarriages with landing legs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U70/00—Launching, take-off or landing arrangements
    • B64U70/30—Launching, take-off or landing arrangements for capturing UAVs in flight by ground or sea-based arresting gear, e.g. by a cable or a net
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U70/00—Launching, take-off or landing arrangements
    • B64U70/90—Launching from or landing on platforms
    • B64U70/92—Portable platforms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U70/00—Launching, take-off or landing arrangements
    • B64U70/90—Launching from or landing on platforms
    • B64U70/97—Means for guiding the UAV to a specific location on the platform, e.g. platform structures preventing landing off-centre
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U70/00—Launching, take-off or landing arrangements
    • B64U70/90—Launching from or landing on platforms
    • B64U70/99—Means for retaining the UAV on the platform, e.g. dogs or magnets
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U80/00—Transport or storage specially adapted for UAVs
    • B64U80/20—Transport or storage specially adapted for UAVs with arrangements for servicing the UAV
    • B64U80/25—Transport or storage specially adapted for UAVs with arrangements for servicing the UAV for recharging batteries; for refuelling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U80/00—Transport or storage specially adapted for UAVs
    • B64U80/40—Transport or storage specially adapted for UAVs for two or more UAVs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U80/00—Transport or storage specially adapted for UAVs
    • B64U80/70—Transport or storage specially adapted for UAVs in containers

Definitions

  • UAVs small unmanned air vehicles
  • UASs unmanned aerial systems
  • UASs unmanned aerial systems
  • UAVs have been used in photography, surveillance, sensing and mapping applications, payload delivery, and many other uses.
  • the use of small UAVs provides capability for tasks that require cameras or payloads to be present in difficult to access or dangerous locations.
  • Small UAVs are often electric vehicles with flight time that is limited by battery capacity.
  • the operator or mission control software must end the task, fly the vehicle to a service location, land, swap or recharge the battery, fly back to location, and then resume the task. This operational cycle is tedious and time-consuming for a human to be involved. Automated launching, landing, and servicing can mitigate these problems.
  • Certain landing methods known in the art require a human to disengage the UAV, require a separate launching mechanism, and/or have a high probability of damage.
  • a passive landing system existing autonomous UAV landing requires intelligence to be present on the UAV itself to align with a static landing pad and attempt to maintain alignment throughout the landing process.
  • UAVs due to size, UAVs have limited processing power and sensing capability onboard, making such a landing procedure disadvantageous.
  • conditions such as high or turbulent winds, a dynamic moving vehicle, and the like, may cause a failure to maintain alignment and failure to land precisely.
  • such a system may include a launch and capture mechanism (LCM) that may serve as a landing/launching dock for UAVs.
  • LCM launch and capture mechanism
  • the position of the LCM may be settable with respect to six axes in roll, pitch, yaw, height, and two orthogonal axes parallel to the ground, by a controlled relationship to the air vehicle.
  • the LCM may remain substantially parallel to the undercarriage of the UAV.
  • the systems and methods include a storage system for automatically storing and/or retrieving UAVs before or after a mission.
  • the LCM may facilitate automatic capture and launch of small UAVs. This is achieved when a robotic mechanism matches the UAV's trajectory and decelerates the UAV after the LCM intercepts and locks to the UAV.
  • the LCM may have six degrees- of-freedom to match the UAV's position as it approaches.
  • the LCM may include transducers such as, e.g., optical sensors, radio frequency (RF) sensors, infra-red (IR) sensors, global positioning satellite (GPS) sensors, charge coupled devices (CCDs), cameras, inductive sensors and the like, that allow the LCM to get an accurate relative position of the UAV as it approaches.
  • RF radio frequency
  • IR infra-red
  • GPS global positioning satellite
  • CCDs charge coupled devices
  • the landing/launching dock may include an active docking system for positive control of a docked UAV.
  • the active docking system may include a locking system.
