Method and system for landing an unmanned aerial vehicle

Abstract

A method (100) for landing an unmanned aerial vehicle (101) on another vehicle (103), the method comprising: determining (110) the speed of the unmanned aerial vehicle; determining (120) the speed of the other vehicle; adjusting (130) the speed of at least one of the unmanned aerial vehicle and the other vehicle to ensure that the difference between the speed of the unmanned aerial vehicle and the speed of the other vehicle is greater than a predetermined amount when the unmanned aerial vehicle lands on the other vehicle.

Description

Technical Field

[0001] The present invention relates to a method and system for landing an unmanned aerial vehicle on another vehicle, and in particular but not exclusively, to determining a speed difference between the unmanned aerial vehicle and another vehicle. Background Art

[0002] An unmanned aerial vehicle (UAV) (commonly referred to as a drone) is an aircraft that can be piloted by remote control and / or an on-board computer. This allows the UAV to be controlled without a human pilot on the UAV. The UAV can form part of an unmanned aerial vehicle system (UAS), which can include the UAV, a base station (such as a ground-based controller), and / or a communication system between the UAV and the base station.

[0003] In some cases, the base station can be configured to allow the UVA to land on the base station. For example, the base station can include a platform on which the UAV can land. When landing the UVA on the ground or a ground-based base station (such as a static platform), it is desirable to land the drone as softly as possible so that the UAV and / or the base station are not damaged during landing. A soft landing can be achieved by ensuring that the speed of the drone is low enough so that when the UAV lands, it does not impart a large force to the ground and / or the base station.

[0004] With the advent of autonomous vehicles, it is desirable to be able to land a UAV on a vehicle while the vehicle is moving. For example, the UAV can be configured to deliver goods to a vehicle, and it may be inconvenient or even dangerous to stop the vehicle each time to allow the UAV to land.

[0005] However, landing a UAV on a moving vehicle can be difficult because the UAV may not be able to account for the unpredictable motion caused by turbulence and / or by the vehicle traveling on uneven ground. Summary of the Invention

[0006] According to an aspect of the present invention, there is provided a method for landing an unmanned aerial vehicle (UAV) on another vehicle, the method comprising: determining a speed of the unmanned aerial vehicle; determining a speed of the other vehicle; and adjusting the speed of at least one of the unmanned aerial vehicle and the other vehicle to ensure that the difference between the speed of the unmanned aerial vehicle and the speed of the other vehicle is greater than a predetermined amount, for example, a non-zero amount, when the unmanned aerial vehicle physically engages the other vehicle.

[0007] The unmanned aerial vehicle can have a collision cage. The vehicle can have a base station configured to receive the unmanned aerial vehicle, such as the collision cage of the unmanned aerial vehicle. The method can include adjusting the speed of at least one of the unmanned aerial vehicle and the vehicle to ensure that the difference between the speed of the unmanned aerial vehicle and the speed of the vehicle is higher than a predetermined amount when the collision cage engages the base station.

[0008] The predetermined speed quantity can be a value in the range of about 1 to 5 miles per hour. The predetermined speed quantity can be 3 miles per hour. The predetermined speed quantity can depend on the mass of the unmanned aerial vehicle. The predetermined speed quantity can depend on the mass of another vehicle.

[0009] The difference (e.g., vector difference) between the speed of the unmanned aerial vehicle and the speed of the vehicle can be determined by subtracting the speed of the vehicle (e.g., velocity vector) from the speed of the unmanned aerial vehicle (e.g., velocity vector). Thus, the present invention provides a method of landing an unmanned aerial vehicle on a vehicle by ensuring that the vector difference between the speed of the unmanned aerial vehicle and the speed of the vehicle is a non-zero quantity, and in particular by ensuring that the magnitude of the vector difference between the speed of the unmanned aerial vehicle and the speed of the vehicle is greater than a predetermined quantity.

[0010] The method can include determining the mass of the unmanned aerial vehicle. The method can include determining the mass of another vehicle. The method can include determining the momentum of at least one of the unmanned aerial vehicle and another vehicle. The method can include adjusting the speed of at least one of the unmanned aerial vehicle and another vehicle to ensure that the difference between the momentum of the unmanned aerial vehicle and the momentum of another vehicle is greater than a predetermined quantity of momentum.

[0011] The method can include determining the kinetic energy of at least one of the unmanned aerial vehicle and another vehicle. The method can include adjusting the speed of at least one of the unmanned aerial vehicle and another vehicle to ensure that the difference between the kinetic energy of the unmanned aerial vehicle and the kinetic energy of another vehicle is greater than a predetermined quantity of kinetic energy.

