Unmanned aerial vehicle (UAV) landing system and method

Abstract

This application provides an unmanned aerial vehicle (UAV) landing system and method. A system (100) for landing an unmanned aerial vehicle (UAV) (102) at a destination (202) includes a landing coordination control unit (114) configured to switch the UAV (102) from a normal operating mode to a landing mode in response to the UAV (102) entering a controlled airspace (204) relating to the destination (202). The normal operating mode includes normal instructions (202) for flight and navigation to the destination. The landing mode includes landing instructions for entering a landing sequence in the landing area (200) at the destination (202).

Description

Technical Field

[0001] Embodiments of the present disclosure relate generally to systems and methods for landing an unmanned aerial vehicle (UAV), and more particularly, to systems and methods for automatically landing a UAV at a destination in an efficient and orderly manner. Background Art

[0002] UAVs (also known as aerial drones) are rapidly becoming available to businesses and individuals. For example, some businesses may utilize UAVs to deliver products to customers. As another example, individuals may fly UAVs for recreational purposes.

[0003] The airspace at certain locations may be congested with a relatively large number of UAVs. In addition, certain airspace may be regulated for safety reasons. For example, the airspace around airports, the airspace around professional sporting events, etc. may be regulated in order to restrict the number of UAVs therein.

[0004] Additionally, many UAVs may arrive at a particular location over the course of a day. For example, various business-related UAVs may arrive at a location at or near an airport, within a large metropolitan area, etc. It will be appreciated that the many UAVs arriving at a particular location may cause the UAVs to interfere with each other or other aircraft (such as commercial aircraft) at or near that location.

[0005] UAVs may not be allowed to fly or land at or near certain locations. Typically, in areas where UAV landing is permitted, human intervention is required to land the UAV. As usage increases, the number of UAVs may exceed that of commercial aircraft within the airspace. Thus, humane management and control of UAV traffic may prove difficult, if not impossible, in the future. Summary of the invention

[0006] A system and method for coordinating the arrival of a UAV at a specific location is needed. In addition, a system and method for automatically and safely landing a UAV at a specific location is needed.

[0007] In view of these needs, certain embodiments of the present disclosure provide a system for landing an unmanned aerial vehicle (UAV) at a destination. The system includes a landing coordination control unit configured to switch the UAV from a normal operating mode to a landing mode in response to the UAV entering controlled airspace about the destination. The normal operating mode includes normal instructions for flying and navigating to the destination. The landing mode includes landing instructions for a landing sequence in a landing zone at the destination. The landing sequence may include one or more waiting patterns.

[0008] The system may include a monitoring station separate and distinct from the UAV. The monitoring station may include a landing coordination control unit. The monitoring station may be located at the destination. In at least one other embodiment, the UAV includes a landing coordination control unit.

[0009] In at least one embodiment, the landing coordination control unit is configured to overtake operational control of the UAV in the landing mode to automatically land the UAV in the landing zone. In at least one embodiment, the landing coordination control unit is configured to send landing instructions to the UAV.

[0010] The landing instructions may be stored in an operation control unit of the UAV. The UAV may include a signal sensor configured to detect a signal from the landing coordination control unit.

[0011] Certain embodiments of the present disclosure provide a method for landing an unmanned aerial vehicle (UAV) at a destination. The method includes: using a landing coordination control unit to switch the UAV from a normal operating mode to a landing mode in response to the UAV entering controlled airspace about the destination. The normal operating mode includes normal instructions for flying and navigating to the destination. The landing mode includes landing instructions for entering a landing sequence in a landing zone at the destination.

[0012] The method may include locating the landing coordination control unit in a monitoring station separate and distinct from the UAV. Optionally, the method may include locating the landing coordination control unit in the UAV.

[0013] Certain embodiments of the present disclosure provide a system for landing an unmanned aerial vehicle (UAV) at a destination. The system includes a plurality of UAVs that are to arrive at the destination. A landing coordination control unit is configured to switch the UAVs from a normal operating mode to a landing mode in response to the UAVs entering controlled airspace about the destination. The normal operating mode includes normal instructions for flying and navigating to the destination. The landing mode includes landing instructions for a landing sequence in a landing zone at the destination. The landing coordination control unit is configured to automatically provide a sequence for landing the plurality of UAVs at the landing zone. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 is a block diagram of a UAV landing system according to an exemplary embodiment of the present disclosure.