  • the active docking system may include an automated capture system for UAVs, allowing for a fully automated operations cycle, including launching of UAVs, capturing UAVs, landing UAVs, and servicing UAVs, without manual operator intervention.
  • the system may comprise flight controller software for the UAV, so that the UAV may successfully approach and LCM and be disabled after capture.
  • the system may include a planning controller (not shown) or interface with an externally located planning controller (not shown) that issues commands to launch and land UAVs according to a schedule.
  • the UAVs may be launched (or landed) according to priority of battery charge levels, maintenance level, mounted payload, vehicle identifier, and/or the like.
  • the system may include a launch sequence so that the LCM can enable flight simultaneously with release of the UAV.
  • the system may be mounted to a carrier vehicle such as a ground vehicle (e.g. truck) or a water vehicle (e.g. ship) or another type of vehicle.
  • a carrier vehicle such as a ground vehicle (e.g. truck) or a water vehicle (e.g. ship) or another type of vehicle.
  • the UAV may be landed on a docking station, a landing plate, the ground, or the like.
  • the UAV flies according to a path to be intercepted by the LCM using technology such as, e.g., GPS, RTK GPS, IMU, LADAR, RADAR, or the like, to fly accurately.
  • the LCM may include a global navigation unit with GPS mounted to, e.g., the base of the LCM measuring the position as it moves around earth.
  • the UAV and the system may each include absolute location determining technology, such as, e.g., GPS, RTK GS, or the like to determine the absolute location of the UAV and the absolute location of the system at any given time.
  • the system may be further configured to determine the location of each UAV with respect to the system based on the absolute location of each UAV and the absolute location of the system.
  • the UAV may include one or more mating components (such as, e.g., a ferrous metal) to mate with a cooperative locking mechanism (e.g., an electromagnet) on the docking station.
  • the mating component(s) and cooperative locking mechanism may be mechanical in nature or some other positive locking mechanism.
  • the system may include a plurality (e.g., six) of electric motors connected to an arm with two links and further all joined to an end effector of a landing plate.
  • the system may include a robotic structure such as, e.g., as a parallel robot, a hexa robot, or the like.
  • An additional (e.g., seventh) electric motor may provide yaw control (rotation) of the landing plate so that the, e.g., electromagnets can align with, e.g., the ferrous material on the UAV.
  • the UAV may be removed by an external robotic mechanism mounted to, e.g., robotic rails that extend over the LCM and lock to the UAV.
  • the external robotic mechanism may be part of a storage system that stores the UAV that is removed from the LCM.
  • the system may include an electric motor connected to, e.g., a revolute joint, a spherical joint, and another spherical joint.
  • a plurality (e.g., six) of these motor arm combinations may come together and be mounted to the landing plate, which may have a plurality (e.g., four) cooperative locking mechanisms to lock down the UAV.
  • the LCM may maintain control and follow a computed path to safely decelerate the UAV.
  • the landing plate may be configured to rotate and the system may include a ring bearing (not shown) to rotate the landing plate.
  • the system may further include a shaft (not shown) that couples a motor to, e.g., the ring bearing to rotate the landing plate.
  • the system may further be configured to rotate the entire LCM from the base.
  • the storage system may include a plurality of storage receptacles for storing a plurality of UAVs.
  • the storage system may include data and battery links for connecting to the UAVs when in storage.
  • the storage system may also include means for manipulating components on the UAV.
  • the storage system may be configured to replace the battery with a new battery, change a payload sensor to a new sensor, configure an existing sensor, add or remove a camera, load a payload (e.g., mail, supplies, etc.), and/or other tasks relevant to the UAV components.
  • FIG. 1 is a schematic illustration of the primary components of the launch and capture system according to aspects of the disclosure.
  • FIG. 2 is an illustration of a mated UAV at the end of a capture sequence.
  • FIG. 3 is a view of the UAV ready to be docked, illustrating the launch gear as a part of the positive locking mechanism.
