Point Take-Off and Landing of Unmanned Flying Objects

• US 20150129716A1
• Filed: 04/23/2013
• Published: 05/14/2015
• Est. Priority Date: 05/16/2012
• Status: Active Grant

• Current Assignee: Meir Yoffe
• Original Assignee: Meir Yoffe
• Inventors: Yoffe, Meir
• Granted Patent: US 9,637,245 B2
• Time in Patent Office: Days
• US Class Current: 244/110.C
• CPC Class Codes: B64F 1/029 using a cable or tether
• CPC Class Codes: B64F 1/0297 adjustable to align with aircraft trajectory
• 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

Abstract

Point take-off and landing systems for an unmanned flying object. In one embodiment, the flying object is guided along a flight trajectory and approaches a landing body such that a latching element, coupled with a suspension cable suspended from the flying body, latches with a receiving latch, coupled with an extendable retractable beam projecting horizontally from a landing body side surface. A cable release/retraction mechanism engages and then releases/retracts the suspension cable. The beam is as maneuvered to haul the flying object onto a landing surface. In another embodiment, the flying object is guided along a flight trajectory and approaches a landing body such that a latching element, coupled with a suspension cable suspended from the flying body, latches with a receiving cable, supported by cable supports projecting vertically from a landing body top surface. A cable release/retraction mechanism releases/retracts the suspension cable, hauling the flying object onto the landing surface.

Claims

1-9. -9. (canceled)

10. A point take-off and landing (PTOL) system for an unmanned flying object, said system comprising:

a suspension cable, suspended from said flying object;

a latching element, coupled with said suspension cable;

at least one cable support, projecting from a surface of a landing body;

a receiving cable, supported by said cable support; and

a cable release/retraction mechanism, coupled with said suspension cable or said receiving cable, said cable release/retraction mechanism operable for releasing and/or retracting said suspension cable or said receiving cable,

wherein said flying object is directed along at least one flight trajectory, said cable support being inclined relative to said flight trajectory, such that when said flying object approaches said landing body along said flight trajectory, said inclined cable support guides said latching element to engage with and latch onto said receiving cable, following which said cable release/retraction mechanism is configured to release and/or retract said receiving cable, hauling said flying object onto a landing surface at said landing body.

14. The PTOL system according to claim 10, further comprising a receiving latch, coupled with said receiving cable, said receiving latch configured to latch with said latching element.

16. The PTOL system according to claim 10, wherein said cable release/retraction mechanism comprises a first winch situated proximal to said cable support and coupled with said receiving cable, and a second winch situated remotely from said cable support and coupled with said receiving cable, wherein said first winch and said second winch are configured to simultaneously retract said receiving cable to pull said flying object down and forwards while slowing down said flying object.

19. The PTOL system according to claim 10, wherein said cable release/retraction mechanism is configured to release and/or retract said receiving cable so as to turn around said flying object with respect to an initial flight trajectory, such that said flying object is facing an opposite direction from said initial flight trajectory upon landing.

20. The PTOL system according to claim 10, wherein said cable release/retraction mechanism is configured to release and/or retract said receiving cable so as to pull said flying object backwards, such that said flying object is facing the same direction as an initial flight trajectory upon landing.

22. The PTOL system according to claim 10, wherein said cable release/retraction mechanism is configured to release and/or retract said receiving cable so as to pull said flying object forward and down onto said landing surface, such that said flying object is facing the same direction as an initial flight trajectory upon landing.

26. The PTOL system according to claim 10, wherein said flight trajectory is selected from the list consisting of:

approaching said landing body upwind;

flying along a direction that is transverse to the wind direction or to the motion of said landing body;

repetitively flying back and forth that is transverse to the wind direction or to the motion of said landing body;

ascending and then gradually descending;

repetitively ascending and descending; and

a flight maneuver that extends the flight duration of said flying object, such that wind drift results in a lag between said flying object and said landing body that enables effective hauling down of said flying object onto said landing body by said receiving cable.

27. The PTOL system according to claim 10, wherein said flight trajectory is based on at least one characteristic selected from the list consisting of:

parameters at the vicinity of said landing body;

parameters of said flying object;

parameters of said landing body; and

current operational characteristics of components of said PTOL system.

45. The PTOL system according to claim 10, wherein said cable support comprises a beam that projects horizontally from a side surface of said landing body, said beam being extendable and retractable, said beam coupled with a receiving latch,

wherein when said flying object approaches said beam along said flight trajectory, said beam is configured to guide said latching element to engage with and latch onto said receiving latch, following which said cable release/retraction mechanism is configured to release and/or retract said suspension cable, and said beam is configured to retract and maneuver, so as to haul said flying object onto said landing surface.