[0015] Figure 2 is a schematic diagram of a UAV landing system configured to coordinate the arrival and landing of a UAV at a landing zone at a destination, according to an exemplary embodiment of the present disclosure.

[0016] Figure 3A graphical representation of a top view of a UAV according to an exemplary embodiment of the present disclosure.

[0017] Figure 4 A flow chart showing a UAV landing method according to an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION

[0018] When reading in conjunction with the accompanying drawings, the aforementioned summary of the invention and the following detailed description of certain embodiments will be better understood. As used herein, an element or step in the singular and beginning with the word "one" or "an" should be understood as not necessarily excluding multiple elements or steps. In addition, reference to "an embodiment" is not intended to be interpreted as excluding the existence of additional embodiments that also include the features. In addition, unless explicitly stated to the contrary, an embodiment that "includes" or "has" an element or multiple elements with a specific condition may include additional elements that do not have the condition.

[0019] Embodiments of the present disclosure provide systems and methods that coordinate the arrival of one or more unmanned aerial vehicles (UAVs) at a fixed location and the sequential landing of the UAVs at the fixed location. Certain embodiments of the present disclosure provide systems and methods for unmanned aerial vehicle (UAV) landings, which are configured to control the approach and arrival of the UAV at a specific landing location, such as a designated UAV port. In at least one embodiment, the UAV landing system and method include a landing coordination control unit that is configured to switch the UAV to a landing mode within a defined controlled airspace. For example, when the UAV enters a predetermined distance from the landing location, the UAV may switch to a landing mode. For example, the predetermined distance may be 50 feet, 100 feet, 200 feet or more.

[0020] In at least one embodiment, the UAV begins a mission in a normal operating mode, in which the UAV flies and navigates toward a destination including a landing location in a known, usual manner. In the normal operating mode, the UAV operates and flies according to preprogrammed instructions that cause the UAV to fly and navigate to the destination. In response to the UAV entering the controlled airspace above and around the landing location at the destination, the UAV switches to a landing mode. In the landing mode, the UAV can detect and receive landing instructions output by a landing coordination control unit. For example, the landing instructions can be sent via infrared signals, ultrasonic signals, radio signals, etc. The landing instructions can be changed according to the current weather and traffic conditions near the destination. Alternatively, the UAV can be preprogrammed with landing instructions instead of the UAV receiving the landing instructions (or instead of detecting and receiving the landing instructions).

[0021] Embodiments of the present disclosure provide UAV landing systems and methods that safely integrate UAVs into airspace while allowing flexibility and spontaneity of UAV missions. Embodiments of the present disclosure provide automatic UAV landing systems and methods that do not require humans to control UAV traffic.

[0022] Figure 1 1 is a block diagram of a UAV landing system 100 according to an exemplary embodiment of the present disclosure. The UAV landing system 100 includes a UAV 102 and a monitoring station 104. The monitoring station 104 may be located at or near a particular location where the UAV 102 is to land. The monitoring station 104 is configured to communicate with the UAV 102, such as via infrared, laser, ultrasound, radio, and / or other such wireless signals.

[0023] The UAV 102 includes an operation control unit 106 that is operably coupled to a propulsion system 108, a communication device 110, and a position sensor 112, such as through one or more wired or wireless connections. The propulsion system 108 may include one or more turbofan engines, one or more propellers, one or more rotors (such as used with a helicopter), etc. The communication device 110 may be an antenna, a transceiver, a radio, a camera, etc. configured to receive and send wireless communication signals. The position sensor 112 may be a navigation device, such as a global positioning system (GPS) device, which is configured to, for example, detect and determine the position of the UAV relative to a destination.

[0024] Monitoring station 104 may be a land-based station at or near the destination. Alternatively, monitoring station 104 may be remote from the destination. As another example, monitoring station 104 may be on an aircraft, ship, spacecraft, etc. In at least one embodiment, monitoring station 104 may be on a geostationary satellite.

[0025] The monitoring station 104 includes a landing coordination control unit 114 operably coupled to a communication device 116 (such as an antenna, transceiver, radio, camera, etc. configured to receive and send wireless communication signals). For example, the landing coordination control unit 114 can send landing instructions to the UAV 102 through the communication device 116. The UAV 102 and the monitoring station 104 communicate with each other through the corresponding communication devices 110 and 116. Optionally, the landing coordination control unit 114 can be on the UAV 102 instead of within the monitoring station 104.

