Systems and methods for capturing and controlling post-recovery motion of unmanned aircraft

• US 7,806,366 B2
• Filed: 07/10/2007
• Issued: 10/05/2010
• Est. Priority Date: 07/10/2007
• Status: Active Grant

• Current Assignee: Insitu Incorporated (The Boeing Co.)
• Original Assignee: Insitu Incorporated (The Boeing Co.)
• Inventors: Jackson, Clifford
• Primary Examiner(s): Collins; Timothy D
• Assistant Examiner(s): KREINER, MICHAEL B
• Application Number:
  US11/775,600
• Publication Number:
  US 20100025528A1
• Time in Patent Office: 1,183 Days
• Field of Search: 244/110.F, 244/110.C, 244/110.R, 244/139, 244/113
• US Class Current: 244/110.00F
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64U 10/25 Fixed-wing aircraft VTOL aircraft B64U10/20
• CPC Class Codes: B64U 50/13 using external fans or propellers
• 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 70/60 Take-off or landing of UAVs from a runway using their own power

Abstract

Systems and methods for capturing and controlling post-recovery motion of an unmanned aircraft are disclosed herein. An aircraft system in accordance with one embodiment of the invention, for example, can include a line capture assembly carried by an unmanned aircraft having a fuselage and a lifting surface. The line capture assembly can include a flexible support line having a first portion attached to an attachment point on the fuselage and a second portion extending from the attachment point spanwise along the lifting surface of the aircraft. The line capture assembly can also include an engagement device coupled to the second portion of the support line. The engagement device is releasably secured to the lifting surface.

Claims

1. An aircraft system, comprising:

a line capture assembly carried by an unmanned aircraft having a fuselage, a first lifting surface, and a second surface extending from the fuselage generally opposite to the first lifting surface, the line capture assembly including

a first flexible support line having a first portion attached to an attachment point on the fuselage and a second portion extending from the attachment point spanwise along the first lifting surface of the aircraft;

a first engagement device coupled to the second portion of the first support line and releasably secured at least proximate to an outboard edge of the first lifting surface;

a second flexible support line having a first portion attached to the attachment point and a second portion extending from the attachment point spanwise along the second lifting surface; and

a second engagement device coupled to the second portion of the second support line and releasably secured to at least proximate to an outboard edge of the second lifting surface.

2. The aircraft system of claim 1 wherein:

the aircraft has a groove with (a) a first groove portion in the fuselage and extending between the attachment point and a leading edge of the first lifting surface, and (b) a second groove portion in the first lifting surface and extending spanwise along the first lifting surface at least proximate to the leading edge; and

the first support line is at least partially received in both the first groove portion and the second groove portion.

3. The aircraft system of claim 2 wherein the first support line comprises a first flexible line and a molded cover at least partially surrounding the line.

4. The aircraft system of claim 3 wherein the molded cover has one or more aerodynamic surfaces shaped to form a generally continuous contour with adjacent surface portions of the aircraft when the first support line is at least partially received in the first and second grooves.

5. The aircraft system of claim 3 wherein the flexible line comprises a cable.

6. The aircraft system of claim 3 wherein the flexible line comprises a nylon rope.

7. The aircraft system of claim 3 wherein the molded cover is composed of at least one of a plastic material and a rubber material.

8. The aircraft system of claim 1 wherein the aircraft has a center of gravity, and wherein the attachment point on the fuselage is between a nose portion of the aircraft and the center of gravity.

9. The aircraft system of claim 1 wherein each engagement device comprises at least one of a hook and a cleat with a corresponding latch.

10. The aircraft system of claim 1 wherein:

the aircraft has a groove with (a) a first groove portion in the fuselage and extending between the attachment point and an upper surface of the first lifting surface, and (b) a second groove portion in the upper surface of the first lifting surface and extending spanwise along the first lifting surface; and

the first support line is at least partially received in both the first groove portion and the second groove portion.