  • FIG. 4 is an illustration of automated removal of the UAV from the launch and capture system to a storage system.
  • FIG. 5 is an illustration of a storage system.
  • FIG. 6 shows an example of a cutaway view of the storage system.
  • FIG. 7 shows an example of another cutaway view that shows the storage receptacles for housing UAVs.
  • FIG. 8 shows an example of a top down cutaway view of an inside of the storage system.
  • FIGs. 9A-9M show examples of a UAV being captured and then stored.
  • a system 100 for facilitating automatic takeoff and landing of small UAVs is shown in Fig. 1.
  • At least one UAV 10 may be configured to takeoff from and land on LCM 20.
  • the UAV 10 may include a communication mechanism 14, such as, e.g., a transceiver (not shown), that transmits and/or receives data to/from LCM 20 via a communication link.
  • the communication mechanism 14 may be configured, for example, to radio position and flight path information to LCM 20.
  • the communication mechanism 14 may also be configured to receive mission flight instructions, for example, wirelessly. The mission and flight coordinates can be updated in real time wirelessly while the UAV is in flight.
  • one or more of the UAVs may act as repeaters to transmit wirelessly received mission and flight data, thereby extending the communication range of the system.
  • UAV 10 may comprise legs 16 configured to mate with a locking mechanism 22 of LCM 20 for landing.
  • the locking mechanism 22 may be configured to mate with and a portion of the body of the UAV 10, such as, for example, an underside portion of the UAV body.
  • LCM 20 may comprise a locking mechanism 22 for mating with UAV 10.
  • the locking mechanism 22 may comprise engaging components for engaging the legs 16 of the UAV 10 and/or a portion of the body of the UAV 10.
  • the locking mechanism may comprise four engaging components that would mate respectively with four legs of the UAV.
  • the legs 16 may include, e.g., ferrous material (or magnets) that may connect magnetically with, e.g., electromagnets (or magnetic materials) on the locking mechanism 22.
  • the connection may be mechanical in nature. Any other types of positive locking mechanisms may also be used.
  • LCM 20 may include a robotic mechanism settable with six axes: roll, pitch, yaw, x, y, and z, allowing the LCM to align with and intercept UAV 10 while in flight.
  • LCM 20 may comprise a plurality of arms 24. For example, as shown in Fig. 1, six arms may be provided. Each arm may be comprised of one or more pieces to enable the arms to stretch and rotate in order to match the position of an incoming UAV 10.
  • an electric motor may be provided for adjusting the position of the corresponding arm when launching or capturing an incoming UAV.
  • An electric motor 26 may be provided to rotate an inner ring 28 of the LCM 20 in order to align the UAV with storage system 30.
  • the electric motor 26 may also be configured to rotate the inner ring 28 of the LCM 20 in order to align the locking mechanism 22 with the legs of the UAV.
  • a controller (not shown) may be located within or communicatively coupled to LCM 20, and may comprise software and/or hardware to facilitate commands to capture or launch a UAV. The controller may be configured to calculate and monitor the location of UAV 10 as it approaches LCM 20.
  • the controller may include one or more transducers (e.g., a sensor, an optical sensor, an RF sensor, an IR sensor, a CCD, a camera, or the like) to determine a relative position of a UAV 10 as it approaches the LCM 20.
  • the LCM 20 may include an inertia measurement unit (IMU) mounted to its base to measure abrupt movements of the LCM 20.
  • the LCM 20 may include a gyroscope.
  • LCM 20 may be mounted to a moving vehicle. If the moving vehicles traverses rough terrain, this many result in abrupt movements of the LCM 20. Such abrupt movements may be considered when attempting to align the LCM 20 to an approaching UAV 10.
  • Storage system 30 may be configured to receive and store UAVs.
  • the storage system 30 may include means for accepting a UAV from LCM 20 and storing the UAV in a storage receptacle (not shown). Storage system 30 will be described in further detail herein.
