Capture device and method for capturing unmanned aerial vehicle on a ship

Abstract

The present application relates to a capture device and method for capturing an unmanned aerial vehicle on a vessel. An example capture device is used to capture a UAV on a vessel located in a body of water. The capture device includes a mounting frame and a capture frame. The mounting frame is configured to be coupled to the vessel. The capture frame is configured to be rotatably coupled to the mounting frame. The capture frame can rotate about a rotation axis relative to the mounting frame. The capture frame includes a braking member configured to be immersed in the body of water. The braking member is configured to resist rotation of the capture frame relative to the mounting frame based on a braking force that will be applied to the braking member by the body of water.

Description

Technical Field

[0001] The present disclosure relates generally to apparatus and methods for marine capture of unmanned aerial vehicles (UAVs), and more particularly to apparatus and methods for marine capture of UAVs using water for braking and damping. Background Art

[0002] The UAV may be captured on (e.g., beside, above, and / or on) a vessel (e.g., a ship, a vessel, a carrier, etc.) by engaging and / or coupling (e.g., hooking) the UAV in flight to a capture line (e.g., a rope) of a UAV capture system disposed on the vessel. In some cases, the capture of the UAV is a recovery operation performed after the UAV is launched from the vessel and / or after the UAV completes its mission.

[0003] Existing UAV capture systems are heavy and complex structures that rely on unyielding strength as a mechanism for capturing UAVs. Such capture systems are typically assembled, set up, and operated by relatively large teams of individuals, and typically require motor assistance to lift the capture system to an operational position. The unyielding strength of such capture systems leads to the use of heavy structural members. These heavy structural members are typically attached to a heavy base. Because these capture systems have unyielding strength, bungees, payouts of the capture line, or nets must be used to dissipate capture energy. Bungees, payout lines, and other devices for managing or providing braking forces and damping increase the mechanical complexity of these capture systems.

[0004] The capture energy can be further dissipated by reducing the relative velocity of the capture. For example, marine capture of a UAV can occur while a vessel is in motion, with the UAV's heading (e.g., flight path) set to be in line and in the same direction as the vessel, thereby reducing the relative velocity of the capture (e.g., the velocity of the UAV relative to the velocity of the vessel carrying the capture system).

[0005] It is with respect to these and other considerations that the disclosure made herein is presented. Summary of the invention

[0006] Apparatus and methods for offshore capture of UAVs using water for braking and damping are disclosed. In some examples, a capture device for capturing an unmanned aerial vehicle (UAV) on a vessel located in a body of water is disclosed. In some disclosed examples, the capture device includes a mounting frame and a capture frame. In some disclosed examples, the mounting frame is configured to be coupled to the vessel. In some disclosed examples, the capture frame is configured to be rotatably coupled to the mounting frame. In some disclosed examples, the capture frame is rotatable relative to the mounting frame about an upwardly oriented rotational axis. In some disclosed examples, the capture frame includes a braking member configured to be submerged in the body of water. In some disclosed examples, the braking member is configured to counter rotation of the capture frame relative to the mounting frame based on a braking force to be applied to the braking member by the body of water.

[0007] In some examples, a method for capturing an unmanned aerial vehicle (UAV) on a vessel in a body of water is disclosed. In some disclosed examples, the method includes capturing the UAV using a capture device coupled to the vessel. In some disclosed examples, the capture device includes a mounting frame and a capture frame. In some disclosed examples, the mounting frame is coupled to the vessel. In some disclosed examples, the capture frame is rotatably coupled to the mounting frame. In some disclosed examples, the capture frame is rotatable relative to the mounting frame about an upwardly oriented rotational axis. In some disclosed examples, the capture frame includes a braking member submerged in the body of water. In some disclosed examples, the braking member resists rotation of the capture frame relative to the mounting frame based on a braking force applied to the braking member by the body of water. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 is a side view of an example vessel with an example capture device.

[0009] Figure 2 It is along Figure 1 The cross-sectional view taken at section AA shows Figure 1 Capture example of a UAV capture device associated with Figure 1 The capture frame of the capture device is relative to Figure 1 Example rotational motion of the mounting frame of the capture device.

[0010] Figure 3 is a rear view of an example vessel with an example capture device.

[0011] Figure 4 It is along Figure 3 The cross-sectional view taken at section BB shows the Figure 3 Capture example of a UAV capture device associated with Figure 3 The capture frame of the capture device is relative to Figure 3Example rotational motion of the mounting frame of the capture device. DETAILED DESCRIPTION

[0012] Certain examples are shown in the above-mentioned drawings and described in detail below. In describing these examples, similar or identical reference numbers are used to identify the same or similar elements. The drawings are not necessarily to scale, and certain features and certain views of the drawings may be exaggerated in scale or shown schematically for the sake of clarity and / or brevity.

[0013] Descriptors "first," "second," "third," etc., are used herein when identifying multiple elements or components that can be referred to separately. Unless otherwise specified or understood based on the context of their use, these descriptors are not intended to confer any meaning of priority or chronological order, but are merely used as labels for individually referring to multiple elements or components to facilitate understanding of the disclosed examples. In some examples, the descriptor "first" may be used to refer to an element in the detailed description, while the same element may be referred to in the technical solution by a different descriptor such as "second" or "third." In this case, it should be understood that the use of such descriptors is merely for the convenience of referencing multiple elements or components.

[0014] Existing UAV capture systems are heavy and complex structures that rely on unyielding strength as a mechanism for capturing UAVs. Such capture systems are usually assembled, set up and operated by a relatively large team of individuals, and usually require motor assistance to lift the capture system to an operational position. The unyielding strength of such capture systems leads to the use of heavy structural members. These heavy structural members are usually attached to a heavy base. Since these capture systems have unyielding strength, it is necessary to use elastic ropes, capture line payments or nets to dissipate capture energy. Although elastic ropes, capture line payments and nets are useful in dissipating capture energy, the implementation of these mechanisms has certain disadvantages. For example, elastic ropes often cause the rebound of UAVs, which may make the capture process somewhat unpredictable as the captured UAV is rebounded back and forth. As another example, the payment of capture lines allows uncontrolled movement of UAVs, which creates the risk of UAVs hitting one or more structures of the capture system. In addition, the payment of elastic ropes and capture lines requires hardware, such as pulleys and friction braking mechanisms, which increases mechanical complexity and increases the number of components that may potentially fail.

