UAV landing system and method

Abstract

An exemplary UAV landing system and method are described. In one implementation, a landing platform includes a conveyor belt capable of supporting an unmanned aerial vehicle (UAV). The conveyor belt is movable in a first direction and a second direction opposite the first direction. The landing platform also includes a first positioning bumper and a second positioning bumper, wherein the first positioning bumper and the second positioning bumper are capable of repositioning the UAV on the conveyor belt. The landing platform also includes a bracket capable of receiving and securing the UAV.

Description

Technical Field

[0001] The present disclosure relates to systems and methods that support landing and positioning of unmanned aerial vehicles (UAVs). Background Art

[0002] Landing an unmanned aerial vehicle (UAV) in a specific location can be difficult. Precise landing location is hampered by turbulence created by air expelled by the UAV's propellers and reflected by the landing surface. Precise landing becomes even more difficult if the UAV is landing on a moving surface, such as a moving vehicle. In many cases, the UAV must be precisely positioned to successfully load / unload a payload, attach a charging system, etc. Therefore, it is necessary to correctly position the UAV on the landing platform to support loading / unloading payloads and other activities. Summary of the Invention

[0003] In one aspect of the present invention, a landing platform includes a conveyor belt configured to support an unmanned aerial vehicle (UAV), the conveyor belt configured to move in a first direction and a second direction opposite the first direction. The landing platform may include a first positioning bumper and a second positioning bumper, wherein the first positioning bumper and the second positioning bumper are configured to reposition the UAV on the conveyor belt. The landing platform may also include a bracket configured to receive and secure the UAV.

[0004] In some embodiments, the first positioning bumper and the second positioning bumper reposition the UAV on the conveyor belt so that the UAV is aligned with the bracket.

[0005] In some embodiments, the conveyor belt is configured to move the UAV toward the support so that the UAV engages the support when it reaches the edge of the conveyor belt.

[0006] In some embodiments, the first positioning bumper and the second positioning bumper change the orientation of the UAV so that when the UAV is engaged with the bracket, the UAV is properly oriented. In some embodiments, the UAV is oriented so that the UAV is properly aligned to load or unload a payload when secured by the bracket.

[0007] In some embodiments, the support comprises at least one mechanical gripper configured to engage a support structure of the UAV to secure the UAV to the support.

[0008] In some embodiments, the landing platform includes a plurality of brackets, wherein each of the plurality of brackets is configured to receive and secure one of a plurality of UAVs.

[0009] In some embodiments, the landing platform is mounted to a delivery vehicle that carries at least one item to be delivered by the UAV. In some embodiments, the landing platform is mounted to a vehicle and is configured to recharge the UAV while the UAV is secured in the support.

[0010] A corresponding method is also disclosed and claimed. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Non-limiting and non-exhaustive embodiments of the present disclosure are described with reference to the following figures, wherein like reference numerals refer to like parts throughout the various figures unless otherwise specified.

[0012] Figure 1 is a block diagram depicting an environment in which illustrative embodiments may be implemented.

[0013] Figure 2 An embodiment of a landing platform capable of receiving a drone is shown.

[0014] Figure 3A and Figure 3B Shown Figure 2 The landing platform includes two positioning bumpers, which adjust the orientation of the UAV on the landing platform.

[0015] Figure 4 is a block diagram illustrating an embodiment of a drone.

[0016] Figure 5 is a block diagram illustrating an embodiment of a UAV management system.

[0017] Figure 6 is a flow chart illustrating an embodiment of a method for landing, positioning, and moving a drone on a landing platform. DETAILED DESCRIPTION

[0018] In the following disclosure, reference is made to the accompanying drawings, which form a part of the present disclosure and in which are shown by way of illustration specific implementations in which the present disclosure may be practiced. It should be understood that other implementations may be utilized and structural changes may be made without departing from the scope of the present disclosure. References in the specification to "one embodiment," "an embodiment," "an example embodiment," etc. indicate that the embodiment may include certain features, structures, or characteristics, but every embodiment may not necessarily include the certain features, structures, or characteristics. In addition, such phrases do not necessarily refer to the same embodiment. In addition, when a certain feature, structure, or characteristic is described in conjunction with an embodiment, whether or not explicitly described, it is considered to be within the knowledge of those skilled in the art to implement such feature, structure, or characteristic in conjunction with other embodiments.