  • the LCM 20 includes four electromagnets, a ring bearing and a motor to rotate the inner ring of the bearing for yaw control at the top.
  • the LCM 20 includes electric motors, lower and upper arm segments that connect up to the landing plate, a positive locking mechanism to capture the UAV 10, a ring bearing for yaw control, a communications mechanism, a control box, and an electric motor for ring bearing yaw.
  • Fig. 2 further illustrates the connection between UAV 10 and LCM 20.
  • This example illustrates an arm absorbing the inertial energy of a UAV landing.
  • the arms of LCM 20 may be rotated to match the position of UAV 10 as it lands.
  • the arms may be configured to absorb the inertial energy of the landing. This allows the UAV to fly in at higher speeds with lower control and precision requirements.
  • Fig. 3 illustrates the interception function of LCM 20.
  • UAV 10 may fly into a workspace associated with the LCM with higher than normal landing speeds.
  • LCM 20 may be configured to track the UAV 10 and to compute a predicted trajectory path 52 and interception point 54.
  • the interception point may be calculated to define a position and velocity with direction, allowing the relative speeds of the UAV and landing plate to become close to zero.
  • LCM 20 may compute a deceleration area and the landing plate may be configured to slow down in the deceleration region.
  • the arms may then be configured to move to a handoff position and move the UAV into the storage system.
  • the LCM 20 may be configured to launch and land UAVs according to priority of a battery charge level, a maintenance level, a mounted payload, or a vehicle identifier. For instance, the LCM 20 may monitor or receive information regarding the battery charge level, maintenance level, mounted payload, vehicle identifier, and the like, and adjust launch (or land) scheduling based on the received information.
  • Fig. 4 illustrates and example of a handoff from the LCM to the storage system.
  • the storage system may include, for example, telescoping rails that extend toward the LCM to engage a mechanical positive lock and hold the UAV.
  • the mechanical positive lock may comprise a servos controlled latch or any other type of mechanical lock.
  • a non-mechanical lock may be used, such as, for example, a magnetic or electromagnetic lock or any other type of locking mechanism.
  • the UAV may be locked to both the LCM and the telescoping rails of the storage system. LCM may then release its locking mechanism and control of the UAV may be handed off to the storage system.
  • Fig. 5 illustrates an example of the LCM and storage system together.
  • a UAV lands and becomes locked to the LCM.
  • the LCM then aligns the UAV and moves to a suitable location for handoff.
  • the storage system may extend its telescoping rails to positively lock the UAV in place.
  • the UAV may then be unlocked from the LCM, the telescoping rails retracted, and the UAV passed into an opening in the storage system.
  • the UAV may be docked in one of a plurality of receptacles.
  • Each receptacle may include, for example, a power link and/or data link to service the UAV.
  • a data link inside of the storage receptacle may be used to download mission instructions and/or other flight data to (or from) a UAV while in storage.
  • the UAV may also receive such information wirelessly, either while in flight or stored.
  • Data may include, for example, images, sensor data (such as, e.g., air temperature, wind speeds, radiation levels, moisture content, air density, contaminants, or the like), video, audio, and/or any other relevant data.
  • Power may be provided, for example, via a connector in the receptacle that physically mates with a port on the UAV (e.g., male/female connectors), via an electric field (e.g., inductive charging, such as, e.g., a pair of coils, wherein a coil provided in the storage induces a current in a coil provided in the UAV, or the like) in the storage receptacle that couples to an electronic component of the UAV, and/or any other power charging mechanism.
  • a connector in the receptacle that physically mates with a port on the UAV (e.g., male/female connectors)
  • an electric field e.g., inductive charging, such as, e.g., a pair of coils, wherein a coil provided in the storage induces a current in a coil provided in the UAV, or the like
  • inductive charging such as, e.g., a pair of coils, wherein a coil provided
  • Fig. 6 provides an internal view of the storage system.