[0015] The capture energy can be further dissipated by reducing the relative velocity of capture. For example, marine capture of a UAV can occur while a vessel is in motion, with the UAV's heading (e.g., flight path) set to be in line with and in the same direction as the vessel. Although this straight-line capture process reduces the relative velocity of capture (e.g., the speed of the UAV relative to the speed of the vessel carrying the capture system) and is therefore useful in reducing capture energy, the implementation of a straight-line capture process has certain disadvantages. For example, in the event of a capture failure, placing the UAV in a position that is in line with the vessel creates a risk of the UAV striking one or more structures of the vessel.

[0016] Unlike the above-mentioned existing capture systems, the apparatus and method disclosed herein provide for the marine capture of UAVs using water for braking and damping. More specifically, the apparatus and method disclosed herein implement a capture device, which, when the capture device is mounted to a ship and / or otherwise arranged on a ship, includes a capture frame having a braking member and / or a damping member immersed in the body of water in which the ship is located. The capture frame is rotatably coupled to the mounting frame of the capture device. The mounting frame fixes the capture device to the ship. In connection with the capture device for capturing the UAV, the capture frame rotates relative to the mounting frame, and the lower boom of the capture frame bends toward the upper boom of the capture frame. The rotation of the capture frame relative to the mounting frame is counteracted by the braking force applied to the submerged braking member of the capture frame by the water body surrounding the ship. The bending of the lower boom of the capture frame relative to the upper boom of the capture frame is counteracted by the damping force applied to the submerged damping member of the capture frame by the water body surrounding the ship. In some examples, the submerged braking member and / or submerged damping member of the capture frame can be implemented by the lower boom of the capture frame. In other examples, the submerged braking member of the captured frame may be implemented by a rudder of the captured frame, and the submerged damping member may be implemented by a foil of the captured frame. In some such other examples, the rudder is flexible, and the flexibility of the rudder naturally limits the amount of braking force applied so as to advantageously reduce peak braking forces. Thus, the flexibility of the rudder provides mechanical simplicity.

[0017] The resistance from the water provides a completely uniform drag force and is non-elastic. Therefore, such resistance provides an opportunity to achieve smooth braking and inelastic damping of the capture frame of the capture device associated with the capture UAV. By using water to brake and damp the capture of the UAV, the disclosed capture device advantageously eliminates the need for additional capture energy dissipation mechanisms, such as the bungee cords and capture line payouts of the above-mentioned existing capture systems. Eliminating the use of bungee cords and / or capture line payouts generally advantageously reduces (e.g., eliminates) the risk of the UAV associated with the captured UAV inadvertently impacting the vertical structure of the capture device, and also advantageously improves the predictability of the UAV's movement after capture and / or the predictability of the capture process.

[0018] As a further advantage of the capture of the UAV using water braking and damping, the disclosed capture apparatus can advantageously eliminate the need for an additional energy-consuming capture process, such as the straight-line capture process described above, in which the vessel is in motion to reduce the relative speed between the capture apparatus and the UAV. For example, the disclosed capture apparatus enables the capture of a UAV approaching the vessel from a direction that is not in line with the direction of travel of the vessel (e.g., a direction perpendicular to the direction of travel of the vessel). This approach direction allows the UAV to be captured when the vessel is stationary. Another advantage of eliminating the straight-line capture process is that in the event of a capture failure, the risk of the UAV inadvertently striking any structure of the vessel is reduced.

[0019] The disclosed capture device advantageously provides a gentler (e.g., less strenuous) capture process relative to the capture process provided by the above-described existing capture systems. The gentler capture process enables the disclosed capture device to be constructed from structural materials and / or components having relatively lower strength requirements, thereby allowing a relatively compact and lightweight design. In addition, the disclosed capture device can be intentionally designed to bend and yield, thereby enabling a lighter design.

[0020] Relative to the above-described prior art capture systems, the disclosed capture device is mechanically less complex (e.g., has improved mechanical simplicity), and therefore does not require additional mechanisms to provide braking and damping. The lack of such additional mechanisms advantageously eliminates the possibility of their failure, thereby improving the overall reliability of the disclosed capture device. The lack of such additional mechanisms also advantageously eliminates maintenance that would otherwise be required by such additional mechanisms.

[0021] The compact and lightweight nature of the disclosed capture device advantageously allows such a capture device to be assembled and set up by a small team without the assistance of a motor. In some examples, one or more structures and / or components of the disclosed capture device can be formed from a plurality of joined segments that can be easily assembled and / or disassembled from one another, thereby enabling compact storage of such a capture device when not in use (e.g., onboard storage). The compact and lightweight design of the disclosed capture device advantageously enables such a capture device to be used on vessels of all shapes and sizes, including vessels of relatively small size and / or shape, for which the aforementioned existing capture systems may not be suitable for use.

[0022] As used herein in the context of describing the orientation of an object, the terms "upward orientation" and / or "upwardly oriented" include orientations in which the object is oriented at an angle from 45 degrees to 135 degrees relative to a reference surface. For example, a rotational axis having an upward orientation and / or upwardly oriented relative to a horizontally oriented surface of a vessel (e.g., a deck) and / or relative to an upper surface of a body of water may be oriented at an angle from 45 degrees to 135 degrees relative to the horizontally oriented surface of the vessel and / or relative to the upper surface of a body of water.