[0019] Implementations of the systems, devices, and methods disclosed herein may include or utilize a dedicated or general-purpose computer including computer hardware (such as, for example, one or more processors and system memory discussed herein). Implementations within the scope of the present disclosure may also include physical and other computer-readable media for carrying or storing computer-executable instructions and / or data structures. Such computer-readable media may be any available media that can be accessed by a general-purpose or special-purpose computer system. A computer-readable medium that stores computer-executable instructions is a computer storage medium (device). A computer-readable medium that carries computer-executable instructions is a transmission medium. Therefore, by way of example and not limitation, implementations of the present disclosure may include at least two distinct computer-readable media: a computer storage medium (device) and a transmission medium.

[0020] Computer storage media (devices) include RAM, ROM, EEPROM, CD-ROM, solid-state drives ("SSD") (e.g., RAM-based), flash memory, phase-change memory ("PCM"), other types of memory, other optical disk storage devices, magnetic disk storage devices or other magnetic storage devices, or any other medium that can be used to store desired program code means in the form of computer-executable instructions or data structures and which can be accessed by a general purpose or special purpose computer.

[0021] The implementation of device, system and method disclosed herein can communicate through computer network." network " is defined as one or more data links that can transmit electronic data between computer system and / or module and / or other electronic device. When being passed to computer or providing information by network or another kind of communication connection (hard wiring, wireless or hard wiring or wireless combination), computer suitably regards connection as transmission medium. Transmission medium can comprise network and / or data link, and described network and / or data link can be used for carrying desired program code member in the form of computer executable instruction or data structure and can be accessed by general or special purpose computer. Above-mentioned combination also should be included in the scope of computer readable medium.

[0022] Computer-executable instructions include instructions and data that, when executed in a processor, cause a general-purpose computer, a special-purpose computer, or a special-purpose processing device to perform a certain function or group of functions. Computer-executable instructions can be, for example, binary numbers, intermediate format instructions (such as assembly language), or even source code. Although the subject matter has been described in language specific to structural features and / or methodological actions, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the features or actions described herein. Rather, the features and actions are disclosed as exemplary forms of implementing the claims.

[0023] Those skilled in the art will appreciate that the present disclosure can be practiced in a network computing environment with many types of computer system configurations, including personal computers, desktop computers, laptop computers, message processors, handheld devices, multiprocessor systems, microprocessor-based or programmable consumer electronics, network PCs, minicomputers, mainframe computers, mobile phones, PDAs, tablet computers, pagers, routers, switches, various storage devices, and the like. The present disclosure can also be practiced in a distributed system environment in which local and remote computer systems that are linked (by hardwired data links, wireless data links, or a combination of hardwired and wireless data links) over a network all perform tasks. In a distributed system environment, program modules can be located in both local and remote memory storage devices.

[0024] Furthermore, where appropriate, the functions described herein may be implemented in one or more of the following: hardware, software, firmware, digital components, or analog components. For example, one or more application-specific integrated circuits (ASICs) may be programmed to perform one or more of the systems and processes described herein. Certain terms are used throughout the description and claims to refer to specific system components. Those skilled in the art will appreciate that components may be referred to by different names. This document does not intend to distinguish between components that have different names but the same function.

[0025] It should be noted that the sensor embodiments discussed herein may include computer hardware, software, firmware, or any combination thereof to perform at least a portion of their functionality. For example, a sensor may include computer code configured to execute in one or more processors, and may include hardware logic / circuitry controlled by the computer code. These exemplary devices are provided herein for illustrative purposes and are not intended to be limiting. As will be appreciated by those skilled in the relevant art, embodiments of the present disclosure may be implemented in other types of devices.

[0026] At least some embodiments of the present disclosure relate to computer program products that include such logic stored on any computer-usable medium (e.g., in the form of software). Such software, when executed on one or more data processing devices, causes the devices to operate as described herein.