  • a UAV once a UAV is handed off from the LCM, it may be placed on a transport plate 60 that is configured to move the UAV into the appropriate receptacle.
  • Transport plate 60 may be disposed between two horizontal rails 62, 64, that move the transport plate in the horizontal direction, and a vertical rail 66 from moving the transport plate vertically.
  • the transport plate 60 may also be configured to move into a storage receptacle to place a UAV within the receptacle.
  • the transport plate 60 may include means for aligning the UAV rotors, and keeping the rotors aligned and secured as the UAV moves through the storage system.
  • Fig. 7 illustrates a plurality of receptacles for storing UAVs.
  • the arrows shown in Fig. 7, illustrate the ability of the transport plate to move in and out of a receptacle.
  • Fig. 8 is a top-down cutaway view of the inside of the storage system.
  • UAVs may be stored on both sides of the transport mechanism.
  • the transport plate 60 may be mounted to telescoping rails 82 that allow the plate to extend into a receptacle.
  • the UAV may be positively locked to the receptacle before the transport plate 60 is released.
  • Storage system 30 may be configured to act as a UAV dispensing machine that stores and dispatches UAVs on demand. Battery levels may be monitored and data may be interfaced to and from the UAVs within the storage system. A user may request a particular vehicle based on battery levels, vehicle identifier, or payload. According to some aspects of the disclosure, UAVs with varying payloads can be stored and requested based on the type of mission. While stored in storage system 30, UAVs may have batteries charged and payloads reloaded.
  • the storage system 30 may include a payload manipulation component (not shown) configured to add a payload, remove a payload, modify a currently mounted payload on a UAV, and/or other payload manipulations.
  • the payload manipulation component may be configured to load or remove payloads such as mail, supplies, scientific samples (e.g., soil, ice samples, etc.), and/or any other payloads.
  • the payload manipulation component may also be configured to add or remove battery cells.
  • the LCM of the present disclosure may be used for vertical takeoff and land aircraft, particularly small UAVs in the range of, e.g., 2-30 pounds.
  • the LCM may include a robotic system that actively manages the takeoff and landing process by mechanically binding with inflight vehicles and releasing ready-for-flight vehicles.
  • Figs. 9A-M illustrate an example of capturing and storing a UAV.
  • a UAV has entered the workspace of the LCM.
  • the LCM is configured to track the position of the UAV as it approaches in order to predict a travel path of the UAV.
  • the LCM may calculate an intercept point for intercepting and capturing the UAV based on the travel path and velocity of the UAV.
  • the LCM can align its cooperative locking mechanism with the legs of the UAV as it approaches the LCM.
  • the legs of the LCM are able to move as needed, under control of the respective motors, to align the LCM with the approaching UAV.
  • the UAV upon being captured by the LCM, is locked in place.
  • the capture and locking may occur at the calculated interception point.
  • the LCM may be configured to match the velocity, which includes speed and direction of travel, of the UAV. Once the LCM positively locks to the UAV, it may begin to decelerate the UAV with respect to its inertial limits.
  • the LCM may also signal the UAV to power down its propellers.
  • the LCM may be configured to absorb the inertia of the UAV, bringing it to a stop.
  • the LCM may adjust its legs, as shown in Fig. 9C.
  • the LCM may rotate the locking mechanism (ring), such that the UAV is properly oriented for storage in a storage receptacle. This may include, for example, orienting the UAV such that its power and/or data ports will be aligned with the receptacle that the UAV is to be placed in.
  • Fig. 9D shows an example of the storage system telescoping rails extending into a handoff position to retrieve the UAV.
  • the LCM may be configured to signal to the storage system that a UAV has been captured and needs to be stored, triggering the storage system to extend the telescoping rails. Other methods for triggering the storage system to extend its telescoping rails may be used, such as, for example, operated initiated instructions.
  • the UAV may be momentarily locked to both the storage system rails and to the LCM.