11. A point take-off and landing (PTOL) system for an unmanned flying object, said system comprising:

a suspension cable, suspended from said flying object;

a latching element, coupled with said suspension cable;

two vertical cable supports, situated away from a landing body;

a receiving cable, forming a cable loop extending between said cable supports; and

a cable release/retraction mechanism, coupled with said receiving cable and situated at said landing body, said cable release/retraction mechanism operable for releasing and/or retracting said receiving cable;

wherein said flying object is directed along at least one flight trajectory toward said cable supports, guiding said latching element to engage with and latch onto said receiving cable, such that said receiving cable detaches from at least one of said cable supports, following which said cable release/retraction mechanism is configured to release and/or retract said receiving cable, hauling said flying object onto a landing platform at said landing body.

12-13. -13. (canceled)

15. (canceled)

17-18. -18. (canceled)

21. (canceled)

23-25. -25. (canceled)

28-29. -29. (canceled)

30. A method for point landing of an unmanned flying object, the method comprising the procedures of:

acquiring parameters at the vicinity of a landing body, comprising at least the wind speed and the wind direction thereat;

acquiring parameters of said flying object comprising at least the speed, direction and altitude thereof;

acquiring parameters of said landing body comprising at least the speed, direction and altitude thereof;

obtaining current operational characteristics of landing system components of said landing body;

generating potential landing scenarios in accordance with the acquired parameters and current operational characteristics;

selecting a landing scenario to implement; and

executing the selected landing scenario and guiding said flying object along at least one flight trajectory in accordance with said selected landing scenario, by managing said flying object flight controls and selectively activating and maneuvering said landing system components.

31. The method according to claim 30, wherein said procedure of executing the selected landing scenario comprises:

directing said flying object to approach said landing body along said flight trajectory such that a latching element suspended from said flying object is guided by at least one cable support to engage with and latch onto a receiving cable supported by said cable support, wherein said cable support is inclined relative to said flight trajectory and projects from a surface of said landing body; and

releasing and/or retracting said receiving cable with a cable release/retraction mechanism, hauling said flying object onto a landing surface at said landing body.

32. The method according to claim 30, wherein said procedure of executing the selected landing scenario comprises:

directing said flying object to approach said landing body along said flight trajectory such that a latching element suspended from said flying object is guided to engage with and latch onto a receiving cable forming a cable loop extending between two vertical cable supports situated away from said landing body, such that said receiving cable detaches from at least one of said cable supports; and

releasing and/or retracting said receiving cable with a cable release/retraction mechanism, hauling said flying object onto a landing surface at said landing body.

34. The method according to claim 30, wherein said flight trajectory is selected from the list consisting of:

approaching said landing body upwind;

flying along a direction that is transverse to the wind direction or to the motion of said landing body;

repetitively flying back and forth transverse to the wind direction or to the motion of said landing body;

ascending and then gradually descending;

repetitively ascending and descending; and

a flight maneuver that extends the flight duration of said flying object, such that wind drift results in a lag between said flying object and said landing body that enables effective hauling down of said flying object onto said landing body by said receiving cable.

35. The method according to claim 30, wherein said landing scenario comprises at least one operation of said flying object selected from the list consisting of:

deployment of aerodynamic lift/drag augmentation mechanisms;

hovering at a particular altitude;

initiating a turn;

cutting off engine power;

turning around with respect to an initial flight trajectory, by the retraction of said receiving cable, such that said flying object is facing an opposite direction from said initial flight trajectory upon landing;

being pulled backwards by said receiving cable, such that said flying object is facing the same direction as said initial flight trajectory upon landing; and

being pulled forward and down onto said landing surface, such that said flying object is facing the same direction as said initial flight trajectory upon landing.

33. (canceled)

36. A point take-off and landing (PTOL) system for the sequential landing of unmanned flying objects, said system comprising:

a suspension cable, suspended from each of said flying objects;

a latching element, coupled with said suspension cable;

a railway, comprising;

a trap segment and a touchdown region;

a rotating latching mechanism, configured to engage with said latching element,

wherein when one of said flying objects approaches said railway along a landing approach trajectory toward said trap segment, said latching element is configured to latch with said latching mechanism, wherein the rotational velocity of said latching mechanism is greater than the velocity of said flying objects along said landing approach trajectory, such that said latching mechanism is configured to pull said suspension cable down and forwards, hauling down said flying object onto said railway within said touchdown region.

37. The PTOL system according to claim 36, further comprising a global positioning system (GPS), configured to direct said flying object toward said trap segment of said railway.

38. The PTOL system according to claim 36, wherein said latching mechanism comprises a plurality of clasps rotating sequentially along a moving chain arranged in a track situated underneath said railway.

39. The PTOL system according to claim 36, wherein said railway comprises a triggering element, configured to trigger the activation of said latching mechanism.

40. The PTOL system according to claim 36, wherein said trap segment comprises two rail portions of said railway each of which extends outward laterally in a V-shape.

41-44. -44. (canceled)