[0027] Figure 11 is a block diagram depicting an environment 100 in which exemplary embodiments may be implemented. An unmanned aerial vehicle (UAV) 102 may land on and take off from a landing platform 104 mounted to a vehicle 106 (e.g., mounted to the roof of vehicle 106). Vehicle 106 may be any type of vehicle, such as a car, truck, van, bus, train, etc. In some embodiments, vehicle 106 may be moving when UAV 102 lands on landing platform 104. In a specific implementation, vehicle 106 is a delivery vehicle carrying at least one item to be delivered by UAV 102. In alternative embodiments, landing platform 104 may be mounted to any type of device or structure, such as a building, a loading dock, a loading platform, etc. UAV 102 may be any type of unmanned aerial vehicle capable of maneuvering to land on and take off from any type of landing platform. In some embodiments, UAV 102 is a multirotor helicopter having two or more rotors (e.g., motors) and associated propellers. In a particular implementation, the UAV 102 has a single rotor and associated propeller. The UAV 102 may also be referred to as an unmanned aircraft or a remotely piloted aircraft. As discussed in greater detail herein, the landing platform 104 provides a temporary location for one or more UAVs 102 to land and receive payloads, deliver payloads, recharge, "piggyback" on a vehicle 106, transfer data (e.g., image data collected by the UAV 102) to or from the UAV 102, and the like.

[0028] like Figure 1As shown, the vehicle 106 includes a UAV management system 108 that is capable of wirelessly communicating with the UAV 102. Communication between the UAV management system 108 and the UAV 102 can be performed using any communication protocol, such as 3G, 4G LTE, WiFi, etc. In some embodiments, the UAV management system 108 provides flight guidance to the UAV 102 when landing on or taking off from the landing platform 104. Additionally, as discussed herein, the UAV management system 108 can provide instructions to the landing platform 104 to position and orient the UAV 102 on the landing platform 104 and to move the UAV 102 to a stand. In some embodiments, the UAV management system 108 communicates with a server 110 via a data communication network 112. For example, the UAV management system 108 can transmit data associated with the UAV 102, the vehicle 106, the payload, etc. to the server 110. Additionally, the UAV management system 108 may receive data associated with the UAV 102, payload delivery instructions, etc. from the server 110. Other types of data received by the UAV management system 108 may include the calculated flight path of the UAV 102, temporary flight restrictions, airspace flight restrictions, and local models of obstacles in the delivery vicinity or flight path of the UAV 102. Figure 1 The landing platform 104 and the UAV management system 108 are shown as separate systems or devices, but in alternative embodiments, the management system 108 is integrated into the landing platform 104 .

[0029] The data communication network 112 includes any type of network topology using any communication protocol. In addition, the data communication network 112 may include a combination of two or more communication networks. In some embodiments, the data communication network 112 includes a cellular communication network, the Internet, a local area network, a wide area network, or any other communication network.

[0030] In some embodiments, the UAV 102 communicates directly with the UAV management system 108. In other embodiments, the UAV 102 communicates with the server 110, which then communicates with the UAV management system 108.

[0031] It should be understood that Figure 1 The embodiments shown are provided by way of example only. Other embodiments may include fewer or additional components without departing from the scope of this disclosure. In addition, the components shown may be combined or included in other components without limitation.

[0032] Figure 2An embodiment of a landing platform 104 capable of receiving one or more UAVs is shown. The landing platform 104 includes a conveyor belt 202 that is capable of moving in a forward and backward direction. For example, in the forward direction, the conveyor belt 202 moves a UAV 228 located on the conveyor belt 202 toward a UAV support 210. In the reverse direction, the conveyor belt 202 moves the UAV 228 toward a UAV support 206. In some embodiments, the conveyor belt 202 is made of a corrugated material such that the direction of the corrugation lines is orthogonal to the direction of travel of the conveyor belt 202. This configuration allows the UAV to slide on the conveyor belt 202 in an orthogonal direction while reducing slippage in the direction of travel of the conveyor belt 202. In some embodiments, the conveyor belt 202 is made using corrugated rubber, corrugated PVC (polyvinyl chloride), corrugated vinyl, etc.

[0033] The conveyor belt 202 is moved by a conveyor belt motor 212, which rotates rollers (not shown) or other mechanisms that are in contact with the conveyor belt 202. As the conveyor belt motor 212 rotates the rollers, the conveyor belt 202 moves due to frictional contact between the rollers and the conveyor belt. In some embodiments, the conveyor belt motor 212 is an electric motor. In some implementations, the size of the rollers is determined based on the strength of the conveyor belt 202, the size of the conveyor belt 202, and the torque required to move a UAV that lands on the conveyor belt 202.