  • Fig. 9E is a side view illustrating the UAV locked to both the telescoping rails and to the LCM.
  • the storage system telescoping rails may be configured to retract, drawing the UAV further into the storage system.
  • the LCM may then return to its home position to await the arrival of another UAV for launch or capture.
  • the UAV may then lock to a transport plate.
  • the locking mechanism may between the UAV and the transport plate may be a mechanical locking mechanism, a magnetic locking mechanism, and/or any other locking mechanism.
  • the transport plate is configured to move the UAV from the telescoping rails to a storage receptacle.
  • the transport plate may be configured to move in a vertical direction parallel to the storage receptacle columns, in a horizontal direction parallel to the receptacle rows, and to extend into individual receptacles.
  • the transport plate may also be configured to move in other directions, such as diagonally.
  • the transport plate moves the UAV horizontally and/or vertically until it arrives at the appropriate receptacle for the UAV.
  • each UAV may be assigned a specific receptacle.
  • an incoming UAV may be stored in any open receptacle, or may be assigned to a receptacle and the time of its capture.
  • the transport plate may be connected to two horizontal beams and to a vertical beam, as shown in Fig. 91, allowing to plate to move into various positions.
  • the transport plate aligns the storage receptacle in the horizontal and vertical directions before extending into the storage receptacle to release the UAV.
  • the transport plate may be configured to push the UAV into a position where the UAV is communicatively coupled to power and/or data sources.
  • one or more connectors may be located in each storage receptacle to provide a power and/or data connection to the UAV.
  • Fig. 9L shows an example of a UAV being inserted into a data and/or power connector.
  • the transport plate may withdraw from the receptacle have placing a UAV in the receptacle.
  • the UAV may be locked into the receptacle via, for example, a mechanical, magnetic, and/or any other type of lock. Once locked into the receptacle, the data and/or power links may be activated.
  • An automated landing and launch system such as the LCM described herein, would create significant capabilities for small autonomous aircraft. Persistent missions will extend operator on-task times by orders of magnitude, multiplying the effectiveness of UAVs currently in use. Launch and capture from a moving platform will enable a range of applications that were previously not achievable. Additionally, swarming capabilities with large numbers of in-flight UAVs will provide a force multiplication effect where relatively few operators can perform abstracted tasks such as large area search and rescue.
  • Persistent mission capability is a method of using multiple vehicles that are rotated out so that the operator can stay on task.
  • a relief UAV may be retrieved and launched when the task UAV reaches a low battery level.
  • the relief UAV may autonomously fly to the location of the task UAV and, after notifying the operator via, e.g., video feed and control may instantaneously swap from the task UAV to the relief UAV.
  • the depleted UAV may return home to recharge for a future relief.
  • the operator may stay on task during the entire process and is free to perform lengthy operations.
  • Initial applications may include inspection tasks on power lines and wind turbines as well as persistent eye-in-the-sky tasks for police and news stations.
  • the present disclosure enables swarming capabilities and a force multiplication effect.
  • the time to launch a UAV may be reduced substantially and the preparation time may be, e.g., zero.
  • Significant numbers of drones can reach the sky simultaneously only limited by the duty cycle of the LCM.
  • Current estimates e.g., 15min flight; 10s land/launch; 1 arm
  • Large numbers of UAVs in the air simultaneously will create new applications that haven't been explored yet. Fire monitoring, situational awareness, and search and rescue missions would benefit with more sensors in the air.
  • the system may enable swarming persistent missions from moving vehicles in civilian and military applications.
  • Applications may include, e.g., search and rescue while driving through a backcountry; multiple camera angles per sailboat in a race; Situational awareness tools for a moving convoy; wildfire monitoring equipment from a valuable vantage point.
  • the UAVs 10 and/or LCM 20 may include a computer, which may include any machine, device, circuit, component, or module, or any system of machines, devices, circuits, components, modules, or the like, which are capable of manipulating data according to one or more instructions, such as, for example, without limitation, a processor, a microprocessor, a central processing unit, or the like.