[0023] As used herein in the context of describing the position and / or orientation of a first object relative to a second object, the term "substantially parallel" includes the term parallel and more broadly includes the meaning that the first object is positioned and / or oriented relative to the second object at an absolute angle of no more than ten degrees (10°) from the parallel direction. For example, a first axis that is substantially parallel to a second axis is positioned and / or oriented relative to the second axis at an absolute angle of no more than ten degrees (10°) from the parallel direction.

[0024] As used herein in the context of describing the position and / or orientation of a first object relative to a second object, the term "substantially perpendicular" includes the term perpendicular and more broadly includes the meaning that the first object is positioned and / or oriented relative to the second object at an absolute angle of no more than ten degrees (10°) from perpendicular. For example, a first axis that is substantially perpendicular to a second axis is positioned and / or oriented relative to the second axis at an absolute angle of no more than ten degrees (10°) from perpendicular.

[0025] Figure 1 is a side view of an example vessel 100 with an example capture device 102. Figure 1 The vessel 100 may be any type, size, and / or shape of vessel (e.g., a ship, a boat, a vehicle, etc.) configured to be located in a body of water. Figure 1 In the illustrated example of , the vessel 100 is located in an example body of water 104 . Figure 1The body of water 104 may be any type, size, and / or shape of body of water (e.g., a strait, canal, river, estuary, harbor, lake, sea, ocean, etc.) suitable for accommodating the vessel 100 passing through and / or traveling within the body of water.

[0026] Figure 1 The capture device 102 is coupled to the vessel 100 and is configured to capture the UAV. Figure 1 In the illustrated example, the capture device 102 includes an example mounting frame 106 and an example capture frame 108. Figure 1 The mounting frame 106 is coupled (eg, fixedly coupled) to the vessel 100 . Figure 1 The capture frame 108 is rotatably coupled to the mounting frame 106 . Figure 1 The capture frame 108 can be relative to Figure 1 The mounting frame 106 rotates about an example rotation axis 110 .

[0027] exist Figure 1 In the illustrated example of , the rotation axis 110 has an upward orientation relative to an example horizontally oriented surface 112 (eg, a deck) of the vessel 100 and / or relative to an example upper surface 114 of the body of water 104. More specifically, Figure 1 The rotation axis 110 is substantially perpendicular to the horizontally oriented surface 112 of the vessel 100 and / or substantially perpendicular to the upper surface 114 of the body of water 104. In other examples, the rotation axis 110 may alternatively be positioned in a non-upward orientation relative to the horizontally oriented surface 112 of the vessel 100 and / or relative to the upper surface 114 of the body of water 104.

[0028] Figure 1 The mounting frame 106 of the capture device 102 includes an example column 116 , an example base 118 , an example support 120 , an example upper collar 122 , and an example lower collar 124 . Figure 1 The capture frame 108 of the capture device 102 includes an example column 126, an example upper suspension rod 128, an example lower suspension rod 130, an example capture line 132, an example upper support member 134, and an example lower support member 136. In other examples, Figure 1 The mounting frame 106, capture frame 108, and / or capture device 102 more generally may include fewer or additional components, structures, and / or assemblies relative to the components, structures, and / or assemblies identified above. The column 116, base 118, support 120, upper collar 122, and lower collar 124 of the mounting frame 106 and the column 126, upper boom 128, lower boom 130, upper support 134, and lower support 136 of the capture frame 108 may be implemented as any type of solid or hollow mechanical structure (e.g., tubes, rods, shafts, tubes, struts, rods, links, beams, plates, etc.) made of any type of material (e.g., metal, plastic, composite material, etc.), respectively.

[0029] When the mounting frame 106 and / or the capture device 102 more generally is coupled to the vessel 100, Figure 1 The columns 116 of the mounting frame 106 have an upward orientation. Figure 1 As shown, the column 116 of the mounting frame 106 has an upward orientation relative to the horizontally oriented surface 112 of the watercraft 100 and / or relative to the upper surface 114 of the body of water 104. More specifically, the column 116 of the mounting frame 106 is substantially perpendicular to the horizontally oriented surface 112 of the watercraft 100 and / or substantially perpendicular to the upper surface 114 of the body of water 104. In other examples, the column 116 of the mounting frame 106 may alternatively be positioned at a non-upward orientation relative to the horizontally oriented surface 112 of the watercraft 100 and / or relative to the upper surface 114 of the body of water 104.

[0030] exist Figure 1 In the illustrated example of , the post 116 of the mounting frame 106 is offset (e.g., spaced apart) from the rotation axis 110 and is substantially parallel to the rotation axis 110. In other examples, the post 116 of the mounting frame 106 may alternatively be oriented at an angle relative to the rotation axis 110 such that the post 116 of the mounting frame 106 is not substantially parallel to the rotation axis 110. In other examples, the post 116 of the mounting frame 106 may alternatively be co-linear with the rotation axis 110.

[0031] Figure 1 The base 118 of the mounting frame 106 couples (e.g., fixedly couples) the mounting frame 106 and / or the capture device 102 more generally to the vessel. For example, the base 118 of the mounting frame 106 can be mounted, fastened, and / or otherwise coupled to a surface (e.g., the horizontally-oriented surface 112) and / or structure of the vessel 100. The base 118 of the mounting frame 106 can include any number (e.g., 1, 2, 3, 4, etc.) of segments that are coupled to the posts 116 of the mounting frame 106 and / or to each other to facilitate coupling the mounting frame 106 to the vessel 100.

[0032] Figure 1 The base 118 of the mounting frame 106 is coupled (eg, fixedly coupled) to the column 116 of the mounting frame 106 such that Figure 1 The base 118 of the mounting frame 106 is oriented at an example angle 138 relative to the column 116 of the mounting frame 106. Figure 1 In the illustrated example of FIG. 1 , the angle 138 between the base 118 of the mounting frame 106 and the column 116 of the mounting frame 106 is approximately 90 degrees. Figure 1As shown, the base 118 of the mounting frame 106 is substantially perpendicular to the column 116 of the mounting frame 106. In other examples, the angle 138 between the base 118 of the mounting frame 106 and the column 116 of the mounting frame 106 may be optionally greater or less than Figure 1 The approximately 90 degree angle shown causes the base 118 of the mounting frame 106 to be not substantially perpendicular to the column 116 of the mounting frame 106 .