[0026] In operation, the UAV 102 departs from a departure location toward a destination according to a normal operating mode, and instructions for the normal operating mode may be stored in a memory of the operation control unit 106 (and / or in a memory coupled to the operation control unit 106). The normal operating mode includes normal instructions for flying and navigating to the destination. For example, in the normal operating mode, the UAV 102 flies and navigates toward the destination according to the flight plan.

[0027] When the UAV 102 enters controlled airspace about the destination, the UAV 102 switches from the normal operating mode to the landing mode. The landing mode includes landing instructions for entering a landing sequence in a landing zone at the destination. For example, when the UAV 102 enters controlled airspace (such as determined by the position of the UAV 102 detected by the position sensor 112), the landing coordination control unit 114 may output a landing mode signal to the UAV 102. The UAV 102 receives the landing mode signal from the monitoring station 104. The operation control unit 106 receives the landing mode signal and switches the UAV 102 to the landing mode.

[0028] In at least one embodiment, the landing mode signal output from the monitoring station includes instructions for a landing sequence. In at least one other embodiment, the operation control unit 106 is preprogrammed with instructions for a landing sequence, and the landing mode signal from the monitoring station simply causes the operation control unit 106 of the UAV 102 to switch from a normal operation mode to a landing mode. In at least one other embodiment, when the operation control unit 106 switches to the landing mode, the landing coordination control unit 114 takes over the operation control of the UAV 102 to automatically land the UAV 102 at the destination.

[0029] The landing sequence provides a coordinated controlled landing of the UAV 102. For example, the landing sequence may cause the UAV 102 to initiate a waiting pattern at a particular altitude (such as 100 feet) for a predetermined time (such as 30 seconds), after which the UAV may descend to a lower altitude (such as 50 feet) for a predetermined time (such as 20 seconds) before approaching and landing at a landing zone at the destination. The landing sequence may include additional, fewer, and / or different waiting patterns (or no waiting patterns) for a longer or shorter period of time than indicated. It should be understood that the landing sequences described are non-limiting examples only.

[0030] Furthermore, based on the UAV traffic about the destination, the landing sequence may be different for different UAVs 102. For example, if many UAVs 102 are approaching the destination, the landing sequence may include a different waiting pattern for each UAV 102. As another example, if a relatively small number of UAVs 102 are approaching the destination, the landing sequence may not include any waiting patterns, but may only include a direct approach and landing procedure.

[0031] Figure 2 1 is a schematic diagram of a UAV landing system 100 configured to coordinate the arrival and landing of UAVs 102a, 102b, 102c, and 102d at a landing zone 200 at a destination 202, according to an exemplary embodiment of the present disclosure. As shown, UAVs 102a, 102b, 102c, and 102d are approaching the destination 202 and are about to land at the landing zone 200. More or fewer UAVs than shown may be approaching the destination 202.

[0032] Controlled airspace 204 is defined at destination 202 above and around landing zone 200. Controlled airspace 204 may be a hemispherical volume of space. For example, controlled airspace 204 may be defined by a radial distance r from the center of landing zone 200. The radial distance r may be, for example, 200 feet. It should be understood that 200 feet is only a non-limiting example. The radial distance r may optionally be greater than or less than 200 feet (such as 1 mile or 50 feet). Moreover, optionally, controlled airspace 204 may be shaped other than hemispherical. For example, controlled airspace 204 may be cylindrical or conical.

[0033] refer to Figure 1 and Figure 2 , UAV 102a, UAV 102b, UAV 102c, and UAV 102d fly toward destination 202 according to a normal operating mode outside of controlled airspace 204. When UAV 102a, UAV 102b, UAV 102c, and UAV 102d enter controlled airspace 204 (such as Figure 12c), UAV 102a, UAV 102b, UAV 102c, and UAV 102d switch to landing mode. As described above, monitoring station 104 may output landing mode signals to UAV 102a, UAV 102b, UAV 102c, and UAV 102d when UAV 102a, UAV 102b, UAV 102c, and UAV 102d enter controlled airspace 204. Landing coordination control unit 114 automatically coordinates landing of UAV 102a, UAV 102b, UAV 102c, and UAV 102d at landing zone 200, such as based on the order in which UAV 102a, UAV 102b, UAV 102c, and UAV 102d enter controlled airspace 204. In at least one embodiment, the position sensor 112 determines the position of the UAV 102a, UAV 102b, UAV 102c, and UAV 102d. The landing coordination control unit 114 receives the communication position signals of the UAV 102a, UAV 102b, UAV 102c, and UAV 102d. In at least one other embodiment, the monitoring station 104 can track the position of the UAV 102a, UAV 102b, UAV 102c, and UAV 102d through a separate tracking system, such as radar, satellite tracking, ADS-B, etc.