[0012] The base station can include a deployable restraint device configured to fix the unmanned aerial vehicle to the base station. The deployable restraint device can include one or more fixing elements configured to attach the collision cage of the unmanned aerial vehicle to the base station. The method can include deploying the deployable restraint device when the collision cage engages (e.g., first engages) the base station.

[0013] The collision cage can include an elastic structure, such as a semi-rigid structure, configured to deform once the unmanned aerial vehicle collides with another item. The method can include determining the spring stiffness of the collision cage. The method can include determining the force with which the collision cage engages the base station. The method can include determining the maximum deformation of the collision cage when the collision cage engages the base station. The method can include deploying the deployable restraint device before the collision cage reaches its maximum deformation.

[0014] The method can include determining the maximum possible speed of the unmanned aerial vehicle, e.g., due to climate conditions. The method can include adjusting the speed of another vehicle according to the maximum possible speed of the unmanned aerial vehicle. The method can include providing an indication to the driver of another vehicle to, e.g., decelerate to a speed less than the speed of the unmanned aerial vehicle.

[0015] An unmanned aerial vehicle may have a collision cage that is electrically connected to a battery management system of the unmanned aerial vehicle. A base station may have at least one electrode configured to be electrically connected to the collision cage of the unmanned aerial vehicle. The method may include receiving the unmanned aerial vehicle at the base station. The method may include forming an electrical coupling between a power source and the battery management system when the electrode is connected to the collision cage. The method may include charging the unmanned aerial vehicle by, for example, electrically coupling between the collision cage and the base station. The method may include charging the unmanned aerial vehicle by wireless coupling (such as inductive coupling).

[0016] According to another aspect of the present invention, there is provided an unmanned aerial vehicle system having a controller operably connected to an unmanned aerial vehicle and another vehicle, the controller being configured to: determine a speed of the unmanned aerial vehicle; determine a speed of the other vehicle; and adjust a speed of at least one of the unmanned aerial vehicle and the other vehicle to ensure that a difference between the speed of the unmanned aerial vehicle and the speed of the other vehicle is greater than a predetermined speed amount when the unmanned aerial vehicle physically engages the other vehicle.

[0017] According to another aspect of the present invention, there is provided an unmanned aerial vehicle having a controller operably connected to another vehicle, the vehicle having a base station configured to receive the unmanned aerial vehicle, the controller being configured to: determine a speed of the unmanned aerial vehicle; determine a speed of the vehicle; and adjust a speed of at least one of the unmanned aerial vehicle and the vehicle to ensure that a difference between the speed of the unmanned aerial vehicle and the speed of the vehicle is greater than a predetermined amount when the unmanned aerial vehicle physically engages the vehicle.

[0018] According to another aspect of the present invention, there is provided a vehicle configured to receive an unmanned aerial vehicle, the vehicle having a controller operably connected to the unmanned aerial vehicle, the controller being configured to: determine a speed of the unmanned aerial vehicle; determine a speed of the vehicle; and adjust a speed of at least one of the unmanned aerial vehicle and the vehicle to ensure that a difference between the speed of the unmanned aerial vehicle and the speed of the vehicle is greater than a predetermined amount when the unmanned aerial vehicle physically engages the vehicle.

[0019] According to another aspect of the present invention, there is provided a landing control method for an unmanned aerial vehicle system, the unmanned aerial vehicle system including an unmanned aerial vehicle, a base station provided on another vehicle, and a controller operably connected to the unmanned aerial vehicle and the other vehicle, the method including: determining a speed of the unmanned aerial vehicle; determining a speed of the other vehicle; and adjusting a speed of at least one of the unmanned aerial vehicle and the other vehicle to ensure that a difference between the speed of the unmanned aerial vehicle and the speed of the other vehicle is greater than a predetermined amount when the unmanned aerial vehicle physically engages the vehicle.

[0020] According to another aspect of the present invention, there is provided an unmanned aerial vehicle having a collision cage electrically connected to a battery management system of the unmanned aerial vehicle. The collision cage may include at least one electrode configured to connect the battery management system to an external power source. The collision cage may include at least one conductive collision element. The collision cage may at least partially surround the unmanned aerial vehicle. The collision cage may at least partially surround a propeller of the unmanned aerial vehicle. The collision cage may be connected to a body of the unmanned aerial vehicle. The collision cage is capable of rotating relative to the body of the unmanned aerial vehicle.

[0021] According to another aspect of the present invention, there is provided an unmanned aerial vehicle system including: an unmanned aerial vehicle having a collision cage electrically connected to a battery management system of the unmanned aerial vehicle; and a base station configured to receive the unmanned aerial vehicle, the base station having an electrode configured to be electrically connected to the collision cage of the unmanned aerial vehicle, the unmanned aerial vehicle system being configured to form an electrical coupling between a power source and the battery management system when the electrode is connected to the collision cage.