[0033] In some examples, the base 118 of the mounting frame 106 is directly coupled to the watercraft 100. In some such examples, the column 116 of the mounting frame 106 may also be directly coupled to the watercraft 100 (e.g., independently of the base 118 of the mounting frame 106). Alternatively, the column 116 of the mounting frame 106 may be coupled to the base 118 of the mounting frame 106 without directly coupling the column 116 of the mounting frame 106 to the watercraft 100.

[0034] Figure 1 The support member 120 of the mounting frame 106 is coupled (e.g., fixedly coupled) to the column 116 of the mounting frame 106 and the base 118 of the mounting frame 106 and extends (e.g., extends diagonally) therebetween. Figure 1 In the illustrated example of the mounting frame 106, the support member 120 is configured and / or oriented to provide structural support between the column 116 and the base 118 of the mounting frame 106. In some examples, the support member 120 of the mounting frame 106 is a rigid structural member that is configured and / or oriented to prevent (e.g., eliminate) the base 118 of the mounting frame 106 from moving toward and / or away from the column 116 of the mounting frame 106 (e.g., flexing or bending). In other examples, the support member 120 of the mounting frame 106 is a flexible structural member that is configured and / or oriented to restrict (e.g., limit) the base 118 of the mounting frame 106 from moving toward and / or away from the column 116 of the mounting frame 106 (e.g., flexing or bending). In some examples, the support member 120 can be one of a plurality of supports that extend between and / or provide support between the column 116 of the mounting frame 106 and the base 118 of the mounting frame 106.

[0035] Figure 1 The upper collar 122 and the lower collar 124 of the mounting frame 106 are coupled (eg, fixedly coupled) to the column 116 of the mounting frame 106. Figure 1 In the illustrated example of , the upper collar 122 is offset (eg, spaced apart) from the lower collar 124 along the column 116 of the mounting frame 106 . In other examples, the upper collar 122 may alternatively be adjacent to (eg, contacting) the lower collar 124 . Figure 1Each of the upper and lower collars 122, 124 of the mounting frame 106 is configured to receive a post 126 of the capture frame 108 such that the post 126 of the capture frame 108 can be rotatably coupled to the upper and lower collars 122, 124 and / or post 116 of the mounting frame 106. In some examples, Figure 1 Each of the upper and lower collars 122, 124 of the capture frame 108 includes a bearing configured to receive the post 126 of the capture frame 108, thereby enabling the post 126 of the capture frame 108 to rotate about the rotation axis 110 within the upper and lower collars 122, 124 of the mounting frame 106 and / or enabling the capture frame 108 to rotate relative to the mounting frame 106. In some examples, the upper and lower collars 122, 124 may be two of a plurality of collars (e.g., 3 or more collars) that rotatably couple the post 126 of the capture frame 108 to the collars and / or post 116 of the mounting frame 106.

[0036] When the mounting frame 106 and / or the capture device 102 more generally is coupled to the vessel 100, Figure 1 The column 126 of the capture frame 108 has an upward orientation. Figure 1 As shown, the columns 126 of the capture frame 108 have an upward orientation relative to the horizontally oriented surface 112 of the vessel 100 and / or relative to the upper surface 114 of the body of water 104. More specifically, the columns 126 of the capture frame 108 are substantially perpendicular to the horizontally oriented surface 112 of the vessel 100 and / or substantially perpendicular to the upper surface 114 of the body of water 104. In other examples, the columns 126 of the capture frame 108 may alternatively be positioned in a non-upward orientation relative to the horizontally oriented surface 112 of the vessel 100 and / or relative to the upper surface 114 of the body of water 104.

[0037] The post 126 of the capture frame 108 defines (eg, is co-linear with) the rotational axis 110 about which the capture frame 108 rotates. Figure 1 In the illustrated example of , the posts 126 of the capture frame 108 are offset (e.g., spaced apart) from and are substantially parallel to the posts 116 of the mounting frame 106. In other examples, the posts 126 of the capture frame 108 may optionally be oriented at an angle relative to the posts 116 of the mounting frame 106 such that the posts 126 of the capture frame 108 are substantially non-parallel to the posts 116 of the mounting frame 106. In other examples, the posts 126 of the capture frame 108 may optionally be co-linear with the posts 116 of the capture frame 108.

[0038] Figure 1 The upper boom 128 of the capture frame 108 is coupled (eg, fixedly coupled) to the column 126 of the capture frame 108 such that Figure 1The upper boom 128 of the capture frame 108 is oriented at an example angle 140 relative to the column 126 of the capture frame 108. Figure 1 In the illustrated example of FIG. 1 , the angle 140 between the upper boom 128 of the capture frame 108 and the column 126 of the capture frame 108 is approximately 90 degrees. Figure 1 As shown, the upper suspension rod 128 of the capture frame 108 is substantially perpendicular to the column 126 of the capture frame 108. In other examples, the angle 140 between the upper suspension rod 128 of the capture frame 108 and the column 126 of the capture frame 108 may be optionally greater or less than Figure 1 The approximately 90 degree angle shown causes the upper boom 128 of the capture frame 108 to be not substantially perpendicular relative to the column 126 of the capture frame 108 .

[0039] Figure 1 The lower boom 130 of the capture frame 108 is coupled (eg, fixedly coupled) to the column 126 of the capture frame 108 such that Figure 1 The lower boom 130 of the capture frame 108 is oriented at an example angle 142 relative to the column 126 of the capture frame 108. Figure 1 In the example shown, the angle 142 between the lower boom 130 of the capture frame 108 and the column 126 of the capture frame 108 is approximately 90 degrees. Figure 1 As shown, the lower boom 130 of the capture frame 108 is substantially perpendicular to the column 126 of the capture frame 108. In other examples, the angle 142 between the lower boom 130 of the capture frame 108 and the column 126 of the capture frame 108 may be optionally greater or less than Figure 1 The approximately 90 degree angle shown causes the lower boom 130 of the capture frame 108 to be not substantially perpendicular relative to the column 126 of the capture frame 108 .