[0034] like Figure 2 As shown, the landing platform 104 has four UAV racks 204, 206, 208, and 210. Each UAV rack 204-210 is capable of receiving a UAV that has landed on the conveyor belt 202. For example, the UAV rack 208 has received the UAV 226, which previously landed on the conveyor belt 202 and was reoriented and repositioned to align with the UAV rack 208. In some embodiments, after a UAV (such as the UAV 226) has landed on the conveyor belt 202, a pair of positioning bumpers 214 and 216 are manipulated to reorient and reposition the UAV on the conveyor belt 202. Reorienting the UAV may be necessary to ensure that the UAV is properly oriented when received by the UAV rack. For example, a specific orientation of the UAV in the UAV rack may be required to allow for loading or unloading of a payload object carried by the UAV, to allow for charging the UAV, to transfer data to or from the UAV, etc. Similarly, the UAV may need to be repositioned on the conveyor belt 202 so that when the conveyor belt 202 moves to place the UAV into the UAV holder, the UAV is correctly aligned with the UAV holder. The process of reorienting and repositioning the UAV on the conveyor belt 202 is discussed in more detail below.

[0035] In some embodiments, the positioning bumpers 214, 216 are hinged to reduce the space envelope occupied by the positioning bumpers. Figure 2 As shown in the example of , each positioning bumper 214, 216 has an associated bumper arm 218, 220, respectively. In addition, each positioning bumper 214, 216 has an associated bumper motor 222, 224, respectively, which moves the bumper arm 218, 220, thereby moving the associated positioning bumper 214, 216. In some embodiments, the bumper motors 222, 224 are electric motors. In a specific implementation, when the UAV is landing on the conveyor belt 202, the positioning bumpers 214, 216 are moved to the retracted position (e.g., Figure 2 216 ), which provides a large, unobstructed landing area for the UAV. After the UAV has landed on the conveyor belt 202, one or more of the positioning bumpers 214, 216 can be activated to reposition and / or reorient the UAV on the conveyor belt 202.

[0036] In some embodiments, the UAV has a specific support structure that engages with a fixing mechanism on the UAV stand. For example, the UAV 228 has a support structure 234 that includes two legs that support the UAV 228 after it lands on the conveyor belt 202. The support structure 234 is sized and shaped to engage with the mechanical grippers 230 and 232 shown on the UAV stand 210. Figure 2 In the example shown, the bottom portion of the support structure 234 is aligned with the mechanical grippers 230, 232, so that the mechanical grippers 230, 232 grasp the bottom portion of the support structure 234, thereby securing the UAV to the UAV support. UAV 226 is shown in a configuration engaged with the UAV support 208. In some embodiments, each UAV support 204-210 includes grooves along the outer edge that are aligned with the support structure 234. These grooves help guide the UAV onto the UAV support. In some implementations, instead of mechanical grippers, a rotating slot / key mechanism is used to secure the UAV to the UAV support. In certain embodiments, one or more drive belts can be used with each UAV support to pull the UAV into position on the UAV support. In alternative embodiments, any mechanism can be used to secure the UAV, such as an arm or other mechanism that holds the UAV in a specific position, an electromagnet that is activated to secure the UAV, and the like.

[0037] like Figure 2As shown, the UAV brackets 204-210 have holes that allow access to the bottom of the UAV, which typically carries a payload or has a recharging port. Thus, when the UAV is attached to the UAV bracket, the holes in the UAV brackets 204-210 allow for loading or unloading of payload objects carried by the UAV, for charging the UAV, for transferring data to or from the UAV, etc.