[0022] According to another aspect of the present invention, there is provided a method of charging an unmanned aerial vehicle having a collision cage electrically connected to a battery management system of the unmanned aerial vehicle, the method including: receiving the unmanned aerial vehicle at a base station having at least one electrode configured to be electrically connected to the collision cage of the unmanned aerial vehicle; forming an electrical coupling between an external power source and the battery management system when the electrode is connected to the collision cage; and charging the unmanned aerial vehicle through the electrical coupling.

[0023] A vehicle may be provided that includes one or more of the above-described unmanned aerial vehicle system, unmanned aerial vehicle, controller, and / or base station.

[0024] In the context of the present invention, the term "collision cage" should be understood to mean any suitable structure that at least partially surrounds an unmanned aerial vehicle to protect the unmanned aerial vehicle in the event of a collision of the unmanned aerial vehicle with another article. For example, the collision cage may comprise a structure formed by at least one collision element (such as a rod, wire, wall, barrier or shroud). The collision cage may be positioned to protect the propellers of the unmanned aerial vehicle. In one arrangement, the collision cage may comprise a structure that extends around the perimeter of the unmanned aerial vehicle (e.g., in a plane parallel to the radial plane of the propellers of the unmanned aerial vehicle). The collision cage may comprise a structure that is at least partially spherical in form. The collision cage may have a central point that is aligned with the longitudinal axis of the unmanned aerial vehicle. The collision cage may have a central point that is aligned with the longitudinal axis of the propellers of the unmanned aerial vehicle. The unmanned aerial vehicle may have a plurality of collision cages, for example, the unmanned aerial vehicle may have a collision cage located adjacent to or around each propeller of the unmanned aerial vehicle. The collision cage may form part of the housing of the body of the unmanned aerial vehicle or may be integrated into the housing of the body of the unmanned aerial vehicle. For example, the unmanned aerial vehicle may have a housing around a body portion (e.g., a portion towards the center of the unmanned aerial vehicle) that has one or more portions that at least partially extend around the propellers of the unmanned aerial vehicle.

[0025] In the context of the present invention, the term "battery management system" should be understood to mean any electronic system that manages a rechargeable battery (battery cell or battery pack).

[0026] The present invention also provides software (such as a computer program or computer program product) for implementing any of the methods described herein and a computer-readable medium having stored thereon a program for performing any of the methods described herein. The computer program embodying the present invention may be stored on a computer-readable medium, or it may be, for example, in the form of a signal (such as a downloadable data signal provided from an Internet website), or it may be in any other form.

[0027] According to the present invention, there is provided a method of landing an unmanned aerial vehicle on another vehicle, the method comprising:

[0028] Determining the speed of the unmanned aerial vehicle;

[0029] Determining the speed of the other vehicle; and

[0030] Adjusting the speed of at least one of the unmanned aerial vehicle and the other vehicle to ensure that the difference between the speed of the unmanned aerial vehicle and the speed of the other vehicle is greater than a predetermined amount when the unmanned aerial vehicle physically engages the other vehicle.

[0031] According to one embodiment of the present invention, wherein the unmanned aerial vehicle has a collision cage and the vehicle has a base station configured to receive the collision cage of the unmanned aerial vehicle, the method comprising:

[0032] Adjust the speed of at least one of the unmanned aerial vehicle and the vehicle to ensure that the difference between the speed of the unmanned aerial vehicle and the speed of the vehicle is higher than a predetermined value when the collision cage engages the base station.

[0033] According to one embodiment of the present invention, wherein the base station includes a deployable restraint device configured to fix the unmanned aerial vehicle to the base station, the method includes:

[0034] Deploy the deployable restraint device when the collision cage engages the base station.

[0035] According to one embodiment of the present invention, wherein the collision cage is an elastic structure, the method includes:

[0036] Determine the spring stiffness of the collision cage;

[0037] Determine the force with which the collision cage engages the base station;

[0038] Determine the maximum deformation amount of the collision cage when the collision cage engages the base station; and

[0039] Deploy the deployable restraint device before the collision cage reaches its maximum deformation amount.

[0040] According to one embodiment of the present invention, the method includes:

[0041] Determine the mass of the unmanned aerial vehicle;

[0042] Determine the mass of another vehicle;

[0043] Adjust the speed of at least one of the unmanned aerial vehicle and the other vehicle to ensure that the difference between the momentum of the unmanned aerial vehicle and the momentum of the other vehicle is greater than a predetermined momentum amount.