  • a "communication link”, as used in this disclosure, means a wired and/or wireless medium that conveys data or information between at least two points.
  • the wired or wireless medium may include, for example, a metallic conductor link, a radio frequency (RF) communication link, an Infrared (IR) communication link, an optical communication link, or the like, without limitation.
  • the RF communication link may include, for example, WiFi, WiMAX, IEEE 802.11, DECT, 0G, 1G, 2G, 3G or 4G cellular standards, Bluetooth, and the like.
  • the computer(s) may include a computer-readable medium, such as any medium that participates in providing data (for example, instructions) which may be read by a computer.
  • a medium may take many forms, including non-volatile media, volatile media, and transmission media.
  • Non-volatile media may include, for example, optical or magnetic disks and other persistent memory.
  • Volatile media may include dynamic random access memory (DRAM).
  • Transmission media may include coaxial cables, copper wire and fiber optics, including the wires that comprise a system bus coupled to the processor. Transmission media may include or convey acoustic waves, light waves and electromagnetic emissions, such as those generated during radio frequency (RF) and infrared (IR) data communications.
  • RF radio frequency
  • IR infrared
  • Computer-readable media include, for example, a floppy disk, a flexible disk, hard disk, magnetic tape, any other magnetic medium, a CD-ROM, DVD, any other optical medium, punch cards, paper tape, any other physical medium with patterns of holes, a RAM, a PROM, an EPROM, a FLASH- EEPROM, any other memory chip or cartridge, a carrier wave as described hereinafter, or any other medium from which a computer can read.
  • the computer-readable medium may include a computer program, including instructions and/or code segments to carry out the processes described herein.
  • sequences of instruction may be delivered from a RAM to a processor, (ii) may be carried over a wireless transmission medium, and/or (iii) may be formatted according to numerous formats, standards or protocols, including, for example, WiFi, WiMAX, IEEE 802.11, DECT, 0G, 1G, 2G, 3G or 4G cellular standards, Bluetooth, or the like.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Remote Sensing (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

La présente invention concerne un système permettant de faciliter l'atterrissage et le décollage automatiques d'un véhicule aérien à vol stationnaire commandé par pilote ou autonome avec un soubassement coopératif au niveau d'un emplacement d'atterrissage fixe ou mobile et un système de stockage automatisé utilisé en conjonction avec le mécanisme de décollage et d'atterrissage qui stocke et entretient une pluralité de véhicules aériens sans pilote. Le système est principalement caractérisé en ce que le mécanisme d'atterrissage est réglable avec 6 axes de roulis, de tangage, de lacet, et x, y et z et devient aligné avec et intercepte le véhicule aérien en vol et ralentit le véhicule par rapport à des limites d'inertie du véhicule. Le véhicule aérien et le mécanisme de capture sont pourvus d'un émetteur et d'un récepteur afin de coordonner la priorité du véhicule et la distance et des angles entre le mécanisme d'atterrissage et le véhicule aérien. Le système de décollage et d'atterrissage comporte un moyen de suivi de la position et de l'orientation du véhicule aérien sans pilote en temps réel. Le mécanisme d'atterrissage sera sensiblement aligné sur la base du véhicule aérien. Avec de petits véhicules aériens sans pilote, leur capacité de levage est limitée. La réduction des exigences de calcul et de détection en permettant à la plaque d'atterrissage d'effectuer les ajustements de précision pour l'opération d'atterrissage permet d'augmenter temps de vol et/ou la capacité de charge utile.