[0034] As shown, UAV 102c is within controlled airspace 204. As such, UAV 102c is the first to switch to landing mode and, therefore, may be the first to land in landing zone 200. The landing order may be based on the time at which each of UAV 102a, UAV 102b, UAV 102c, and UAV 102d enters controlled airspace 204. Optionally, landing coordination control unit 114 may coordinate the landings of UAV 102a, UAV 102b, UAV 102c, and UAV 102d based on additional factors, such as total flight time, capabilities of UAV 102a, UAV 102b, UAV 102c, and UAV 102d (e.g., remaining power, remaining fuel, etc.), weather conditions, age of UAV 102a, UAV 102b, UAV 102c, and UAV 102d, etc. For example, the landing coordination control unit 114 may reorder the landing queue based on whether one of the UAVs 102a, 102b, 102c, and 102d has been flying longer than the others. In this manner, a UAV 102 that enters the controlled airspace 204 after the other UAVs 102 may land before the other UAVs 102. As another example, the landing coordination control unit 114 may arbitrate landing commands for multiple UAVs 102 that enter the controlled airspace 204 simultaneously, such as based on flight time, relative sizes of the UAVs, departure points, etc.

[0035] like Figure 1 and Figure 2 As shown, the landing coordination control unit 114 may be housed within the monitoring station 104. Optionally, one or more of the UAV 102a, UAV 102b, UAV 102c, and UAV 102d may include the landing coordination control unit 114. For example, the operation control unit 106 of at least one of the UAV 102a, UAV 102b, UAV 102c, and UAV 102d may include the landing coordination control unit 114 (or, the landing coordination control unit 114 may be operably coupled to the operation control unit 106). In at least one embodiment, each of the UAV 102a, UAV 102b, UAV 102c, and UAV 102d may include a separate landing coordination control unit 114. Thus, the UAV landing system 100 may not include a separate and distinct monitoring station 104. Alternatively, the landing coordination control unit 114 may be on at least one of the UAVs 102a, 102b, 102c, and 102d, and the UAVs 102a, 102b, 102c, and 102d may communicate among themselves to coordinate the landing of each of the UAVs 102a, 102b, 102c, and 102d.

[0036] As described herein, the UAV 102 operates according to a normal operating mode outside of the controlled airspace 204 to fly and navigate toward the destination 202. In response to the UAV 102 entering the controlled airspace 204, the UAV 102 switches to a landing mode. The UAV 102 may store instructions for a landing sequence in a memory and / or may receive instructions for a landing sequence from the landing coordination control unit 114. The UAV 102 follows the instructions for the landing sequence to automatically land at the landing zone 200.

[0037] In at least one embodiment, the landing coordination control unit 114 takes over operational control of the UAVs 102 in the landing mode to automatically land them at the landing zone 200. For example, instructions for a landing sequence may be stored in a memory of the landing coordination control unit 114, and the landing coordination control unit 114 may control the UAVs 102 in the landing mode according to the instructions, instead of merely transmitting the instructions to the UAVs 102.

[0038] The landing coordination control unit 114 provides instructions that define one or more procedures for the arrival and landing of the UAV 102. The instructions are automatically output and / or otherwise followed in response to the UAV 102 entering the controlled airspace 204 (such as when the UAV 102 reaches a predetermined distance from the landing zone 200). Each procedure assigned to the UAV 102 may be appropriate for the capabilities of the particular UAV 102 (such as current speed, distance, angular position, etc.).

[0039] Reference again Figure 1 In at least one embodiment, the UAV 102 may include a signal sensor 113 (such as an ultrasonic, infrared, laser, or other such sensor) that may be configured to detect a corresponding signal output by the monitoring station 104. For example, when the UAV 102 enters the controlled airspace 204, the UAV 102 switches to a landing mode and activates the signal sensor 113 to scan and detect the signal output by the monitoring station 104. Until the UAV 102 receives the signal output by the monitoring station 104, the UAV 102 may be in a waiting pattern. The signal output by the monitoring station 104 may include instructions for a landing sequence. In response to the UAV 102 receiving the signal from the monitoring station 104, the UAV 102 may then initiate a landing sequence based on the received instructions. Optionally, the UAV 102 may not include the signal sensor 113, but may communicate with a landing coordination control unit 114 as described herein.