[0044] According to one embodiment of the present invention, the method includes:

[0045] Determine the mass of the unmanned aerial vehicle;

[0046] Determine the mass of another vehicle;

[0047] Adjust the speed of at least one of the unmanned aerial vehicle and the other vehicle to ensure that the difference between the kinetic energy of the unmanned aerial vehicle and the kinetic energy of the other vehicle is greater than a predetermined kinetic energy amount.

[0048] According to one embodiment of the present invention, the method includes:

[0049] Determine the maximum possible speed of the unmanned aerial vehicle;

[0050] Adjust the speed of the other vehicle according to the maximum possible speed of the unmanned aerial vehicle.

[0051] According to one embodiment of the present invention, where the unmanned aerial vehicle has a collision cage that is electrically connected to the battery management system of the unmanned aerial vehicle, the method includes:

[0052] Receiving the unmanned aerial vehicle at a base station having at least one electrode configured to be electrically connected to the collision cage of the unmanned aerial vehicle;

[0053] Forming an electrical coupling between a power source and the battery management system when the electrode is connected to the collision cage; and

[0054] Charging the unmanned aerial vehicle through the electrical coupling.

[0055] According to the present invention, there is provided an unmanned aerial vehicle system having a controller operably connected to the unmanned aerial vehicle and another vehicle, the controller being configured to:

[0056] Determine the speed of the unmanned aerial vehicle;

[0057] Determine the speed of the other vehicle; and

[0058] Adjust the speed of at least one of the unmanned aerial vehicle and the other vehicle to ensure that the difference between the speed of the unmanned aerial vehicle and the speed of the other vehicle is greater than a predetermined amount when the unmanned aerial vehicle physically engages the other vehicle.

[0059] According to one embodiment of the present invention, the unmanned aerial vehicle has a collision cage, and the vehicle has a base station configured to receive the collision cage of the unmanned aerial vehicle.

[0060] According to one embodiment of the present invention, the base station includes a recess configured to receive the collision cage of the unmanned aerial vehicle.

[0061] According to one embodiment of the present invention, the recess of the base station has an opening smaller than the collision cage of the unmanned aerial vehicle.

[0062] According to the present invention, there is provided an unmanned aerial vehicle having a controller operably connected to another vehicle, the other vehicle having a base station configured to receive the unmanned aerial vehicle, the controller being configured to:

[0063] Determine the speed of the unmanned aerial vehicle;

[0064] Determine the speed of the other vehicle; and

[0065] Adjust the speed of at least one of the unmanned aerial vehicle and the other vehicle to ensure that the difference between the speed of the unmanned aerial vehicle and the speed of the other vehicle is greater than a predetermined amount when the unmanned aerial vehicle physically engages the other vehicle.

[0066] According to the present invention, there is provided a vehicle configured to receive an unmanned aerial vehicle, the vehicle having a controller operatively connected to the unmanned aerial vehicle, the controller being configured to:

[0067] Determine the speed of the unmanned aerial vehicle;

[0068] Determine the speed of the vehicle; and

[0069] Adjust the speed of at least one of the unmanned aerial vehicle and the vehicle to ensure that the difference between the speed of the unmanned aerial vehicle and the speed of the vehicle is greater than a predetermined amount when the unmanned aerial vehicle physically engages the vehicle.

[0070] To avoid unnecessary duplication of effort and text in the specification, certain features are described only with respect to one or more aspects or arrangements of the present invention. However, it should be understood that the features described with respect to any aspect or arrangement of the present invention may also be used in combination with any other aspect or arrangement of the present invention where technically feasible. BRIEF DESCRIPTION OF THE DRAWINGS

[0071] For a better understanding of the present invention, and to more clearly illustrate how the present invention may be implemented, reference will now be made, by way of example, to the accompanying drawings, in which:

[0072] Figure 1a and 1b An unmanned aerial vehicle landing on another vehicle is described;

[0073] Figure 2 An unmanned aerial vehicle system is shown; and

[0074] Figure 3 A method of landing an unmanned aerial vehicle is described. DETAILED DESCRIPTION

[0075] The present invention provides a method and system for landing an unmanned aerial vehicle (UAV) 101 (e.g., a drone) on another vehicle 103. In the arrangement shown in the drawings, the vehicle 103 is a pickup truck having an open cargo area, which may be adapted to receive the UAV 101. However, other vehicles 103 may be any type of vehicle, such as a car, van, truck, ship, aircraft, or another UAV.

