Method for Vertical Takeoff from and Landing on Inclined Surfaces

• US 20100012776A1
• Filed: 05/23/2007
• Published: 01/21/2010
• Est. Priority Date: 05/23/2007
• Status: Active Grant

• Current Assignee: Honeywell International Inc.
• Original Assignee: Honeywell International Inc.
• Inventors: Hursig, David C., Martinez, Steven D.
• Granted Patent: US 7,871,044 B2
• Time in Patent Office: Days
• US Class Current: 244/81
• CPC Class Codes: B64D 45/04 Landing aids; Safety measures to prevent collision with earth's surface
• CPC Class Codes: B64U 10/13 Flying platforms
• CPC Class Codes: B64U 10/20 Vertical take-off and landing [VTOL] aircraft flying platforms B64U10/13; helicopters B64U10/17
• CPC Class Codes: B64U 10/80 UAVs characterised by their small size, e.g. micro air vehicles [MAV]
• CPC Class Codes: B64U 2201/20 Remote controls
• CPC Class Codes: B64U 30/20 Rotors; Rotor supports
• CPC Class Codes: B64U 30/26 Ducted or shrouded rotors
• CPC Class Codes: B64U 50/14 ducted or shrouded
• CPC Class Codes: B64U 70/80 Vertical take-off or landing, e.g. using rockets rotorcrafts B64U10/10; VTOL aircraft B64U10/20
• CPC Class Codes: G05D 1/0653 during a phase of take-off or landing
• CPC Class Codes: G05D 1/0858 specially adapted for vertical take-off of aircraft

Abstract

Takeoff and landing modes are added to a flight control system of a Vertical Take-Off and Landing (VTOL) Unmanned Air Vehicle (UAV). The takeoff and landing modes use data available to the flight control system and the VTOL UAV'"'"'s existing control surfaces and throttle control. As a result, the VTOL UAV can takeoff from and land on inclined surfaces without the use of landing gear mechanisms designed to level the UAV on the inclined surfaces.

Claims

1. A method for landing an unmanned air vehicle on an inclined surface, comprising in combination:

descending vertically above the inclined surface;

detecting a pressure differential caused by the inclined surface;

counteracting motion caused by the pressure differential;

detecting when the unmanned air vehicle contacts the inclined surface;

when the unmanned air vehicle contacts the inclined surface, rotating the unmanned air vehicle until the unmanned vehicle has landed on the inclined surface.

2. The method of claim 1, wherein counteracting motion caused by the pressure differential includes adjusting vanes of the unmanned air vehicle.

3. The method of claim 1, wherein counteracting motion caused by the pressure differential includes adjusting a throttle of the unmanned air vehicle.

4. The method of claim 1, wherein detecting when the unmanned air vehicle contacts the inclined surface includes a flight control system of the unmanned air vehicle detecting a landing touch condition.

5. The method of claim 1, wherein rotating the unmanned air vehicle includes adjusting vanes of the unmanned air vehicle.

6. The method of claim 5, wherein adjusting the vanes includes moving the vanes to counteract motion induced when the unmanned air vehicle contacts the inclined surface.

7. The method of claim 1, wherein rotating the unmanned air vehicle includes adjusting a throttle of the unmanned air vehicle.

8. The method of claim 7, wherein adjusting the throttle includes modulating the throttle to counteract gravitational forces.

9. A method for vertical takeoff of an unmanned air vehicle from an inclined surface, comprising in combination:

receiving a command to launch;

determining attitude orientation;

orienting vanes of the unmanned air vehicle to counteract gravity;

increasing thrust to release landing gear of the unmanned air vehicle from the inclined surface; and

ascending substantially perpendicular from the inclined surface.

10. The method of claim 9, wherein determining attitude orientation identifies whether the unmanned air vehicle is located on the inclined surface.

11. The method of claim 9, wherein orienting vanes includes adjusting the vanes to a positive angle based on the attitude orientation determination.

12. The method of claim 9, further comprising ascending substantially vertically at a distance above the inclined surface.

13. A method for vertical takeoff from and landing on inclined surfaces, comprising:

providing a takeoff mode in a flight control system of an unmanned air vehicle, wherein the takeoff mode adjusts at least one vane and a thrust of the unmanned air vehicle so as to initially ascend substantially perpendicular to the inclined surface; and

providing a landing mode in the flight control system of the unmanned air vehicle, wherein the landing mode adjusts the at least one vane and the thrust of the unmanned air vehicle upon detecting that the unmanned air vehicle has contacted the inclined surface at a contact point so as to rotate the unmanned air vehicle about the contact point until the unmanned air vehicle has landed.

14. The method of claim 13, wherein the takeoff mode adjusts the vanes based on an attitude orientation determination.

15. The method of claim 13, wherein the landing mode rotates the unmanned air vehicle in an uphill direction.

16. The method of claim 13, wherein the landing mode counteracts motion induced by the contact point.