Mobile UAV launch and retrieval system for operation within a transportation system

• US 10,538,340 B1
• Filed: 03/23/2017
• Issued: 01/21/2020
• Est. Priority Date: 03/23/2017
• Status: Active Grant

• Current Assignee: Rockwell Collins, Inc. (Raytheon Technologies Corporation d/b/a RTX)
• Original Assignee: Rockwell Collins, Inc. (Raytheon Technologies Corporation d/b/a RTX)
• Inventors: Roup, Alexander V., Bertram, Joshua R., Wolford, Brian R.
• Primary Examiner(s): Bonzell, Philip J
• Assistant Examiner(s): Abell, Tye William
• Application Number:
  US15/467,366
• Time in Patent Office: 1,034 Days
• CPC Class Codes: B60L 53/60 Monitoring or controlling charging stations
• CPC Class Codes: B60L 53/80 Exchanging energy storage elements, e.g. removable batteries
• CPC Class Codes: B61D 15/00 Other railway vehicles, e.g. scaffold cars; Adaptations of vehicles for use on railways conveyor frames mounted for movement on rail tracks B65G41/02; wheeled machines used in permanent way construction or maintenance E01B
• CPC Class Codes: B61D 3/16 adapted for carrying special loads
• CPC Class Codes: B61L 23/041 Obstacle detection
• CPC Class Codes: B61L 23/042 Track changes detection
• CPC Class Codes: B61L 25/021 Measuring and recording of train speed
• CPC Class Codes: B61L 25/025 Absolute localisation, e.g. providing geodetic coordinates
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64F 1/02 for arresting aircraft, e.g. nets or cables
• CPC Class Codes: B64F 1/04 for launching aircraft
• CPC Class Codes: B64F 1/22 for handling aircraft
• CPC Class Codes: B64F 1/28 Liquid-handling installations specially adapted for fuelling stationary aircraft
• CPC Class Codes: B64U 2201/10 autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
• CPC Class Codes: B64U 2201/20 Remote controls
• CPC Class Codes: B64U 70/00 Launching, take-off or landing arrangements
• CPC Class Codes: B64U 70/30 for capturing UAVs in flight by ground or sea-based arresting gear, e.g. by a cable or a net
• CPC Class Codes: B64U 70/92 Portable platforms
• CPC Class Codes: B64U 70/95 Means for guiding the landing UAV towards the platform, e.g. lighting means
• CPC Class Codes: B64U 80/70 in containers B64U80/60 takes precedence
• CPC Class Codes: B64U 80/84 : Waterborne vehicles
• CPC Class Codes: B64U 80/86 : Land vehicles
• CPC Class Codes: G08G 5/0013 : with a ground station
• CPC Class Codes: G08G 5/0026 : located on the ground
• CPC Class Codes: G08G 5/0034 : Assembly of a flight plan
• CPC Class Codes: G08G 5/0069 : specially adapted for an unmanned aircraft
• CPC Class Codes: G08G 5/0091 : for monitoring atmospheric conditions radar or analogous systems specially adapted for meteorological use G01S13/95; meteorology G01W
• CPC Class Codes: Y02T 10/70 : Energy storage systems for electromobility, e.g. batteries
• CPC Class Codes: Y02T 10/7072 : Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
• CPC Class Codes: Y02T 90/12 : Electric charging stations

Abstract

Systems for mobile launch and retrieval of unmanned aircraft systems (UAS) include a rail-based, ground-based, or water-based mobile platform carrying a mobile station for launching and retrieving vertical take-off and landing (VTOL) or non-VTOL UAS while the platform is in motion, based on current position and weather conditions. The mobile platform may include facilities for communicating with the airborne UAS, stowing a retrieved UAS, and reloading/refitting a stowed UAS. The mobile platform may include positionable wake control devices and a partially positionable launch and retrieval mechanism for alleviating turbulence or crosswinds. The mobile platform may include long-range sensors for detecting or identifying obstacles near a rail-based platform that may interfere with the operating envelope of the launch and retrieval mechanisms. The launch and retrieval system may be intermodal and scalable either up or down as mission parameters demand.