[0038] Figure 3A and Figure 3B Shown Figure 2 The landing platform includes two positioning bumpers, which adjust the orientation of the UAV on the landing platform. Figure 3A UAV 228 is shown after landing on conveyor belt 202. The orientation of UAV 228 is not properly aligned to slide into UAV rack 204, 206, or 210. Note that UAV 228 cannot slide into UAV rack 208 because it is already occupied by UAV 226. In order to allow UAV 228 to slide properly into UAV rack 204, 206, or 210, the orientation of UAV 228 needs to be adjusted so that support structure 234 is aligned with the UAV rack that will receive UAV 228. Figure 3A As shown, the portion of the support structure 234 that contacts the conveyor belt 202 is not aligned to properly engage the UAV bracket 204, 206, or 210. The portion of the support structure 234 that contacts the conveyor belt 202 needs to have substantially the same angle as the axis along the length of the UAV bracket 204, 206, or 210. Figure 3A In the example of FIG, the portion of the support structure 234 that contacts the conveyor belt 202 has an angle that is different from the axis along the length of the UAV support 204, 206, or 210. Therefore, if the UAV 228 is moved toward one of the available UAV supports (204, 206, or 210) by the conveyor belt 202, the support structure 234 will not be aligned with the UAV support, which may cause the UAV 228 to fall from the platform 104 instead of engaging the UAV support.

[0039] like Figure 3A As shown, the positioning bumper 216 has been moved adjacent to the UAV 228 in preparation for adjusting the orientation of the UAV 228. Figure 3BThe UAV 228 is shown after it has been reoriented so that the portion of the support structure 234 in contact with the conveyor belt 202 is aligned with an axis along the length of the UAV support 204, 206, or 210. In some embodiments, this reorientation is performed using a combination of movement of the positioning bumper 216 and the conveyor belt 202. For example, the positioning bumper 216 serves as a pivot point, and movement of the conveyor belt 202 pulls (or pushes) the UAV 228 to the desired orientation. In some embodiments, the desired orientation of the support structure 234 in contact with the conveyor belt 202 is substantially the same as the angle of the positioning bumper 216. Therefore, if the support structure 234 in contact with the conveyor belt 202 is pushed against the positioning bumper 216, the UAV 228 will have the correct orientation to be received by any UAV support.

[0040] After the UAV 228 is in the correct orientation, the positioning bumper 214 or 216 can reposition the UAV 228 laterally on the conveyor belt 202 so that the UAV 228 is aligned with the UAV rack (e.g., UAV rack 204, 206, or 210) that will receive the UAV 228. Figure 3B In the example shown, if the UAV 228 is to be received by the UAV rack 204, the positioning bumper 216 laterally repositions the UAV 228 on the conveyor belt 202 by pushing the UAV 228 until it is aligned with the UAV rack 204. In addition, the positioning bumper 214 is retracted so that it does not interfere with the repositioning of the UAV 228. When the UAV 228 is aligned with the UAV rack 204, the conveyor belt 202 is activated in the correct direction to move the UAV 228 to the edge of the landing platform 104, thereby sliding the UAV 228 into the UAV rack 204.

[0041] In another example, if Figure 3B As shown, the UAV 228 is about to be received by the UAV cradle 210, and the positioning bumpers 214 laterally reposition the UAV 228 on the conveyor belt 202 by pushing the UAV 228 until it is aligned with the UAV cradle 210. In addition, the positioning bumpers 216 are retracted so that they do not interfere with the repositioning of the UAV 228. When the UAV 228 is aligned with the UAV cradle 210, the conveyor belt 202 is activated in the correct direction to move the UAV 228 to the edge of the landing platform 104, thereby sliding the UAV 228 into the UAV cradle 210.

[0042] Figure 4 is a block diagram illustrating an embodiment of a UAV 102. Figure 4As shown, the UAV 102 includes a communication manager 402, a processor 404, and a memory 406. The communication manager 402 allows the UAV 102 to communicate with other systems such as the UAV management system 108, the server 110, the data communication network 112, etc. The processor 404 executes various instructions that implement the functions provided by the UAV 102, as discussed herein. The memory 406 stores these instructions and other data used by the processor 404 and other modules and components included in the UAV 102.

[0043] The UAV 102 also includes a camera 408 that captures images of the area near the UAV 102. In some embodiments, an image processing module 410 analyzes the images captured by the camera 408 to locate landing pads, delivery areas, obstacles, and the like. Additionally, the image processing module 410 can assist in landing the UAV 102 by identifying the location of the landing pad (or other delivery area) and determining the flight adjustments required to successfully land the UAV 102 on the landing pad. A flight path module 412 generates and maintains information related to the flight path that the UAV 102 is attempting to follow. In some embodiments, the flight path information is received from the UAV management system 108 or server 110. A rotor control module 414 controls the operation of a plurality of rotors 416 associated with the UAV 102. In some embodiments, the UAV 102 has three or four rotors 416 that assist the UAV 102 in flying between multiple locations. For example, rotor control module 414 can control the rotational speed of each rotor 416 to turn and maneuver UAV 102 to a destination, such as a landing platform or a delivery location. Thus, rotor control module 414 can assist in maneuvering UAV 102 along a specific flight path, avoiding obstacles, etc. In certain embodiments, one or more of the functions performed by rotor control module 414 are instead performed by UAV management system 108 or server 110, which sends appropriate rotor control instructions to rotor control module 414 for implementation. A particular UAV 102 may have any number of rotors 416.