11. An aircraft system, comprising:

an unmanned aircraft having a fuselage, and a first wing and a second wing extending from the fuselage; and

a line capture assembly carried by the aircraft and positioned to releasably secure the aircraft to a flexible recovery line when the aircraft intercepts the recovery line, the line capture assembly including

a first and a second flexible support line coupled to an anchor point on the fuselage and extending across at least a portion of the fuselage and spanwise along the corresponding first and second wings, respectively, to an outboard edge of the respective wing, wherein the first and second support lines extend spanwise along the wings at least proximate to a leading edge of the corresponding first and second wings; and

a first and a second capture device coupled to the first and second support lines, respectively, the first and second capture devices being releasably secured to the corresponding first and second wing and positioned to receive the recovery line and at least temporarily secure the line capture assembly to the recovery line.

12. The aircraft system of claim 11 wherein the aircraft further comprises:

a first channel extending between the anchor point and the outboard edge of the first wing, the first channel extending through at least a portion of the fuselage and spanwise along the first wing at least proximate to the leading edge of the first wing;

a second channel extending between the anchor point and the outboard edge of the second wing, the second channel extending through at least a portion of the fuselage and spanwise along the second wing at least proximate to the leading edge of the second wing and wherein the first support line is removably installed in the first channel, and the second support line is removably installed in the second channel.

13. The aircraft system of claim 12 wherein the individual support lines comprise a flexible line and a molded sheath at least partially surrounding the flexible line, and wherein the molded sheath has one or more aerodynamic surfaces shaped to correspond at least in part with surface portions of the aircraft adjacent to the area in which the support line is installed.

14. The aircraft system of claim 12 wherein the first support line and the second support line move independently from each other.

15. The aircraft system of claim 11 wherein the anchor point is positioned at a point on the fuselage forward of a center of gravity of the aircraft.

16. An aircraft system, comprising:

an unmanned aircraft having a fuselage, first and second lifting surfaces extending from the fuselage, and first and second grooves, each groove having (a) a first groove portion in the fuselage and extending between an attachment point on the fuselage and the corresponding lifting surface, and (b) a second groove portion in the respective lifting surface and extending spanwise along the lifting surface; and

a line capture assembly including

a first and a second flexible support line coupled to the attachment point on the fuselage and extending from the attachment point spanwise along the first and second lifting surfaces, respectively, wherein each support line is at least partially received in both the first groove portion and the second groove portion of the corresponding groove; and

a first and a second engagement device coupled to the first and second support lines, respectively, and releasably secured to the corresponding lifting surface.

17. The aircraft system of claim 16 wherein the first groove portions extend between the attachment point and leading edges of the individual lifting surfaces and the second groove portions extend spanwise along the corresponding lifting surface at least proximate to the leading edge.

18. The aircraft system of claim 16 wherein the first groove portions extend between the attachment point and an upper surface of the individual lifting surfaces and the second groove portions extend spanwise along the upper surface of the corresponding lifting surface.

19. An aircraft system, comprising:

an unmanned aircraft having a fuselage, a first lifting surface extending from the fuselage and a second lifting surface extending from the fuselage; and

a line capture assembly carried by the aircraft and positioned to releasably secure the aircraft to a flexible recovery line when the aircraft intercepts the recovery line, wherein the line capture assembly includes

a first and a second flexible support line coupled to the aircraft at an anchor point generally along a longitudinal axis of the aircraft and forward of a center of gravity of the aircraft, wherein the first and second support lines extend from the anchor point spanwise along at least a portion of the corresponding first and second lifting surfaces; and

a first and a second capture device coupled to a distal portion of the corresponding support line, wherein the first and second capture devices are releasably secured to the first and second lifting surfaces, respectively.

20. A method for capturing an unmanned aircraft in flight, the method comprising:

flying an unmanned aircraft to intercept a flexible recovery line, the unmanned aircraft having a lifting surface and a line capture assembly;

receiving the recovery line at an engagement device of the line capture assembly, wherein the engagement device is attached to a flexible support line carried by the aircraft and coupled to an attachment point on the fuselage; and

releasably securing the recovery line to the line capture assembly by (a) at least temporarily arresting the recovery line with the engagement device and separating at least a portion of the engagement device from the aircraft, and (b) suspending the aircraft from the support line after at least temporarily arresting the recovery line.