[0040] As used herein, the terms "control unit," "central processing unit," "unit," "CPU," "computer," and the like may include any processor-based or microprocessor-based system, including systems using microcontrollers, reduced instruction set computers (RISC), application specific integrated circuits (ASICs), logic circuits, and any other circuit or processor including hardware, software, or a combination thereof capable of performing the functions described herein. These are exemplary only and are not intended to limit the definition and / or meaning of these terms in any way. For example, the operation control unit 106 and the landing coordination control unit 114 may be or include one or more processors that are configured to control the operation of the UAV 102 as described herein.

[0041] The operation control unit 106 and the landing coordination control unit 114 are configured to execute a set of instructions stored in one or more data storage units or elements, such as one or more memories, in order to process data. For example, the operation control unit 106 and the landing coordination control unit 114 may include or be coupled to one or more memories. The data storage unit may also store data or other information as desired or required. The data storage unit may be in the form of an information source or physical storage element within a processor.

[0042] The set of instructions may include various commands that instruct the operation control unit 106 and the landing coordination control unit 114 as a processing machine to perform specific operations, such as the methods and processes of various embodiments of the subject matter described herein. The set of instructions may be in the form of a software program. The software may be in various forms, such as system software or application software. In addition, the software may be in the form of a collection of separate programs, a subset of programs within a larger program, or a portion of a program. The software may also include modular programming in the form of object-oriented programming. The processing of the input data by the processing machine may be in response to user commands, or in response to the results of previous processing, or in response to a request made by another processing machine.

[0043] The diagrams of the embodiments herein may illustrate one or more control or processing units, such as the operation control unit 106 and the landing coordination control unit 114. It should be understood that the processing or control unit may represent a circuit, circuit system, or a portion thereof, which may be implemented as hardware with relevant instructions (e.g., software stored on a tangible and non-transitory computer-readable storage medium, such as a computer hard drive, ROM, RAM, etc.) to perform the operations described herein. The hardware may include state machine circuits that are hardwired to perform the functions described herein. Optionally, the hardware may include electronic circuits that include and / or are connected to one or more logic-based devices, such as microprocessors, processors, controllers, etc. Optionally, the operation control unit 106 and the landing coordination control unit 114 may represent processing circuits, such as one or more of a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a microprocessor, etc. The circuits in various embodiments may be configured to execute one or more algorithms to perform the functions described herein. The one or more algorithms may include aspects of the embodiments disclosed herein, whether or not explicitly identified in a flow chart or method.

[0044] As used herein, the terms "software" and "firmware" are interchangeable and include any computer program stored in a data storage unit (e.g., one or more memories) for execution by a computer, including RAM memory, ROM memory, EPROM memory, EEPROM memory, and non-volatile RAM (NVRAM) memory. The above data storage unit types are exemplary only and are not limiting as to the types of memories that may be used to store computer programs.

[0045] Figure 3 1 is a diagrammatic representation of a top view of a UAV 102 according to an exemplary embodiment of the present disclosure. The UAV 102 may include a fuselage 320 and a plurality of propulsion systems 322 coupled to the fuselage 320. Generally, the fuselage 320 forms a structural body or framework of the UAV 102. Figure 3 In the illustrated embodiment shown, the UAV 102 includes four propulsion systems 322, such that each propulsion system 322 is mounted to a respective arm 324, arm 325, arm 326, and arm 327. In the illustrated embodiment, the UAV 102 includes four arms 324-327 and a single propulsion system 322 mounted to each respective arm 324-327. Optionally, the UAV 102 may include more or fewer propulsion systems 322, more or fewer propulsion systems 322 per arm 324-327, and more or fewer arms 324-327 than shown.

[0046] Figure 3The UAV 102 shown in FIG. 1 is only one example of a UAV 102. The UAV 102 may optionally be a fixed-wing aircraft having various other types of propulsion systems. For example, the UAV 102 may be an unmanned aircraft having one or more propellers, a jet engine, and the like.