[0044] Figure 5 is a block diagram illustrating an embodiment of the UAV management system 108. Figure 5As shown, the UAV management system 108 includes a communication module 502, a processor 504, and a memory 506. The communication module 502 allows the UAV management system 108 to communicate with other systems and devices, such as the UAV 102, the server 110, the data communication network 112, etc. The processor 504 executes various instructions that implement the functions provided by the UAV management system 108, as discussed herein. The memory 506 stores these instructions and other data used by the processor 504 and other modules and components included in the UAV management system 108.

[0045] The UAV management system 108 also includes an image processing module 508 that analyzes images captured, for example, by the camera 408 in the UAV 102. The image processing module 508 can assist in landing the UAV 102 by identifying the position and trajectory of the UAV 102 relative to the landing platform 104 and determining the flight adjustments required to successfully land the UAV 102 on the landing platform 104. The flight path module 510 generates and maintains information related to the flight path that the UAV 102 is attempting to follow.

[0046] The platform control module 512 manages the operation of the landing platform 104, such as reorienting and repositioning the UAV 102 after it lands on the conveyor belt 202 of the landing platform 104. The platform control module 512 can also control the movement of the conveyor belt 202 and the positioning bumpers 214, 216. The UAV position manager 514 can work in conjunction with the platform control module 512 to reorient and reposition the UAV 102 so that the UAV 102 is properly oriented and positioned to be received by a specific UAV cradle. The UAV orientation manager 516 adjusts the orientation of the UAV 102 (if necessary) so that it is properly oriented to load / unload a payload, access a UAV recharging system, transfer data, etc. when received by the UAV cradle. The UAV loading and unloading manager 518 assists in the loading and unloading of payloads carried by the UAV 102.

[0047] Figure 66 is a flow chart illustrating an embodiment of a method 600 for landing, positioning, and moving a UAV on a landing platform. Initially, a UAV approaches 602 the landing platform and maneuvers to land on a conveyor belt associated with the landing platform. After the UAV lands on the conveyor belt, the UAV management system identifies 604 a UAV rack (e.g., UAV racks 204-210) to receive the UAV. When determining which UAV rack to use for a particular UAV, the UAV management system may consider one or more criteria, such as the availability of the UAV rack, the geometry of the UAV (including the geometry of the landing gear), the orientation of the UAV (e.g., whether it is facing forward or backward), and the operational requirements of the UAV (e.g., charging, payload loading / unloading, or data transfer). The UAV management system then determines 606 the current orientation of the UAV (e.g., the orientation of the UAV relative to one or more UAV racks). Based on the current orientation of the UAV, the UAV management system determines 608 whether the orientation of the UAV needs to be adjusted. As discussed herein, when the UAV is received by the UAV cradle, the orientation of the UAV may require a specific orientation (or range of orientations) to properly load / unload a payload, recharge the UAV, transmit data, etc. If the current orientation of the UAV is incorrect (or not within a specified range of acceptable orientations), the orientation of the UAV on the conveyor belt is adjusted 610 so that the UAV can be properly received by the UAV cradle. In some embodiments, a combination of positioning bumpers and movement of the conveyor belt can be used to correct the rotational orientation of the UAV within a + / - 45 degree angle, as discussed herein. The positioning bumpers serve as pivot points, and the movement of the conveyor belt pulls (or pushes) the UAV to the desired orientation. After the UAV is in the desired orientation, one of the positioning bumpers can reposition the UAV laterally on the conveyor belt so that the UAV is aligned with the identified UAV cradle that will receive the UAV.

