Methods and apparatus for unmanned aerial vehicle landing and launch

• US 9,845,165 B2
• Filed: 07/15/2015
• Issued: 12/19/2017
• Est. Priority Date: 07/16/2014
• Status: Active Grant

• Current Assignee: Airogistic, LLC
• Original Assignee: Airogistic, LLC
• Inventors: Michalski, Jeff, Foley, Michael
• Primary Examiner(s): Mott, Genna M
• Application Number:
  US14/800,395
• Publication Number:
  US 20160376031A1
• Time in Patent Office: 888 Days
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64D 45/04 Landing aids; Safety measures to prevent collision with earth's surface
• CPC Class Codes: B64U 10/00 Type of UAV
• CPC Class Codes: B64U 10/13 Flying platforms
• CPC Class Codes: B64U 2101/00 UAVs specially adapted for particular uses or applications
• CPC Class Codes: B64U 2101/30 for imaging, photography or videography
• 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 30/20 Rotors; Rotor supports
• CPC Class Codes: B64U 50/37 Charging when not in flight
• CPC Class Codes: B64U 70/00 Launching, take-off or landing arrangements
• CPC Class Codes: B64U 70/90 Launching from or landing on platforms
• CPC Class Codes: B64U 80/00 Transport or storage specially adapted for UAVs
• CPC Class Codes: B64U 80/25 for recharging batteries; for refuelling
• CPC Class Codes: G05D 1/0669 specially adapted for vertical take-off
• CPC Class Codes: G05D 1/0676 specially adapted for landing
• CPC Class Codes: G08G 5/0013 with a ground station
• CPC Class Codes: G08G 5/0026 located on the ground
• CPC Class Codes: G08G 5/0065 for taking-off
• CPC Class Codes: G08G 5/0069 specially adapted for an unmanned aircraft
• CPC Class Codes: G08G 5/025 : Navigation or guidance aids radar or analogous systems specially adapted for landing purposes G01S13/913

Abstract

An unmanned aerial vehicle (UAV), a stand for launching, landing, testing, refueling and recharging a UAV, and methods for testing, landing and launching the UAV are disclosed. Further, embodiments may include transferring a payload onto or off of the UAV, and loading flight planning and diagnostic maintenance information to the UAV.

Claims

1. An aerial vehicle stand, the stand comprising:

a base structure; and

a plurality of shafts extending upward from the base structure, each shaft adapted to insert through a different collar of an aerial vehicle and to guide the aerial vehicle when the aerial vehicle is one of launching from the stand and landing on the stand.

2. The stand of claim 1, wherein a portion of the base structure includes a turntable that rotates the shafts to align the shafts with the collars of the aerial vehicle.

3. The stand of claim 1, wherein the shafts are position-able to receive different sized aerial vehicles.

4. The stand of claim 1, further comprising a conductor fixed along a shaft to make electrical contact with a conductor of the aerial vehicle to charge a battery of the aerial vehicle when the aerial vehicle is landed on the stand.

5. The stand of claim 1, further comprising a fluid nozzle adapted to enable at least one of charging and discharging fluid from the aerial vehicle when the aerial vehicle is landed on the stand.

6. The stand of claim 1, further comprising a sensing system to sense a position and orientation of the aerial vehicle with respect to a position and orientation of the stand.

7. The stand of claim 6, wherein the sensing system includes at least one of an optical sensor, an infrared sensor, and a camera to enable at least one of optical and visual determination of aerial vehicle position with respect to the stand.

8. The stand of claim 1, further comprising a control system to generate control signals electromagnetically communicated to the aerial vehicle to influence flight of the aerial vehicle during one of landing on the stand and launching from the stand.

9. The stand of claim 1, further comprising a processor to perform testing of the aerial vehicle as the aerial vehicle ascends on the stand.

10. The stand of claim 1, further comprising a processor to perform diagnostic evaluation of the aerial vehicle on the stand prior to launch.

11. The stand of claim 1, further comprising a continuously operating reference station (CORS) receiver to facilitate real time kinematic (RTK) calculations of a position of the aerial vehicle.

12. The stand of claim 1, wherein the stand is integrated with payload handling equipment to transfer a payload between the stand and the aerial vehicle.

13. The stand of claim 1, wherein the base structure is configured to rotate to align at least one shaft with one of the collars during landing.

14. The stand of claim 1, wherein the base structure is lockable in a fixed position to constrain yaw of the aerial vehicle as the aerial vehicle ascends while constrained by the stand.

15. The stand of claim 1, further comprising processing circuitry configured to process signals concerning flight of the aerial vehicle as the aerial vehicle ascends while constrained by the stand.

16. The stand of claim 15, wherein the signals concerning flight of the aerial vehicle are signals generated by at least one sensor configured to sense impact of at least one of the collars with one of the shafts.

17. The stand of claim 16, wherein the at least one sensor is positioned on a shaft.

18. An aerial vehicle stand configured to one of launch and land an aerial vehicle, the stand comprising:

a plurality of parallel shafts, each shaft configured to insert through a different collar of the aerial vehicle to guide the aerial vehicle as the aerial vehicle at least one of launches from the stand and lands on the stand.

19. The stand of claim 18, further comprising processing electronics configured to receive information concerning flight of the aerial vehicle from sensors that sense impact of the collars and the shafts.

20. The stand of claim 18, wherein the shafts guiding the aerial vehicle constrain the aerial vehicle during launch.

21. An aerial vehicle stand configured to launch an aerial vehicle, the stand comprising:

processing circuitry configured to process signals concerning flight of the aerial vehicle during launching of the aerial vehicle; and

a plurality of shafts extending from the base structure, each shaft configured to insert through a different collar of the aerial vehicle.

22. The stand of claim 21, wherein signals concerning flight of the aerial vehicle include flight trajectory data that inform the processing circuitry of a flight trajectory of the aerial vehicle.

23. The stand of claim 21, wherein the signals concerning flight of the aerial vehicle are signals generated by at least one sensor configured to sense impact of at least one of the collars with one of the shafts.

24. The stand of claim 23, wherein at least one of the at least one sensor is positioned on a shaft.

25. The stand of claim 23 wherein at least one of the at least one sensor is positioned on one of the collars of the aerial vehicle.

26. The stand of claim 21, wherein the signals concerning flight of the aerial vehicle indicate at least one of a pitch, roll and yaw of the aerial vehicle during launch.

27. The stand of claim 21, wherein the processing circuitry is further configured to cause the aerial vehicle to at least one of pitch, roll and yaw.

28. The stand of claim 21, wherein at least one of pitch, roll and yaw data is received from the aerial vehicle.

29. The stand of claim 21, wherein the shafts move to match a yaw orientation of the aerial vehicle.

30. The stand of claim 21, wherein the shafts are lockable into a position to constrain yaw of the aerial vehicle while the aerial vehicle launches.