[0047] Figure 4 A flow chart of a UAV landing method according to an exemplary embodiment of the present disclosure is shown. Figure 1 , Figure 2 and Figure 4 , the method begins at 400, where the UAV 102 departs from a starting location toward a destination 202. At 402, the UAV 102 operates according to a normal operating mode to fly and navigate toward the destination 202.

[0048] At 404, the landing coordination control unit 114 (whether in the monitoring station 104 or on the UAV 102) determines whether the UAV 102 is within the controlled airspace 204 above and around the landing zone 200 at the destination 202. If the UAV 102 is not within the controlled airspace 204, the method returns to 402.

[0049] However, if the UAV 102 is within the controlled airspace 204, the method proceeds from 404 to 406, where the UAV 102 switches to the landing mode. In the landing mode, the UAV 102 may receive instructions for a landing sequence from the landing coordination control unit 114. For example, the landing coordination control unit 114 of the monitoring station 104 may send landing instructions to the UAV 102.

[0050] At 408, the UAV 102 then automatically lands (without human intervention) at the landing zone 200 at the destination 202 according to the instructions for the landing sequence. The method then ends at 410.

[0051] As described herein, embodiments of the present disclosure provide a UAV landing system and method that does not require human intervention. The UAV landing system and method automatically, efficiently, and safely coordinates the arrival of a UAV at a specific destination.

[0052] Embodiments of the present disclosure provide systems and methods that allow computing devices to quickly and efficiently analyze large amounts of data. For example, over the course of a day, hundreds or even thousands of UAVs may attempt to land at a destination. During this period, the number of drones may exceed the number of commercial aircraft in the airspace. As described herein, the landing coordination control unit 114 effectively analyzes large amounts of data. The UAV landing system and method analyzes data about the UAV in a relatively short period of time. Humans (such as air traffic controllers who have been focused on commercial aircraft) may not be able to analyze such a large amount of data in such a short period of time. Thus, embodiments of the present disclosure provide superior performance relative to human analysis of large amounts of data. In short, embodiments of the present disclosure provide systems and methods for analyzing thousands (if not millions) of operations and calculations that humans cannot efficiently, effectively, and accurately manage.

[0053] Furthermore, the present disclosure includes embodiments according to the following items:

[0054] Item 1. A system for landing an unmanned aerial vehicle (UAV) at a destination, the system comprising:

[0055] A landing coordination control unit configured to switch the UAV from a normal operating mode to a landing mode in response to the UAV entering controlled airspace regarding a destination, wherein the normal operating mode includes a normal operating mode for flying and navigating to the destination, and wherein the landing mode includes landing instructions for entering a landing sequence in a landing zone at the destination.

[0056] Item 2. The system according to Item 1 further includes a monitoring station separate and different from the UAV, wherein the monitoring station includes a landing coordination control unit.

[0057] Item 3. A system according to Item 2, wherein the monitoring station is located at the destination.

[0058] Item 4. The system according to any one of Items 1-3, further comprising a UAV, wherein the UAV comprises a landing coordination control unit.

[0059] Item 5. A system according to any one of Items 1 to 4, wherein the landing sequence includes one or more waiting patterns.

[0060] Item 6. A system according to any one of items 1 to 5, wherein the landing coordination control unit is configured to take over operational control of the UAV in the landing mode to make the UAV automatically land at the landing area.

[0061] Item 7. A system according to any one of Items 1 to 6, wherein the landing coordination control unit is configured to send landing instructions to the UAV.

[0062] Item 8. A system according to any one of Items 1 to 7, wherein the landing instructions are stored in an operation control unit of the UAV.

[0063] Item 9. A system according to any one of Items 1 to 8, wherein the UAV includes a signal sensor configured to detect a signal from a landing coordination control unit.

[0064] Item 10. A method for landing an unmanned aerial vehicle (UAV) at a destination, the method comprising:

[0065] A landing coordination control unit is used to switch the UAV from a normal operating mode to a landing mode in response to the UAV entering controlled airspace regarding a destination, wherein the normal operating mode includes normal instructions for flying and navigating to the destination, and wherein the landing mode includes landing instructions for entering a landing sequence in a landing zone at the destination.

[0066] Item 11. The method according to Item 10 further includes placing the landing coordination control unit in a monitoring station that is separate and different from the UAV.

[0067] Item 12. The method according to Item 11 further includes positioning the monitoring station at the destination.