[0048] When the UAV is correctly oriented, method 600 continues with aligning the UAV with the UAV support 612. This alignment is performed using one or two positioning bumpers to move the UAV on the conveyor belt. When the movement of the conveyor belt causes the UAV to be received by a particular UAV support, the UAV is correctly aligned. In some embodiments, aligning the UAV includes moving the UAV in a direction orthogonal to the movement of the conveyor belt.

[0049] When a UAV is aligned with a specific UAV rack, the conveyor belt is activated 614 to move the UAV into the specific UAV rack. In some embodiments, when the UAV reaches the edge of the conveyor belt, it "drops" into (or slides into) the UAV rack. In some embodiments, the UAV rack includes a ramp, rails, or sliding mechanism to guide the UAV from the edge of the conveyor belt into the UAV rack. After the UAV is moved into the UAV rack, at 616, the method loads / unloads a payload, charges the UAV, transfers data, or performs other activities associated with the UAV. When the activity is completed, the UAV takes off 618 from the UAV rack and flies to another location. Furthermore, after the UAV is moved into the UAV rack, at 616, the landing platform is prepared to allow another UAV to land on the conveyor belt. Thus, the first UAV that has moved into the rack can be serviced (e.g., loading / unloading a payload, recharging, or transferring data) while one or more other UAVs land on the conveyor belt and move to the identified UAV rack.

[0050] In some embodiments, an IR (infrared) beacon is positioned on the positioning bumper, facing the bumper surface (i.e., the bumper surface in contact with the UAV). If the positioning bumper contacts any object, the object will pass through the IR beam, thereby providing the UAV's position on the conveyor belt. This configuration supports rapid movement of the positioning bumper when not in close proximity to the UAV, as well as slower movement of the positioning bumper after approaching (or contacting) the UAV. In the embodiment described herein, there are two positioning bumpers (one on each side of the conveyor belt). Each positioning bumper can be moved toward the UAV, interrupting the IR beam at each positioning bumper. When both IR beams are interrupted, the UAV management system can determine the distance traveled by each positioning bumper. Based on information about the travel distance, the UAV management system can calculate the distance between the two positioning bumpers, which represents the width of the UAV in its current orientation. If the UAV management system knows the size of the UAV, it can determine the UAV's current rotation (or orientation).

[0051] In some embodiments, the systems and methods described herein use one or more UAV sensors (e.g., a camera, a GPS (Global Positioning System) sensor, or an IMU (Inertial Measurement Unit) sensor) to determine the position and orientation of the UAV on the landing platform. For example, a camera mounted to the UAV (or integrated into the UAV) can assist in determining the current position and orientation of the UAV on the landing platform. This information can be transmitted to the UAV management system 108 or other systems to determine whether the UAV needs to be reoriented and / or repositioned on the landing platform. This information may also be useful in determining which UAV rack should receive the UAV. Communications between the UAV and other systems (such as the UAV management system 108) can include communications with any number of servers, flight control systems, UAV fleet managers, etc.

[0052] Although various embodiments of the present disclosure are described herein, it should be understood that these embodiments are presented by way of example only and not limitation. It will be understood by those skilled in the relevant art that various changes in form and detail may be made without departing from the spirit and scope of the present disclosure. Therefore, the breadth and scope of the present disclosure should not be limited by any of the exemplary embodiments described, but should be limited only in accordance with the appended claims and their equivalents. This description is presented for illustration and description purposes. It is not intended to be exhaustive or to limit the present disclosure to the precise form disclosed. In view of the disclosed teachings, many modifications and variations are possible. In addition, it should be noted that any or all of the alternative implementations discussed herein can be used in any desired combination to form additional hybrid implementations of the present disclosure.

Claims

1. A landing platform comprising: a conveyor belt configured to support a first UAV, the conveyor belt configured to move in a first direction and a second direction opposite the first direction; First positioning bumper; a second positioning bumper, wherein the first positioning bumper and the second positioning bumper are configured to reposition the first UAV on the conveyor belt; a plurality of brackets, wherein each of the plurality of brackets is configured to receive and secure one of the plurality of UAVs; as well as A UAV management system configured to: selecting a particular bracket from the plurality of brackets for use with the first UAV; controlling the first positioning bumper to act as a pivot point while controlling the conveyor belt to move to adjust the orientation of the first UAV on the conveyor belt so that the first UAV can be received by the specific bracket; controlling the first positioning bumper or the second positioning bumper to reposition the first UAV on the conveyor belt so that the first UAV is aligned with the specific bracket; Control the conveyor belt to move along the first direction or the second direction to move the first UAV into the specific bracket.