[0040] exist Figure 1 In the illustrated example of FIG. 1 , the capture line 132 of the capture frame 108 is coupled (eg, fixedly coupled) to the upper boom 128 and the lower boom 130 of the capture frame 108 and extends therebetween. More specifically, as shown in FIG. Figure 1 As shown, the capture line 132 of the capture frame 108 is coupled to an example free end 144 of the upper suspension rod 128 of the capture frame 108 and an example free end 146 of the lower suspension rod 130 of the capture frame 108 and extends therebetween without slack in the capture line 132. The free end 144 of the upper suspension rod 128 is offset (e.g., spaced apart) from the free end 146 of the lower suspension rod 130 by a distance (e.g., a vertical distance) that is suitable for allowing the capture line 132 to extend between the upper suspension rod 128 and the lower suspension rod 130. Figure 1The capture wire 132 of the capture device 102 and / or the capture frame 108 more generally is capable of capturing the UAV. In addition, the capture wire 132 is offset (e.g., spaced apart) from the column 126 of the capture frame 108 by a distance (e.g., a horizontal distance) that is suitable for enabling the capture of the UAV. Figure 1 The capture line 132 of the capture device 102 and / or the capture frame 108 more generally is capable of capturing a UAV.

[0041] The capture line 132 of the capture frame 108 may be implemented by any flexible and / or rope-like structural member (e.g., rope, wire, chord, strap, etc.) suitable for engagement by a hook of the UAV, as further described below. Figure 1 In the illustrated example of FIG. 1 , the free end 144 of the upper boom 128 and the free end 146 of the lower boom 130 may bend inwardly toward each other in relation to the UAV engaging the capture line 132 of the capture frame 108. Such flexibility of the free end 144 of the upper boom 128 and / or the free end 146 of the lower boom 130 helps the capture frame 108 absorb and / or dissipate capture energy associated with the UAV engaging the capture line 132 of the capture frame 108.

[0042] Figure 1 The upper support member 134 of the capture frame 108 is coupled (e.g., fixedly coupled) to the column 126 of the capture frame 108 and the upper boom 128 of the capture frame 108 and extends (e.g., extends diagonally) therebetween. Figure 1 In the illustrated example of the capture frame 108, the upper support 134 is configured and / or oriented to provide structural support between the column 126 of the capture frame 108 and the upper boom 128. In some examples, the upper support 134 of the capture frame 108 is a rigid structural member that is configured and / or oriented to prevent (e.g., eliminate) the upper boom 128 of the capture frame 108 from moving (e.g., bending or flexing) toward and / or away from the column 126 of the capture frame 108. In other examples, the upper support 134 of the capture frame 108 is a flexible structural member that is configured and / or oriented to limit (e.g., limit) the upper boom 128 of the capture frame 108 from moving (e.g., bending or flexing) toward and / or away from the column 126 of the capture frame 108. In some examples, the upper support 134 can be one of a plurality of supports that extend between and / or provide support between the column 126 of the capture frame 108 and the upper boom 128 of the capture frame 108.

[0043] Figure 1 The lower support member 136 of the capture frame 108 is coupled (e.g., fixedly coupled) to the column 126 of the capture frame 108 and the lower boom 130 of the capture frame 108 and extends (e.g., extends diagonally) therebetween. Figure 1In the illustrated example of the capture frame 108, the lower support member 136 is configured and / or oriented to provide structural support between the column 126 of the capture frame 108 and the lower boom 130. In some examples, the lower support member 136 of the capture frame 108 is a rigid structural member that is configured and / or oriented to prevent (e.g., eliminate) the lower boom 130 of the capture frame 108 from moving toward and / or away from the column 126 of the capture frame 108 (e.g., bending or flexing). In other examples, the lower support member 136 of the capture frame 108 is a flexible structural member that is configured and / or oriented to limit (e.g., limit) the lower boom 130 of the capture frame 108 from moving toward and / or away from the column 126 of the capture frame 108 (e.g., bending or flexing). In some examples, the lower support member 136 can be one of a plurality of supports that extend between and / or provide support between the column 126 of the capture frame 108 and the lower boom 130 of the capture frame 108.

[0044] exist Figure 1 In the illustrated example of the capture frame 108, the capture frame 108 has a generally C-shaped profile formed and / or defined by the column 126, the upper boom 128, and the lower boom 130 of the capture frame 108. In addition, Figure 1 The capture frame 108 has a generally rectangular profile formed and / or defined by the column 126, the upper boom 128, the lower boom 130, and the capture line 132 of the capture frame 108. In other examples, the capture frame 108 can have a different profile due to changes and / or variations in the angle 140 between the upper boom 128 and the column 126 and / or the angle 142 between the lower boom 130 and the column 126. For example, increasing the angle 140 between the upper boom 128 and the column 126 and the angle 142 between the lower boom 130 and the column 126 can provide the capture frame 108 with a trapezoidal profile formed and / or defined by the column 126, the upper boom 128, the lower boom 130, and the capture line 132 of the capture frame 108.

[0045] Figure 1 The column 126, the upper boom 128, and / or the lower boom 130 of the capture frame 108 may each be formed and / or defined by a plurality of structural members and / or segments that are removably coupled to one another via one or more joints. Figure 1 The column 126 of the capture frame 108 includes an example first segment 148 and an example second segment 150. The first segment 148 is removably coupled to the second segment 150 via an example first joint 152. Figure 1 The upper boom 128 of the capture frame 108 includes an example third segment 154 and an example fourth segment 156. The third segment 154 is removably coupled to the fourth segment 156 via an example second joint 158. Figure 1The lower boom 130 of the capture frame 108 includes an example fifth segment 160 and an example sixth segment 162. The fifth segment 160 is removably coupled to the sixth segment 162 via an example third joint 164. In other examples, the column 126, the upper boom 128, and / or the lower boom 130 of the capture frame 108 can be respectively connected by Figure 1 The respective structural configurations of the column 126, upper hanger rod 128, and lower hanger rod 130 shown and described above are formed and / or defined by different numbers (e.g., 1, 3, 4, etc.) of structural members and / or segments. Figure 1 The capture frame 108 may be formed and / or defined by any number (eg, 1, 2, 3, 6, etc.) of structural members and / or segments.