[0068] Item 13. The method according to any one of Items 10-12 further includes setting a landing coordination control unit within the UAV.

[0069] Item 14. A method according to any one of Items 10 to 13, wherein the landing sequence includes one or more waiting patterns.

[0070] Item 15. A method according to any one of items 10 to 14, wherein using the landing coordination control unit includes taking over operational control of the UAV in landing mode to automatically land the UAV at a landing area.

[0071] Item 16. A method according to any one of items 10 to 15, wherein using a landing coordination control unit includes sending landing instructions to the UAV.

[0072] Item 17. The method according to any one of Items 10 to 16 further includes storing landing instructions in an operation control unit of the UAV.

[0073] Item 18. The method according to any one of Items 10 to 17 further comprises detecting a signal from a landing coordination control unit using a signal sensor of the UAV.

[0074] Item 19. A system for landing a plurality of unmanned aerial vehicles (UAVs) at a destination, the system comprising:

[0075] Multiple UAVs to reach the destination; and

[0076] A landing coordination control unit configured to switch the plurality of UAVs from a normal operating mode to a landing mode in response to the plurality of UAVs entering controlled airspace regarding a destination, wherein the normal operating mode includes normal instructions for flying and navigating to the destination, wherein the landing mode includes landing instructions for a landing sequence in a landing zone at the destination, and wherein the landing coordination control unit is configured to automatically provide a landing sequence for the plurality of UAVs at the landing zone.

[0077] Item 20. The system of Item 19, further comprising a monitoring station separate and distinct from the plurality of UAVs, wherein the monitoring station comprises a landing coordination control unit.

[0078] Although various spatial and directional terms such as top, bottom, lower, middle, lateral, horizontal, vertical, portion, etc. may be used to describe the embodiments of the present disclosure, it should be understood that such terms are used only with respect to the orientation shown in the figures. The orientation may be reversed, rotated, or otherwise changed so that upper becomes lower and vice versa, horizontal becomes vertical, etc.

[0079] As used herein, a structure, limitation, or element that is "configured to" perform a task or operation is formed, constructed, or adapted in a particular structure in a manner corresponding to the task or operation. For the purposes of clarity and avoidance of doubt, an object that is merely capable of being modified to perform a task or operation is not "configured to" perform a task or operation as used herein.

[0080] It should be understood that the above description is intended to be illustrative rather than restrictive. For example, the above embodiments (and / or aspects thereof) may be used in combination with each other. In addition, without departing from the scope of the present disclosure, many modifications may be made to adapt specific situations or materials to the teachings of the various embodiments of the present disclosure. Although the size and type of the material described herein are intended to limit the parameters of the various embodiments of the present disclosure, the embodiments are by no means limiting embodiments, but exemplary embodiments. After reading the above description, many other embodiments will be obvious to those skilled in the art. Therefore, the scope of the various embodiments of the present disclosure should be determined with reference to the appended claims and the full scope of the equivalents granted by these claims. In the appended claims, the terms "including" and "wherein" are used as the ordinary English equivalents of the corresponding terms "including" and "wherein". In addition, the terms "first", "second" and "third" etc. are used only as marks and are not intended to impose numerical requirements on their objects. In addition, the limitations of the following claims are not written in the format of device plus function, and are not intended to be interpreted based on 35 U.S.C. § 112 (f), unless and until such claim limitations explicitly use the phrase "device for..." and the subsequent functional statement without other structures.

[0081] This written description uses examples to disclose various embodiments of the present disclosure, including the best mode, and also to enable any person skilled in the art to practice the various embodiments of the present disclosure, including making and using any device or system, and performing any incorporated method. The patentable scope of the various embodiments of the present disclosure is defined by the claims, and may include other examples that occur to those skilled in the art. If the examples have structural elements that do not differ from the literal language of the claims, or if the examples include equivalent structural elements that are not substantially different from the literal language of the claims, these other examples are intended to be within the scope of the claims.

Claims

1. A system (100) for automatically landing a plurality of unmanned aerial vehicles (102) at a destination (202), the system comprising: a landing coordination control unit (114) configured to switch the unmanned aerial vehicle (102) from a normal operating mode to a landing mode in response to the unmanned aerial vehicle (102) entering controlled airspace (204) about the destination (202), wherein the normal operating mode includes normal instructions for flying and navigating to the destination (202), and wherein the landing mode includes landing instructions for an automatic landing sequence in a landing zone (200) at the destination (202), The landing coordination control unit (114) is configured to determine the order in which the unmanned aerial vehicles land at the destination (202) according to the time when each of the unmanned aerial vehicles enters the controlled airspace (204).