[0076] In many cases, the UAV 101 forms part of an unmanned aircraft system (UAS) 107, which may also include a base station 109 configured to receive the UAV 101, and / or a controller 105 configured to control the operation of at least one of the UAV 101 and the base station 109. In the case where the base station 109 is disposed on a vehicle 103, the controller 105 may be configured to control the operation of the vehicle 103. For example, the controller 105 may be configured to establish an operational connection between the UAV 101, the base station 109, and / or the vehicle 103 via one or more wired or wireless connections. In Figures 1a to 2 the illustrated arrangement, the controller 105 is disposed on the vehicle 103 and forms part of the base station 109. However, the controller 105 may be disposed at any suitable location, for example, the controller 105 may be a ground-based controller operatively connected to at least one of the base station 109, the vehicle 103, and the UAV 101.

[0077] The controller 105 may be configured to establish communication between the UAV 101 and the base station 109, for example, via a dedicated short-range communication (DSRC) system, to enable the controller 105 to control the position of the UAV relative to the base station 109. For example, the controller 105 may be configured to control the flight of the UAV 101 away from and back to the base station 109. Specifically, the controller 105 may be configured to land the UAV 101 on the base station 109, for example, by controlling the relative speed between the UAV 101 and the base station 109. In the case where the base station 109 is disposed on the vehicle 103, the controller 105 may be configured to control the speed of at least one of the UAV 101 and the vehicle 103.

[0078] One of the problems associated with landing the UAV 101 on a moving vehicle 103 is the difficulty in precisely matching the speeds of the UAV 101 and the vehicle 103 to achieve a controlled landing of the UAV 101 on the vehicle 103. For example, even when the vehicle 103 is traveling on a straight road and the speeds of the vehicle 103 in the x, y, and z directions (as Figure 1a illustrated) are relatively constant, it is still difficult to land the UAV 101 on the vehicle 103 due to the turbulence of the air around the moving vehicle 103. However, in many cases, the road on which the vehicle 103 travels is not straight, and the terrain on which the vehicle 103 travels is uneven. Therefore, the speed of the vehicle 103 in the x, y, and / or z directions may not be constant and may sometimes be unpredictable.

[0079] The present invention is advantageous because it provides a method 100 and a system for reliably landing the UAV 101 on a moving vehicle 103. As Figure 3As shown, method 100 includes step 110 of determining the speed of UAV 101. For example, controller 105 may be configured to calculate the speed of UAV 101 in at least one of the x, y, and z directions, for example, by using data from one or more sensors of UAV 101. In one arrangement, controller 105 may be configured to communicate with the electronic control unit of UAV 101 to determine the speed of UAV 101.

[0080] Method 100 includes step 120 of determining the speed of vehicle 103. For example, controller 105 may be configured to calculate the speed of the vehicle in at least one of the x, y, and z directions, for example, by using data from one or more sensors of vehicle 103. In one arrangement, controller 105 may be configured to communicate with the electronic control unit of vehicle 103 to determine the speed of vehicle 103.

[0081] The method 100 includes step 130 of adjusting the speed of at least one of UAV 101 and vehicle 103 to ensure that the difference between the speed of UAV 101 and the speed of vehicle 103 is greater than a predetermined amount when UAV 101 lands on vehicle 103. The speed of UAV 101 may be the vector sum of at least two of the x, y, and z speeds of UAV 101. The speed of vehicle 103 may be the vector sum of at least two of the x, y, and z speeds of vehicle 103.

[0082] Controller 105 may be configured to adjust the speed of UAV 101 and / or vehicle 103 to ensure that the difference between the speed of UAV 101 and the speed of vehicle 103 is greater than about 3 miles per hour when UAV 101 lands (e.g., physically engages) on vehicle 103. Due to the speed difference between UAV 101 and vehicle 103, UAV 101 has sufficient momentum to ensure that its approach towards vehicle 103 is not affected by turbulent air around vehicle 103, and / or is not affected by unpredictable changes in the x, y, and z speeds of vehicle 103 caused by the road / terrain on which vehicle 103 is traveling.

[0083] UAV 101 may be provided with a collision cage 111 configured to protect UAV 101 when UAV 101 lands on vehicle 103. In Figures 1a to 2 the shown arrangement, UAV 101 has a generally spherical collision cage that completely surrounds UAV 101. However, collision cage 111 may have any suitable configuration that enables collision cage 111 to protect UAV 101 when UAV 101 lands on vehicle 103. In particular, collision cage 111 may be configured to absorb the landing energy generated by the speed difference between UAV 101 and vehicle 103.