[0046] exist Figure 1 In the illustrated example of FIG. 1 , the lower boom 130 of the capture frame 108 is submerged in the body of water 104. Figure 1 As shown, when the lower boom 130 is submerged in the body of water 104, the lower boom 130 operates and / or functions as a braking member that utilizes the body of water 104 surrounding the vessel 100 to brake (e.g., slow down) the rotation of the capture frame 108 associated with the capture device 102 of the vessel 100 that captures the UAV relative to the mounting frame 106. More specifically, in Figure 1 In the illustrated example, rotation of a capture frame 108 relative to a mounting frame 106 associated with a capture device 102 of a vessel 100 that captures a UAV is opposed by a braking force applied to a submerged lower boom 130 by a body of water 104 surrounding the vessel 100 .

[0047] For example, Figure 2 It is along Figure 1 The cross-sectional view taken at section AA shows Figure 1 Capture example UAV 202 capture device 102 related Figure 1 The capture frame 108 of the capture device 102 is relative to Figure 1 200 of an example rotational movement of the mounting frame 106 of the capture device 102 . Figure 2 The UAV 202 includes an example wing 204 having an example hook 206 located near an outboard region (e.g., tip) of the wing 204. The hook 206 of the UAV 202 is configured to engage the capture line 132 of the capture frame 108 when the heading (e.g., flight path) of the UAV 202 intersects the location of the capture line 132. Figure 1 and Figure 2In the illustrated example, the capture frame 108 is positioned and / or oriented in an example neutral position 208, wherein the upper boom 128 and the lower boom 130 of the capture frame 108 are oriented to be substantially parallel to the example long axis 210 of the vessel 100, the upper boom 128 and the lower boom 130 of the capture frame 108 extend rearwardly from the rear end of the vessel 100, and the lower boom 130 is submerged in the body of water 104.

[0048] exist Figure 2 In the illustrated example of FIG. 1 , the UAV 202 is shown approaching the vessel 100 from an example direction 212 that is substantially perpendicular to the long axis 210 of the vessel 100. When the capture frame 108 is positioned in the neutral position 208, the hook 206 of the UAV 202 engages the capture line 132 of the capture frame 108. The engagement generates a capture force that causes the capture frame 108 to rotate relative to the mounting frame 106 from the neutral position 208 to one or more rotational positions (such as Figure 2 14 and 15. The illustrated rotational motion 200 of the capture frame 108 relative to the mounting frame 106 is opposed by an example braking force 218 applied to the submerged lower boom 130 of the capture frame 108 by the body of water 104 surrounding the lower boom 130 and / or surrounding the vessel 100. The braking force 218 applied to the submerged lower boom 130 advantageously provides smooth deceleration of the capture frame 108 and / or provides smooth deceleration of the UAV 202 engaged with the capture line 132 of the capture frame 108.

[0049] like Figure 1 and Figure 2As shown, when the lower boom 130 is submerged in the body of water 104, the lower boom 130 operates and functions not only as a braking member, but also as a damping member that utilizes the body of water 104 surrounding the vessel 100 to provide damping (e.g., reduce the oscillatory motion thereof) of the lower boom 130 of the capture frame 108 associated with the capture device 102 of the vessel 100 that captures the UAV 202 relative to the upper boom 128 of the capture frame 108. For example, in addition to causing the rotational motion 200 of the capture frame 108 described above, the capture force generated by the UAV 202 engaging the capture line 132 of the capture frame 108 also causes the example bending motion 166, whereby the upper boom 128 and the lower boom 130 of the capture frame 108 bend toward each other. The illustrated bending motion 166 of the lower boom 130 toward the upper boom 128 is opposed by an example damping force 168 applied to the submerged lower boom 130 of the capture frame 108 by the body of water 104 surrounding the lower boom 130 and / or surrounding the vessel 100. The damping force 168 applied to the lower boom 130 provides inelastic damping of the lower boom 130 and / or the upper boom 128 of the capture frame 108, and / or provides inelastic damping of the UAV 202 engaged with the capture line 132 of the capture frame 108.

[0050] Figure 3 is a rear view of an example vessel 300 with an example capture device 302. Figure 3 The vessel 300 may be any type, size, and / or shape of vessel (e.g., a ship, a boat, a carrier, etc.) configured to be located in a body of water. Figure 3 In the illustrated example of FIG. , the vessel 300 is located in an example body of water 304 . Figure 3 The body of water 304 can be any type, size and / or shape of water (e.g., a strait, canal, river, estuary, harbor, lake, sea, ocean, etc.) suitable for accommodating the vessel 300 passing through and / or traveling within the body of water.

[0051] Figure 3 The capture device 302 is coupled to the vessel 300 and is configured to capture the UAV. Figure 3 In the illustrated example, the capture device 302 includes an example mounting frame 306 and an example capture frame 308. Figure 3 The mounting frame 306 is coupled (eg, fixedly coupled) to the vessel 300 . Figure 3 The capture frame 308 can be rotatably coupled to the mounting frame 306. Figure 3 The capture frame 308 can be relative to Figure 3 The mounting frame 306 rotates about an example rotation axis 310 .

[0052] exist Figure 3In the illustrated example of , the rotation axis 310 has an upward orientation relative to an example horizontally oriented surface 312 (eg, a deck) of the vessel 300 and / or relative to an example upper surface 314 of the body of water 304. More specifically, Figure 3 The rotation axis 310 is substantially perpendicular to the horizontally oriented surface 312 of the vessel 300 and / or substantially perpendicular to the upper surface 314 of the body of water 304. In other examples, the rotation axis 310 can alternatively be positioned in a non-upward orientation relative to the horizontally oriented surface 312 of the vessel 300 and / or relative to the upper surface 314 of the body of water 304.