21. The method of claim 20 wherein suspending the aircraft from the support line comprises suspending the aircraft from an attachment point positioned at a point on the fuselage between a center of gravity of the aircraft and a nose of the aircraft.

22. The method of claim 20 wherein suspending the aircraft from the support line comprises detaching a flexible line from an initial position in which the line and a molded cover at least partially surrounding the flexible line form a generally continuous contour with adjacent surface portions of the aircraft.

23. The method of claim 20, further comprising removably installing the support line in a groove having a first groove portion extending from the attachment point to the lifting surface and a second groove portion extending spanwise along the lifting surface at least proximate to a leading edge of the lifting surface before flying the unmanned aircraft to intercept the flexible recovery line.

24. The method of claim 23 wherein the support line includes a flexible line and a molded cover completely surrounding the flexible line, and wherein removably installing the support line comprises installing the support line into the first and second groove portions such that an outer surface of the molded cover is at least approximately flush with adjacent surface portions of the aircraft.

25. The method of claim 20 wherein the support line is removably installed within a groove in the fuselage and the lifting surface, the groove extending from the attachment point across at least a portion of the fuselage and extending spanwise across the lifting surface to at least proximate to an outboard edge of the lifting surface, and wherein at least temporarily arresting the recovery line with the engagement device and suspending the aircraft from the support line comprises completely removing the support line from the groove after at least temporarily arresting the recovery line and before suspending the aircraft.

26. The method of claim 20 wherein the engagement device comprises a hook releasably attached to the lifting surface at least proximate to an outboard edge of the lifting surface, and wherein receiving the recovery line at an engagement device comprises receiving the recovery line in a slot of the hook.

27. The method of claim 20, further comprising flying the aircraft so as to stabilize the aircraft after releasably securing the recovery line to the line capture assembly.

28. The method of claim 20, further comprising retrieving aircraft from the recovery line after releasably securing the recovery line to the line capture assembly.

29. A method for handling an unmanned aircraft in flight, the method comprising:

installing a line capture assembly on an unmanned aircraft having a fuselage and a pair of wings, the line capture assembly including (a) one or more flexible support lines coupled to an anchor point at least generally along a longitudinal axis of the aircraft and extending spanwise along the corresponding wing to an outboard edge of the wing, and (b) one or more capture devices coupled to the corresponding one or more support lines and releasably secured to the corresponding wing;

flying the aircraft so as to intercept a generally vertical flexible recovery line; and

releasably securing the aircraft to the recovery line with the line capture assembly by

engaging and releasably securing the recovery line with the capture device on the corresponding wing; and

as the aircraft pivots toward the recovery line after engaging the recovery line with the capture device, releasing the support line from the lifting surface such that the aircraft is suspended from recovery line via the support line, wherein the support line is in contact with only the anchor point on the aircraft and the recovery line.

30. The method of claim 29 wherein installing a line capture assembly comprises installing the one or more support lines at least proximate to a leading edge of the corresponding wing.

31. The method of claim 29 wherein installing a line capture assembly comprises installing one or more support lines coupled to an anchor point positioned at a point on the fuselage forward of a center of gravity of the aircraft.

32. The method of claim 29 wherein:

installing a line capture assembly comprises installing the one or more support lines within corresponding channels in the fuselage and the wings, the channels extending from the anchor point across at least a portion of the fuselage and extending spanwise across the wings to at least proximate to an outboard edge of the lifting surface; and

releasing the support line from the lifting surface comprises completely removing the one or more support lines from the corresponding channels after engaging and releasably securing the recovery line with the capture device.

33. The method of claim 29, further comprising flying the aircraft with an approximately nose-up attitude and generally into the wind after releasably securing the recovery line to the line capture assembly.

34. The method of claim 29, further comprising retrieving aircraft from the recovery line after releasably securing the recovery line to the line capture assembly.