Claims

1. An unmanned aircraft (UA) launch and retrieval system, comprising:

a launch and retrieval mechanism configured to be mounted to a mobile platform and associated with an operating envelope, the launch and retrieval mechanism including;

a capture mechanism configured to engage with at least one first UA system (UAS) located within the operating envelope, the first UAS associated with flight data including one or more of a first position, a first airspeed, and a first heading; and

a launch mechanism configured to propel at least one second UAS from the mobile platform at a second airspeed and a second heading;

and

a command and control system coupled to the launch and retrieval mechanism, the command and control system comprising;

at least one sensor configured to determine one or more of a windspeed, a wind direction, and position data including one or more of a second position of the mobile platform, a third heading of the mobile platform, and a velocity of the mobile platform;

communications equipment including one or more of

a receiver configured to receive the flight data from the at least one first UAS; and

a transmitter configured to send to the at least one first UAS one or more of the position data, the windspeed, and the wind direction;

at least one control station configured to be coupled to the mobile platform, the at least one control station configured to;

receive input from at least one operator; and

articulate one or more of the capture mechanism and the launch mechanism based on the received input;

the at least one control station comprising;

a memory configured to store at least one flight plan associated with the second UAS;

at least one processor coupled to the at least one sensor and the communications equipment, the at least one processor configured to;

determine the second airspeed based on one or more of the position data, the flight plan, the windspeed, the wind direction, and a first weight of the at least one second UAS;

and

at least one display unit configured to display to the operator one or more of the position data, the flight data, the flight plan, the windspeed, and the wind direction.

2. The UA launch and retrieval system of claim 1, wherein the capture mechanism comprises:

at least one winch configured to;

receive at least one cable released by the first UAS;

and

direct the at least one first UAS to the mobile platform via the at least one cable.

3. The UA launch and retrieval system of claim 1, wherein:

the capture mechanism comprises;

a retrieval platform configured to be coupled to the mobile platform, the capture mechanism configured to secure the at least one first UAS to the retrieval platform;

and

the launch mechanism comprises;

a launch platform configured to be coupled to the mobile platform.

4. The UA launch and retrieval system of claim 1, wherein the command and control system is configured to articulate the capture mechanism relative to the mobile platform based on one or more of the position data and the flight data.

5. The UA launch and retrieval system of claim 1, wherein the control station is located remotely from the command and control system and wirelessly linked to the command and control system.

6. The UA launch and retrieval system of claim 1, wherein the command and control system includes one or more of a partially autonomous system and a fully autonomous system.

7. The UA launch and retrieval system of claim 1, wherein the mobile platform is a first mobile platform, further comprising:

at least one intermodal container configured to enclose one or more of the launch and retrieval mechanism and the command and control system for transport by a second mobile platform.

8. The UA launch and retrieval system of claim 1, wherein the at least one sensor is a first sensor and the command and control system comprises:

at least one second sensor configured to detect one or more obstacles within the operating envelope.

9. The UA launch and retrieval system of claim 1, wherein the capture mechanism comprises:

at least one robotic arm configured to be articulated by the command and control system, the at least one robotic arm having at least a terminal end and a base end configured to be coupled to the mobile platform;

and

one or more effectors coupled to the terminal end, the one or more effectors configured to removably attach to the at least one first UAS.

10. The UA launch and retrieval system of claim 9, wherein the one or more effectors include at least one first magnet configured to attach to at least one second magnet coupled to the first UAS.

11. The UA launch and retrieval system of claim 1, further comprising:

at least one wake control device configured to be coupled to the mobile platform and configured to adjust airflow within the operating envelope.

12. The UA launch and retrieval system of claim 11, wherein the command and control system is configured to articulate the at least one wake control device relative to the mobile platform based one or more of the position data, the flight data, the windspeed, and the wind direction.

13. The UA launch and retrieval system of claim 1, further comprising:

at least one vehicle stowage facility configured to be coupled to the mobile platform and to the launch and retrieval mechanism, the at least one vehicle stowage facility configured to;

receive the at least one first UAS from the capture mechanism;

store the at least one first UAS in an at least partially enclosed environment;

and

load the at least one second UAS from the at least partially enclosed environment to the launch mechanism.

14. The UA launch and retrieval system of claim 13, further comprising:

a reconfiguration mechanism configured to;

adjust one or more of a wing, a control surface, and a fuselage component of the at least one first UAS based on the at least partially enclosed environment;

and

adjust one or more of a wing, a control surface, and a fuselage component of the at least one second UAS based on the flight plan.

15. The UA launch and retrieval system of claim 13, wherein the vehicle stowage facility includes a vehicle service mechanism configured to:

removably attach to one or more of the at least one first UAS and the at least one second UAS one or more of a power umbilical, a fuel umbilical, and a data umbilical coupled to the at least one processor;

replace one or more of a battery of the at least one first UAS, a data storage unit of the at least one first UAS, a fuel container of the at least one first UAS, and a payload of the at least one first UAS;

and

determine at least one of the first weight, a second weight associated with the at least one first UAS and a weight distribution associated with one or more of the at least one first UAS and the at least one second UAS.