[0053] Figure 3 The mounting frame 306 of the capture device 302 includes an example column 316 , an example base 318 , an example support 320 , an example upper collar 322 , and an example lower collar 324 . Figure 3 The capture frame 308 of the capture device 302 includes an example column 326, an example upper suspension rod 328 and an example lower suspension rod 330, an example capture line 332, an example upper support member 334 and an example lower support member 336. In other examples, Figure 3 The mounting frame 306, capture frame 308, and / or capture device 302 more generally may include fewer or additional components, structures, and / or assemblies relative to the components, structures, and / or assemblies identified above. The column 316, base 318, support member 320, upper collar 322, and lower collar 324 of the mounting frame 306 and the column 326, upper suspension rod 328, lower suspension rod 330, upper support member 334, and lower support member 336 of the capture frame 308 may be implemented as any type of solid or hollow mechanical structure (e.g., tubes, rods, shafts, tubes, struts, rods, links, beams, plates, etc.) made of any type of material (e.g., metal, plastic, composite material, etc.), respectively.

[0054] When the mounting frame 306 and / or more generally the capture device 302 is coupled to the vessel 300, Figure 3 The columns 316 of the mounting frame 306 have an upward orientation. Figure 3 As shown, the columns 316 of the mounting frame 306 have an upward orientation relative to the horizontally oriented surface 312 of the vessel 300 and / or relative to the upper surface 314 of the body of water 304. More specifically, the columns 316 of the mounting frame 306 are substantially perpendicular to the horizontally oriented surface 312 of the vessel 300 and / or substantially perpendicular to the upper surface 314 of the body of water 304. In other examples, the columns 316 of the mounting frame 306 may alternatively be positioned at a non-upward orientation relative to the horizontally oriented surface 312 of the vessel 300 and / or relative to the upper surface 314 of the body of water 304.

[0055] exist Figure 3In the illustrated example of , the posts 316 of the mounting frame 306 are offset (e.g., spaced apart) from the rotation axis 310 and are substantially parallel to the rotation axis 310. In other examples, the posts 316 of the mounting frame 306 can optionally be oriented at an angle relative to the rotation axis 310 such that the posts 316 of the mounting frame 306 are not substantially parallel to the rotation axis 310. In other examples, the posts 316 of the mounting frame 306 can optionally be co-linear with the rotation axis 310.

[0056] Figure 3 The base 318 of the mounting frame 306 couples (e.g., fixedly couples) the mounting frame 306 and / or the capture device 302 more generally to the vessel. For example, the base 318 of the mounting frame 306 can be mounted, fastened, and / or otherwise coupled to a surface (e.g., the horizontally-oriented surface 312) and / or structure of the vessel 300. The base 318 of the mounting frame 306 can include any number (e.g., 1, 2, 3, 4, etc.) of segments that are coupled to the posts 316 of the mounting frame 306 and / or to each other to facilitate coupling the mounting frame 306 to the vessel 300.

[0057] Figure 3 The base 318 of the mounting frame 306 is coupled (eg, fixedly coupled) to the column 316 of the mounting frame 306 such that Figure 3 The base 318 of the mounting frame 306 is oriented at an example angle 338 relative to the column 316 of the mounting frame 306. Figure 3 In the illustrated example of FIG. 3 , the angle 338 between the base 318 of the mounting frame 306 and the column 316 of the mounting frame 306 is approximately 90 degrees. Figure 3 As shown, the base 318 of the mounting frame 306 is substantially perpendicular to the column 316 of the mounting frame 306. In other examples, the angle 338 between the base 318 of the mounting frame 306 and the column 316 of the mounting frame 306 can be optionally greater or less than Figure 3 The approximately 90 degree angle shown is such that the base 318 of the mounting frame 306 is not substantially perpendicular to the column 316 of the mounting frame 306 .

[0058] In some examples, the base 318 of the mounting frame 306 is directly coupled to the vessel 300. In some such examples, the column 316 of the mounting frame 306 may also be directly coupled to the vessel 300 (e.g., independently of the base 318 of the mounting frame 306). Alternatively, the column 316 of the mounting frame 306 may be coupled to the base 318 of the mounting frame 306 without directly coupling the column 316 of the mounting frame 306 to the vessel 300.

[0059] Figure 3The support member 320 of the mounting frame 306 is coupled (e.g., fixedly coupled) to the column 316 of the mounting frame 306 and the base 318 of the mounting frame 306 and extends (e.g., extends diagonally) therebetween. Figure 3 In the illustrated example of the mounting frame 306, the support member 320 is configured and / or oriented to provide structural support between the column 316 and the base 318 of the mounting frame 306. In some examples, the support member 320 of the mounting frame 306 is a rigid structural member that is configured and / or oriented to prevent (e.g., eliminate) the base 318 of the mounting frame 306 from moving toward and / or away from the column 316 of the mounting frame 306 (e.g., bending or flexing). In other examples, the support member 320 of the mounting frame 306 is a flexible structural member that is configured and / or oriented to limit (e.g., limit) the base 318 of the mounting frame 306 from moving toward and / or away from the column 316 of the mounting frame 306 (e.g., bending or flexing). In some examples, the support member 320 can be one of a plurality of supports that extend between and / or provide support between the column 316 of the mounting frame 306 and the base 318 of the mounting frame 306.