2. A landing platform as described in claim 1, wherein the conveyor belt is configured to move the first UAV toward the specific bracket so that the first UAV engages with the specific bracket when it reaches the edge of the conveyor belt.

3. A landing platform as described in claim 1, wherein the first UAV is oriented so that the first UAV is properly aligned to load or unload a payload when secured by the specific bracket.

4. A landing platform as described in claim 1, wherein the specific bracket includes at least one mechanical gripper, and the at least one mechanical gripper is configured to engage the support structure of the first UAV to secure the first UAV to the specific bracket.

5. The landing platform of claim 1 , wherein the landing platform is mounted to a delivery vehicle that carries at least one item to be delivered by the first UAV.

6. A landing platform as described in claim 1, wherein the landing platform is mounted to a vehicle and is configured to charge the first UAV when the first UAV is secured in the specific bracket.

7. A landing platform comprising: a conveyor belt configured to support a first UAV, the conveyor belt configured to move in a first direction and a second direction opposite the first direction; First positioning bumper; a second positioning bumper, wherein the first positioning bumper and the second positioning bumper are configured to reposition the first UAV on the conveyor belt; a plurality of brackets, wherein each of the plurality of brackets is configured to receive and secure the first UAV, and wherein the plurality of brackets is capable of receiving and securing a plurality of UAVs simultaneously; as well as A UAV management system configured to: selecting a first bracket from the plurality of brackets for the first UAV; wherein the first bracket is selected based on one or more of the following criteria: availability of the plurality of brackets, geometry of the first UAV, orientation of the first UAV, operational requirements of the first UAV; controlling the first positioning bumper to act as a pivot point while controlling the conveyor belt to move to adjust the orientation of the first UAV on the conveyor belt so that the first UAV can be received by the first bracket; controlling the first positioning bumper or the second positioning bumper to reposition the first UAV on the conveyor belt so that the first UAV is aligned with the first bracket; Control the conveyor belt to move along the first direction or the second direction to move the first UAV into the first bracket.

8. A landing platform as described in claim 7, wherein the conveyor belt is configured to move the first UAV toward the first bracket so that the first UAV engages with the first bracket when it reaches the edge of the conveyor belt.

9. A landing platform as described in claim 7, wherein the first UAV is oriented so that the first UAV is properly aligned to load or unload a payload when secured by the first bracket.

10. The landing platform of claim 7, wherein the landing platform is mounted to a delivery vehicle that carries at least one item to be delivered by the first UAV.

11. A landing method, comprising: receiving a first UAV on a landing platform; The landing platform includes: a conveyor configured to support the first UAV, the conveyor configured to move in a first direction and a second direction opposite to the first direction; a first positioning bumper; a second positioning bumper, wherein the first positioning bumper and the second positioning bumper are configured to reposition the first UAV on the conveyor; a plurality of brackets, wherein each of the plurality of brackets is configured to receive and secure one of the plurality of UAVs; identifying a bracket from the plurality of brackets to receive the first UAV; determining whether a current position of the first UAV on the landing platform is aligned with the identified support; If the current position of the first UAV on the landing platform is not aligned with the identified bracket, activating the first positioning bumper or the second positioning bumper to reposition the first UAV to align with the identified bracket; and controlling the conveyor belt to move along the first direction or the second direction to move the first UAV into the identified bracket; The method further comprises: determining whether the current orientation of the first UAV is appropriate for the identified support; and If the current orientation of the first UAV is not suitable for the identified bracket, the first positioning bumper is controlled to serve as a pivot point, and the conveyor belt is controlled to move to adjust the orientation of the first UAV on the conveyor belt so that the first UAV can be received by the identified bracket.

12. The method of claim 11, further comprising loading or unloading a payload carried by the first UAV after the first UAV is received by the identified bracket.

13. The method of claim 11, further comprising charging the first UAV after the first UAV is received by the identified bracket.

14. The method of claim 11, further comprising: receiving a second UAV on the landing platform while initially securing the first UAV in the identified holder; identifying a second bracket to receive the second UAV; positioning the second UAV to align with the second support; as well as Activate the conveyor belt to move the second UAV to the second support.

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