[0084] Figure 1a and 1b describes a UAV 101 landing on a base station 109, which is arranged in the rear cargo area of a vehicle 103. The base station 109 has a recess configured to receive a collision cage 111 of the UAV 101 when the UAV 101 lands on the vehicle 103. The recess has an opening 115 sized not to allow the UAV 101 to pass completely through the opening 115. In this way, when the UAV 101 is received in the recess of the base station 109, the collision cage 111 of the UAV 101 engages the wall of the opening 115 to position the UAV 101 relative to the base station 109. In Figures 1a to 2 the illustrated arrangement, the opening 115 is a simple cutout in the body portion of the base station 109. However, the opening 115, the recess, and the body portion can have any suitable shape. For example, the recess can be conical in form so that the collision cage 111 of the UAV 101 is embedded in the recess when the UAV 101 lands on the vehicle 103. In another arrangement (not shown), the base station 109 can include a net configured to grasp the UAV 101 when the UAV 101 lands on the vehicle 103.

[0085] The base station 109 can include a deployable restraint device 113 configured to secure the UAV 101 to the base station 109. For example, the deployable restraint device 113 can include at least one fixing element, such as a hook, configured to attach to the collision cage 111 of the UAV 101. When the UAV 101 lands on the base station 109, the deployable restraint device 113 can be deployed from the base station 109. For example, when the collision cage 111 of the UAV 101 engages the opening 115 of the recess in the base station 109, the deployable restraint device 113 can be deployed from the base station 109. In one arrangement, the deployable restraint device 113 can be deployed from the base station 109 upon a first contact between the wall of the opening 115 and the collision cage 111 of the UAV 101. In other words, the collision cage 111 of the UAV 101 does not need to be fully engaged with the opening 115 for the deployable restraint device 113 to deploy.

[0086] In the case where the collision cage 111 includes an elastic structure (such as a semi-rigid cage), method 100 can include determining the spring stiffness of the collision cage 111, i.e., the amount by which the collision cage 111 deforms for a given load. Method 100 can also include determining the force with which the collision cage 111 engages the base station 109 when the UAV 101 lands on the vehicle 103. When the UAV 101 engages the base station 109, any suitable method (such as by multiplying the mass of the UAV 101 by its acceleration) can be used to determine the force.

[0087] Method 100 may include determining a maximum deformation of the impact cage 111 when the impact cage 111 engages the base station 109. For example, the spring stiffness of the determined impact cage 111 and the force with which the impact cage 111 impacts the base station 109 may be used to determine the maximum deformation of the impact cage 111.

[0088] To ensure that the UAV 101 does not bounce off the base station 109, the method may include deploying the deployable restraint device 113 before the impact cage 111 reaches its maximum deformation. In this way, when the UAV 101 lands on the vehicle 103, all of the landing energy of the UAV 101 can be used to maintain contact between the UAV 101 and the base station 109.

[0089] In Figure 1a , the UAV 101 travels towards the vehicle 103 at a first speed V UAV and the vehicle 103 travels at a second speed V V . To ensure that the momentum of the UAV 101 is sufficient to carry the UAV 101 through any turbulence behind the vehicle 103, and / or to ensure that the UAV 101 lands with sufficient force to overcome any unpredictable movement of the vehicle body, such as bumps or vibrations, the controller 105 may be configured to increase the speed of the UAV 101 such that the first speed V UAV is greater than the second speed V V by a predetermined amount. Additionally or alternatively, the controller 105 may be configured to decrease the speed of the vehicle 103 such that the first speed V UAV is greater than the second speed V V by a predetermined amount.

[0090] The predetermined speed difference may be an amount in the range of about 1 to 5 miles per hour. However, the predetermined speed difference may be any suitable amount to ensure that the UAV 101 lands with sufficient force to avoid displacement of the UAV 101 away from the vehicle 103 when the UAV 101 approaches and lands on the vehicle 103.

[0091] The method 100 may include the step of determining the maximum possible speed of the UAV 101. For example, in the case where the UAV 101 is flying in windy conditions and / or carrying a load, the maximum possible speed of the UAV 101 may be less than the speed when flying in less windy conditions and / or not carrying a load. Accordingly, the vehicle 103 may travel at a speed greater than the speed of the UAV 101. To allow the UAV 101 to catch up with the vehicle 103, the method 100 may include the step of reducing the speed of the vehicle 103 to a speed less than the speed of the UAV 101. The step of reducing the speed of the vehicle 103 to a speed less than the speed of the UAV 101 may be a separate step from the above step 130, or may be implemented as part of step 130.

[0092] In Figure 1b Figure 1b , the impact cage 111 of the UAV 101 has engaged the opening 115 to attach the deployable restraint device 113 to the impact cage 111 of the UAV 101, which secures the UAV 101 in place on the base station 109.