PCT/US2015/022001 2014-03-21 2015-03-23 Système pour décollage et atterrissage automatiques par interception de petits véhicules aériens sans pilote Ceased WO2015195175A2 (fr)

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US201461968898P 2014-03-21 2014-03-21
US14/222,158 US9505493B2 (en) 2014-03-21 2014-03-21 System for automatic takeoff and landing by interception of small UAVs
US61/968,898 2014-03-21
US14/222,158 2014-03-21

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CN113309396A (zh) * 2021-06-01 2021-08-27 天津云圣智能科技有限责任公司 无人机库控制方法、装置及电子设备
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KR102655864B1 (ko) * 2023-10-13 2024-04-08 주식회사 볼로랜드 이착륙에 유리한 전방개폐형 드론 스테이션 시스템
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US10899445B2 (en) 2016-02-29 2021-01-26 Verity Ag Systems and methods for charging, transporting, and operating flying machines
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CN106218911B (zh) * 2016-08-19 2019-02-05 广州习疆电子科技有限公司 一种无人机用的收容箱
CN106218911A (zh) * 2016-08-19 2016-12-14 广州习疆电子科技有限公司 一种无人机用的收容箱
CN106320779A (zh) * 2016-09-23 2017-01-11 安徽翼讯飞行安全技术有限公司 一种无人机升降平台
EP3340423A1 (fr) * 2016-12-20 2018-06-27 Beijing Xiaomi Mobile Software Co., Ltd. Dispositif de chargement embarqué pour véhicule aérien sans pilote et véhicule le comprenant
JP2021513482A (ja) * 2018-02-05 2021-05-27 エイチ３ ダイナミックス ホールディングス プライベート リミテッド 無人機用の改良された充電を備えた着陸プラットフォーム
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WO2019151947A1 (fr) * 2018-02-05 2019-08-08 H3 Dynamics Holdings Pte. Ltd. Plate-forme d'atterrissage à charge améliorée pour véhicules sans pilote
JP7266902B2 (ja) 2018-02-05 2023-05-01 エイチ３ ダイナミックス ホールディングス プライベート リミテッド 無人機用の改良された充電を備えた着陸プラットフォーム
US11498700B2 (en) 2018-03-02 2022-11-15 Verity Ag Charging system and tray for flying machines
DE102018203290A1 (de) * 2018-03-06 2019-03-21 Thyssenkrupp Ag Behälter zum Transport eines Luftfahrzeugs und Transportverfahren
RU2678381C1 (ru) * 2018-04-28 2019-01-28 Общество с ограниченной ответственностью "СТИЛСОФТ" Стартовый контейнер
CN110770129A (zh) * 2018-09-30 2020-02-07 深圳市大疆创新科技有限公司 基站及具有其的车辆
EP3809225A4 (fr) * 2018-09-30 2021-06-23 SZ DJI Technology Co., Ltd. Station de base et véhicule équipé de celle-ci
CN111994295A (zh) * 2020-07-29 2020-11-27 成都震风航空技术有限公司 一种基于无人机自动机库的无人机起飞方法
WO2022079254A1 (fr) * 2020-10-16 2022-04-21 Phoenix-Wings GmbH Système de positionnement automatique de drone
US12344397B2 (en) 2020-10-16 2025-07-01 Guideline Robotics Gmbh Automatic drone positioning system
CN113309396A (zh) * 2021-06-01 2021-08-27 天津云圣智能科技有限责任公司 无人机库控制方法、装置及电子设备
US12528584B2 (en) 2022-06-24 2026-01-20 General Atomics Aeronautical Systems, Inc. Relative navigation for aerial recovery of aircraft
US12391413B2 (en) 2022-07-13 2025-08-19 General Atomics Aeronautical Systems, Inc. Systems and methods for airborne recovery and launch of aerial vehicles
KR102590298B1 (ko) * 2023-04-17 2023-10-17 (주)케이아이테크노 무인 드론용 전기충전 스테이션
KR102670298B1 (ko) * 2023-07-21 2024-05-31 주식회사 상현모터스 드론 스테이션
KR102655864B1 (ko) * 2023-10-13 2024-04-08 주식회사 볼로랜드 이착륙에 유리한 전방개폐형 드론 스테이션 시스템
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