Automated Recovery System for Unmanned Aircraft

• US 20180079530A1
• Filed: 09/21/2017
• Published: 03/22/2018
• Est. Priority Date: 09/21/2016
• Status: Active Grant

• Current Assignee: Zipline International Inc.
• Original Assignee: Zipline International Inc.
• Inventors: Wyrobek, Keenan
• Granted Patent: US 11,066,184 B2
• Time in Patent Office: Days
• CPC Class Codes: B64F 1/02 for arresting aircraft, e.g. nets or cables
• 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: B64F 1/04 for launching aircraft
• CPC Class Codes: B64U 2101/60 for transporting passengers; for transporting goods other than weapons
• 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 70/90 Launching from or landing on platforms

Abstract

An unmanned aircraft system includes an automated recovery system that can recover aircraft in a reliable, economical manner, using a dual-pole and line mechanism.

Claims

1. A system for halting a flight of an aircraft, comprising:

two line support mechanisms supported above a base surface and separated by a space;

a capture line suspended between the two line support mechanisms;

an actuator system configured to move the two line support mechanisms to cause the capture line to travel through a capture window;

a spooling system configured to extend or retract the capture line from the two line support mechanisms; and

a recovery control system configured to;

in response to detecting a condition, activate the actuator system to move the two line support mechanisms, thereby moving the capture line through the capture window and engaging an engagement member on the aircraft with the capture line;

measure a force on the capture line; and

cause the spooling system to extend the capture line to maintain the measured force on the capture line under a threshold.

2. The system of claim 1, wherein:

a first line support mechanism of the two line support mechanisms comprises a first pole rotatably coupled to a support structure; and

a second line support mechanism of the two line support mechanisms comprises a second pole rotatably coupled to the support structure.

3. The system of claim 2, wherein the actuator system is configured to rotate the first and the second line support mechanisms relative to the support structure.

4. The system of claim 1, wherein:

the recovery control system is configured to;

determine a predicted aircraft trajectory; and

determine a motion start time based on the predicted aircraft trajectory; and

the recovery control system detects the condition when the motion start time is reached.

5. The system of claim 1, wherein the condition is the receipt of a motion start command from a remote source.

6. The system of claim 5, wherein the remote source is the aircraft.

7. The system of claim 1, wherein:

the operation of activating the actuator system to move the two line support mechanisms causes the capture line to be moved upwards through the capture window; and

the recovery control system is further configured to activate the actuator system to move the two line support mechanisms in a different direction, thereby moving the capture line downwards, after the capture line engages the engagement member on the aircraft.

8. The system of claim 1, wherein the recovery control system is configured to, after causing the spooling system to extend the capture line, cause the spooling system to retract the capture line.

9. The system of claim 8, wherein causing the spooling system to retract the capture line comprises causing the spooling system to retract the capture line to a payout length that prevents the aircraft from striking the base surface after the aircraft is halted by the capture line.

10. A system for halting a flight of an aircraft, comprising:

a support structure having at least two support members extending above a base surface and set apart from one another by a space;

a first line support mechanism attached to a first support member of the at least two support members and movable relative to the first support member;

a second line support mechanism attached to a second support member of the at least two support members and movable relative to the second support member;

a capture line extending between the first and second line support mechanisms; and

an actuator system configured to move the first and second line support mechanisms substantially in unison, thereby moving the capture line through a capture window.

11. The system of claim 10, wherein:

the first line support mechanism is a first pole that is rotatable relative to the first support member; and

the second line support mechanism is a second pole that is rotatable relative to the second support member.

12. The system of claim 11, wherein:

the first pole is a tubular structure defining a channel extending along a length of the first pole; and

a portion of the capture line extends through the channel.

13. The system of claim 12, wherein:

the second pole is an additional tubular structure defining an additional channel extending along a length of the second pole; and

an additional portion of the capture line extends through the additional channel.

14. The system of claim 10, wherein the actuator system comprises:

a first motor configured to move the first line support mechanism; and

a second motor configured to move the second line support mechanism.

15. The system of claim 14, wherein the first and second motors are configured to rotate the first and second line support mechanisms.

16. The system of claim 14, wherein the first and second motors are configured to move the first and second line support mechanisms along a linear path.

17. A method for halting a flight of an aircraft, comprising:

at a recovery control system configured to control an aircraft recovery mechanism comprising a movable capture line;

activating an actuator system of the aircraft recovery mechanism to move a capture line upward through a capture window, thereby engaging an engagement member on the aircraft with the capture line;

after engaging the engagement member on the aircraft, measuring a force on the capture line; and

causing a spooling system to extend the capture line to maintain the measured force on the capture line under a threshold.

18. The method of claim 17, further comprising:

determining a predicted aircraft trajectory;

determining a motion start time based on the predicted aircraft trajectory; and

determining that the motion start time has been reached;

wherein the recovery control system activates the actuator system to move the capture line upward through the capture window in response to determining that the motion start time has been reached.

19. The method of claim 18, wherein the predicted aircraft trajectory is determined using a ground-based sensor.

20. The method of claim 18, wherein the predicted aircraft trajectory is determined using an aircraft-based sensor.