[0093] The method 100 may include the step of determining the mass of at least one of the UAV 101 and the vehicle 103. For example, the mass of each of the UAV 101 and the vehicle 103 may vary over the course of their respective journeys. In one scenario, the UAV 101 may be configured to transport one or more pieces of cargo, and thus, the mass of the UAV 101 may vary depending on the cargo it is carrying (if any). Similarly, the mass of the vehicle 103 may vary depending on the cargo it is carrying. Additionally or alternatively, the mass of each of the UAV 101 and the vehicle 103 may vary depending on the amount of fuel carried.

[0094] Given the speed and mass of each of the UAV 101 and the vehicle 103, the method 100 may include the step of determining the momentum of each of the UAV 101 and the vehicle 103. The method 100 may include adjusting the speed of at least one of the UAV 101 and the vehicle 103 to ensure that the difference between the momentum of the UAV 101 and the momentum of the vehicle 103 is greater than a predetermined momentum value.

[0095] Figure 2 Figure 2 shows a setup of the UAS 107, where the impact cage 111 of the UAV 101 is electrically connected to the battery management system 117 of the UAV 101. The base station 109 is provided with a power source 121 that is electrically connected to at least one electrode 119a, which is configured to contact the impact cage 111 when the impact cage 111 is received in the opening 115 of the base station 109. In Figure 2 Figure 2 the setup shown, the base station 109 has an electrode 119a disposed in the wall of the opening 115 and another electrode 119a disposed in the deployable restraint device 13.

[0096] To provide an electrical coupling between the power source 121 and the battery management system 117 of the UAV 101, the impact cage 111 is provided with an electrode 119b, which is configured to connect to the electrode 119a of the base station 109, and thus complete the electrical coupling between the power source 121 and the battery management system 117 when the impact cage 111 of the UAV 101 is received in the opening 115. Accordingly, the method 100 may include the step of charging the UAV 101 by electrically coupling between the UAV 101 and the base station 109.

[0097] The electrode 119b can be disposed on any suitable portion of the collision cage 111. In one arrangement, the collision cage 111 can include one or more conductive collision elements that act as the electrode 119b. The conductive collision elements can extend at least partially around the circumference of the collision cage 111 such that the orientation of the UAV 101 within the base station 109 does not affect the ability of the base station 109 to charge the UAV 101.

[0098] Accordingly, the present invention provides improved systems and methods 100 for landing a UAV 101 on a vehicle 103. Specifically, the UAV 101 and UAS 107 disclosed herein are advantageous because they allow the UAV 101 to land on a moving vehicle, which is a challenge faced by vehicle manufacturers with the advent of autonomous and semi-autonomous vehicles. In fact, the present invention allows for a fully autonomous landing procedure for an autonomous UAV to land on another autonomous vehicle.

[0099] Those skilled in the art will appreciate that although the present invention has been described by way of example with reference to one or more arrangements, the present invention is not limited to the disclosed arrangements and alternative arrangements may be constructed without departing from the scope of the present invention as defined by the appended claims.

Claims

1. A method for landing an unmanned aerial vehicle on another vehicle, the method comprising: Determining the speed of the unmanned aerial vehicle; Determining the speed of the other vehicle; and Adjusting the speed of at least one of the unmanned aerial vehicle and the other vehicle to ensure that the difference between the speed of the unmanned aerial vehicle and the speed of the other vehicle is greater than a predetermined amount when the unmanned aerial vehicle lands on the other vehicle; Wherein the unmanned aerial vehicle has a collision cage and the other vehicle has a base station configured to receive the collision cage of the unmanned aerial vehicle, the method comprising: Adjusting the speed of at least one of the unmanned aerial vehicle and the other vehicle to ensure that the difference between the speed of the unmanned aerial vehicle and the speed of the other vehicle is higher than a predetermined value when the collision cage engages the base station; Wherein the collision cage is an elastic structure, the method comprising: Determining the spring stiffness of the collision cage; Determining the force with which the collision cage engages the base station; Determining the maximum deformation amount of the collision cage when the collision cage engages the base station; and Deploying a deployable restraint device before the collision cage reaches its maximum deformation amount.

2. The method according to claim 1, wherein the base station comprises a deployable restraint device configured to fix the unmanned aerial vehicle to the base station, the method comprising: Deploying the deployable restraint device when the collision cage engages the base station.

3. The method according to claim 1, the method comprising: Determining the mass of the unmanned aerial vehicle; Determining the mass of the other vehicle; Adjusting the speed of at least one of the unmanned aerial vehicle and the other vehicle to ensure that the difference between the momentum of the unmanned aerial vehicle and the momentum of the other vehicle is greater than a predetermined amount of momentum.