16. An unmanned aircraft (UA) launch and retrieval system for operation within a ground-based transportation network, the system comprising:

at least one mobile platform configured to traverse a transport corridor;

a launch and retrieval mechanism coupled to the mobile platform and associated with an operating envelope, the launch and retrieval mechanism comprising

a capture mechanism configured to engage with at least one first UA system (UAS) located within the operating envelope, the first UAS associated with flight data including one or more of a first position, a first heading, and a first airspeed;

a launch mechanism configured to propel at least one second UAS from the mobile platform at a second airspeed and a second heading;

a command and control system coupled to the launch and retrieval mechanism, the command and control system comprising;

one or more sensors including at least;

a first sensor configured to determine one or more of a windspeed, a wind direction, and position data including one or more of a velocity of the mobile platform, a second position of the mobile platform, and a third heading of the mobile platform; and

a second sensor configured to detect an obstacle within the operating envelope;

communications equipment coupled to the one or more sensors and including one or more of a receiver configured to receive the flight data from the at least one first UAS and a transmitter configured to send to the at least one first UAS one or more of the position data, the windspeed, and the wind direction;

at least one control station coupled to the one or more sensors and the communications equipment, the at least one control station configured to receive input from at least one operator and articulate one or more of the capture mechanism and the launch mechanism based on the received input, the at least one control station comprising;

a memory configured to store a flight plan associated with the at least one second UAS;

at least one processor coupled to the one or more sensors and the communications equipment, the at least one processor configured to

     1) determine the second airspeed based on one or more of the position data, the flight plan, the windspeed, the wind direction, and a second weight of the at least one second UAS and

     2) modify the flight plan based on the received input;

and

at least one display unit configured to display to the at least one operator one or more of the position data, the flight data, the flight plan, the windspeed, and the wind direction.

17. The UA launch and retrieval system of claim 16, wherein the ground-based transportation network is a rail network and the at least one mobile platform includes one or more of a flat car, a container car, and a boxcar.

18. The UA launch and retrieval system of claim 16, further comprising:

at least one vehicle stowage facility configured to be coupled to the mobile platform and to the launch and retrieval mechanism, the at least one vehicle stowage facility configured to;

store one or more of the at least one first UAS and the at least one second UAS in an at least partially enclosed environment;

receive the at least one first UAS from the capture mechanism;

and

load the at least one second UAS from the at least partially enclosed environment to the launch mechanism.

19. An unmanned aircraft (UA) launch and retrieval system, the system comprising:

one or more intermodal containers configured to;

be removably mounted to at least one mobile platform; and

at least one of contain and partially enclose a launch and retrieval mechanism, and at least one of a command and control system and a wake control device;

the launch and retrieval mechanism associated with an operating envelope and comprising;

a capture mechanism configured to engage with at least one first UA system (UAS) traveling within the operating envelope at one or more of a first heading and a first airspeed;

a launch mechanism configured to propel at least one second UAS from the at least one mobile platform at one or more of a second heading and a second airspeed;

the command and control system configured to be coupled to the launch and retrieval mechanism and comprising;

at least one sensor configured to determine one or more of a windspeed, a wind direction, and position data including at least one of a velocity of the mobile platform, a position of the mobile platform, and a third heading of the mobile platform;

communications equipment comprising;

a receiver configured to receive from the at least one first UAS one or more of the first heading and the first airspeed; and

a transmitter configured to send to the at least one first UAS one or more of the position data, the windspeed, and the wind direction; and

at least one control station configured to receive input from at least one operator, the at least one control station comprising;

a memory configured to store a flight plan associated with the at least one second UAS;

at least one processor coupled to the at least one sensor and the communications equipment, the at least one processor configured to

     1) determine the second airspeed based on one or more of the position data, the flight plan, the windspeed, the wind direction, and a second weight of the at least one second UAS and

     2) modify the at least one flight plan based on the received input; and

at least one display unit configured to display to the at least one operator one or more of the position data, the flight data, the flight plan, the windspeed, and the wind direction.

20. The UA launch and retrieval system of claim 19, wherein the one or more intermodal containers are removably mounted to the at least one mobile platform for operations within a transportation network associated with the at least one mobile platform via the at least one first UAS and the at least one second UAS.