2. The system (100) of claim 1, further comprising a monitoring station (104) separate and distinct from the UAV (102), wherein: The monitoring station (104) includes the landing coordination control unit (114).

3. The system (100) according to claim 2, wherein: The monitoring station (104) is located at the destination (202).

4. The system (100) of claim 1, further comprising the unmanned aerial vehicle (102), wherein: The unmanned aerial vehicle (102) includes the landing coordination control unit (114).

5. The system (100) according to any one of claims 1 to 4, wherein: The landing coordination control unit (114) is configured to take over the operational control of the unmanned aerial vehicle (102) in the landing mode, so as to make the unmanned aerial vehicle (102) automatically land at the landing area (200).

6. The system (100) according to any one of claims 1 to 4, wherein: The landing coordination control unit (114) is configured to send the landing instruction to the unmanned aerial vehicle (102).

7. The system (100) according to any one of claims 1 to 4, wherein: The landing instruction is stored in an operation control unit (106) of the unmanned aerial vehicle (102).

8. The system (100) according to any one of claims 1 to 4, wherein: The unmanned aerial vehicle (102) comprises a signal sensor (113) configured to detect a signal from the landing coordination control unit (114).

9. The system (100) according to claim 1, wherein: The landing sequence includes one or more holding patterns.

10. A method for automatically landing a plurality of unmanned aerial vehicles (102) at a destination (202), the method comprising: using a landing coordination control unit (114) in response to the unmanned aerial vehicle (102) entering controlled airspace (204) about the destination (202), switching the unmanned aerial vehicle (102) from a normal operating mode to a landing mode, wherein the normal operating mode includes normal instructions for flying and navigating to the destination (202), and wherein the landing mode includes landing instructions for an automatic landing sequence in a landing zone (200) at the destination (202), and The order in which the unmanned aerial vehicles land at the destination (202) is determined based on the time at which each of the unmanned aerial vehicles enters the controlled airspace (204).

11. The method of claim 10, further comprising locating the landing coordination control unit (114) in a monitoring station (104) separate and distinct from the unmanned aerial vehicle (102).

12. The method of claim 10, further comprising locating the landing coordination control unit (114) within the unmanned aerial vehicle (102).

13. The method according to any one of claims 10 to 12, wherein: Using the landing coordination control unit (114) includes taking over operational control of the unmanned aerial vehicle (102) in the landing mode to automatically land the unmanned aerial vehicle (102) at the landing zone (200).

14. The method according to any one of claims 10 to 12, wherein: Using the landing coordination control unit (114) includes sending the landing instruction to the unmanned aerial vehicle (102).

15. The method according to any one of claims 10 to 12, further comprising storing the landing instruction in an operation control unit (106) of the unmanned aerial vehicle (102).

16. The method according to any one of claims 10 to 12, further comprising detecting the signal from the landing coordination control unit (114) with a signal sensor (113) of the unmanned aerial vehicle (102).

17. The method of claim 11, further comprising locating the monitoring station at a destination.

18. The method according to claim 10, wherein: The landing sequence includes one or more holding patterns.

19. A system for automatically landing a plurality of unmanned aerial vehicles (UAVs) at a destination, the system comprising: multiple unmanned aerial vehicles that will reach their destination; as well as a landing coordination control unit configured to switch the plurality of unmanned aerial vehicles from a normal operating mode to a landing mode in response to the plurality of unmanned aerial vehicles entering controlled airspace associated with a destination, wherein the normal operating mode includes normal instructions for flying and navigating to the destination, wherein the landing mode includes landing instructions for an automatic landing sequence in a landing zone at the destination, and wherein the landing coordination control unit is configured to automatically provide a landing sequence for the plurality of unmanned aerial vehicles at the landing zone, Wherein, the landing coordination control unit is configured to determine the order in which the unmanned aerial vehicles land at the destination according to the time when each of the unmanned aerial vehicles enters the controlled airspace.

20. The system of claim 19, further comprising a monitoring station separate and distinct from the plurality of unmanned aerial vehicles, wherein the monitoring station includes the landing coordination control unit.

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