4. The method according to claim 1, the method comprising: Determining the mass of the unmanned aerial vehicle; Determining the mass of the other vehicle; Adjusting the speed of at least one of the unmanned aerial vehicle and the other vehicle to ensure that the difference between the kinetic energy of the unmanned aerial vehicle and the kinetic energy of the other vehicle is greater than a predetermined amount of kinetic energy.

5. The method according to claim 1, the method comprising: Determining the maximum possible speed of the unmanned aerial vehicle; Adjusting the speed of the other vehicle according to the maximum possible speed of the unmanned aerial vehicle.

6. The method according to claim 1, wherein the collision cage is electrically connected to the battery management system of the unmanned aerial vehicle, the method comprising: Receiving the unmanned aerial vehicle at the base station, the base station having at least one electrode configured to be electrically connected to the collision cage of the unmanned aerial vehicle; Forming an electrical coupling between a power source and the battery management system when the electrode is connected to the collision cage; and Charging the unmanned aerial vehicle through the electrical coupling.

7. An unmanned aerial vehicle system having a controller operably connected to an unmanned aerial vehicle and another vehicle, the controller being configured to: Determine the speed of the unmanned aerial vehicle; Determine the speed of the other vehicle; and Adjust the speed of at least one of the unmanned aerial vehicle and the other vehicle to ensure that the difference between the speed of the unmanned aerial vehicle and the speed of the other vehicle is greater than a predetermined amount when the unmanned aerial vehicle lands on the other vehicle; wherein the unmanned aerial vehicle has a collision cage, wherein the collision cage is an elastic structure, and the other vehicle has a base station configured to receive the collision cage of the unmanned aerial vehicle, and it includes: Adjust the speed of at least one of the unmanned aerial vehicle and the other vehicle to ensure that the difference between the speed of the unmanned aerial vehicle and the speed of the other vehicle is higher than a predetermined value when the collision cage engages the base station; Determine the spring stiffness of the collision cage; Determine the force with which the collision cage engages the base station; Determine the maximum deformation amount of the collision cage when the collision cage engages the base station; and Deploy a deployable restraint device before the collision cage reaches its maximum deformation amount.

8. The unmanned aerial vehicle system according to claim 7, wherein the base station includes a recess configured to receive the collision cage of the unmanned aerial vehicle.

9. The unmanned aerial vehicle system according to claim 8, wherein the recess of the base station has an opening smaller than the collision cage of the unmanned aerial vehicle.

10. An unmanned aerial vehicle having a controller operably connected to another vehicle, the other vehicle having a base station configured to receive the unmanned aerial vehicle, the controller being configured to: Determine the speed of the unmanned aerial vehicle; Determine the speed of the other vehicle; and Adjust the speed of at least one of the unmanned aerial vehicle and the other vehicle to ensure that the difference between the speed of the unmanned aerial vehicle and the speed of the other vehicle is greater than a predetermined amount when the unmanned aerial vehicle lands on the other vehicle; wherein the unmanned aerial vehicle has a collision cage, wherein the collision cage is an elastic structure, and the other vehicle has a base station configured to receive the collision cage of the unmanned aerial vehicle, and it includes: Adjust the speed of at least one of the unmanned aerial vehicle and the other vehicle to ensure that the difference between the speed of the unmanned aerial vehicle and the speed of the other vehicle is higher than a predetermined value when the collision cage engages the base station; Determine the spring stiffness of the collision cage; Determine the force with which the collision cage engages the base station; Determine the maximum deformation amount of the collision cage when the collision cage engages the base station; and Deploy a deployable restraint device before the collision cage reaches its maximum deformation amount.

11. A vehicle configured to receive an unmanned aerial vehicle, the vehicle having a controller operably connected to the unmanned aerial vehicle, the controller being configured to: Determine the speed of the unmanned aerial vehicle; Determine the speed of the vehicle; and Adjust the speed of at least one of the unmanned aerial vehicle and the vehicle to ensure that the difference between the speed of the unmanned aerial vehicle and the speed of the vehicle is greater than a predetermined amount when the unmanned aerial vehicle lands on the vehicle; Wherein the unmanned aerial vehicle has a collision cage, wherein the collision cage is an elastic structure, and the vehicle has a base station configured to receive the collision cage of the unmanned aerial vehicle, and it includes: Adjusting the speed of at least one of the unmanned aerial vehicle and the vehicle to ensure that the difference between the speed of the unmanned aerial vehicle and the speed of the vehicle is higher than a predetermined value when the collision cage engages the base station; Determining the spring stiffness of the collision cage; Determining the force with which the collision cage engages the base station; Determining the maximum deformation amount of the collision cage when the collision cage engages the base station; and Deploying a deployable restraint device before the collision cage reaches its maximum deformation amount.

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