[0060] Figure 3 The upper collar 322 and the lower collar 324 of the mounting frame 306 are coupled (eg, fixedly coupled) to the column 316 of the mounting frame 306. Figure 3 In the illustrated example of , the upper collar 322 is offset (eg, spaced apart) from the lower collar 324 along the column 316 of the mounting frame 306 . In other examples, the upper collar 322 may alternatively be adjacent to (eg, contacting) the lower collar 324 . Figure 3 Each of the upper and lower collars 322 and 324 of the mounting frame 306 is configured to receive a post 326 of the capture frame 308 such that the post 326 of the capture frame 308 can be rotatably coupled to the upper and lower collars 322 and 324 and / or the post 316 of the mounting frame 306. In some examples, Figure 3 Each of the upper and lower collars 322, 324 of the capture frame 308 includes a bearing configured to receive the post 326 of the capture frame 308, thereby enabling the post 326 of the capture frame 308 to rotate about the rotation axis 310 within the upper and lower collars 322, 324 of the mounting frame 306 and / or enabling the capture frame 308 to rotate relative to the mounting frame 306. In some examples, the upper and lower collars 322, 324 may be two of a plurality of collars (e.g., 3 or more collars) that rotatably couple the post 326 of the capture frame 308 to the collars and / or post 316 of the mounting frame 306.

[0061] When the mounting frame 306 and / or more generally the capture device 302 is coupled to the vessel 300, Figure 3The column 326 of the capture frame 308 has an upward orientation. Figure 3 As shown, posts 326 of capture frame 308 have an upward orientation relative to horizontally oriented surface 312 of vessel 300 and / or relative to upper surface 314 of body of water 304. More specifically, posts 326 of capture frame 308 are substantially perpendicular to horizontally oriented surface 312 of vessel 300 and / or substantially perpendicular to upper surface 314 of body of water 304. In other examples, posts 326 of capture frame 308 may alternatively be positioned in a non-upward orientation relative to horizontally oriented surface 312 of vessel 300 and / or relative to upper surface 314 of body of water 304.

[0062] The post 326 of the capture frame 308 defines (e.g., is colinear with) the rotation axis 310 about which the capture frame 308 rotates. Figure 3 In the illustrated example of , the posts 326 of the capture frame 308 are offset (e.g., spaced apart) from and are substantially parallel to the posts 316 of the mounting frame 306. In other examples, the posts 326 of the capture frame 308 may optionally be oriented at an angle relative to the posts 316 of the mounting frame 306 such that the posts 326 of the capture frame 308 are substantially non-parallel to the posts 316 of the mounting frame 306. In other examples, the posts 326 of the capture frame 308 may optionally be co-linear with the posts 316 of the capture frame 308.

[0063] Figure 3 The upper suspension rod 328 of the capture frame 308 is coupled (eg, fixedly coupled) to the column 326 of the capture frame 308 such that Figure 3 The upper boom 328 of the capture frame 308 is oriented at an example angle 340 relative to the column 326 of the capture frame 308. Figure 3 In the illustrated example of FIG. 3 , the angle 340 between the upper boom 328 of the capture frame 308 and the column 326 of the capture frame 308 is approximately 90 degrees. Figure 3 As shown, the upper suspension rod 328 of the capture frame 308 is substantially perpendicular to the column 326 of the capture frame 308. In other examples, the angle 340 between the upper suspension rod 328 of the capture frame 308 and the column 326 of the capture frame 308 can be optionally greater or less than Figure 3 The approximately 90 degree angle shown causes the upper boom 328 of the capture frame 308 to be not substantially perpendicular relative to the column 326 of the capture frame 308 .

[0064] Figure 3 The lower boom 330 of the capture frame 308 is coupled (eg, fixedly coupled) to the column 326 of the capture frame 308 such that Figure 3The lower boom 330 of the capture frame 308 is oriented at an example angle 342 relative to the column 326 of the capture frame 308. Figure 3 In the illustrated example of FIG. 3 , the angle 342 between the lower boom 330 of the capture frame 308 and the column 326 of the capture frame 308 is approximately 90 degrees. Figure 3 As shown, the lower boom 330 of the capture frame 308 is substantially perpendicular to the column 326 of the capture frame 308. In other examples, the angle 342 between the lower boom 330 of the capture frame 308 and the column 326 of the capture frame 308 may optionally be greater than or less than Figure 3 The approximately 90 degree angle shown causes the lower boom 330 of the capture frame 308 to be not substantially perpendicular relative to the column 326 of the capture frame 308 .

[0065] exist Figure 3 In the illustrated example of FIG. 3 , the capture line 332 of the capture frame 308 is coupled (eg, fixedly coupled) to the upper boom 328 and the lower boom 330 of the capture frame 308 and extends therebetween. More specifically, as shown in FIG. Figure 3 As shown, the capture line 332 of the capture frame 308 is coupled to an example free end 344 of the upper suspension rod 328 of the capture frame 308 and an example free end 346 of the lower suspension rod 330 of the capture frame 308 and extends therebetween without slack in the capture line 332. The free end 344 of the upper suspension rod 328 is offset (e.g., spaced apart) from the free end 346 of the lower suspension rod 330 by a distance (e.g., a vertical distance) suitable to allow the capture line 332 to extend between the upper suspension rod 328 and the lower suspension rod 330. Figure 3 The capture wire 332 of the capture device 302 and / or the capture frame 308 more generally is capable of capturing the UAV. In addition, the capture wire 332 is offset (e.g., spaced apart) from the column 326 of the capture frame 308 by a distance (e.g., a horizontal distance) that is suitable for enabling the capture of the UAV. Figure 3 The capture line 332 of the capture device 302 and / or the capture frame 308 more generally is capable of capturing a UAV.

[0066] The capture line 332 of the capture frame 308 may be implemented by any flexible and / or rope-like structural member (e.g., rope, wire, chord, strap, etc.) suitable for being engaged by a hook of the UAV, as further described below. Figure 3 In the illustrated example of FIG. 308 , the free end 344 of the upper boom 328 and the free end 346 of the lower boom 330 may be bent inwardly toward each other in relation to the UAV engaging the capture line 332 of the capture frame 308. The aforementioned flexibility of the free end 344 of the upper boom 328 and / or the free end 346 of the lower boom 330 helps the capture frame 308 absorb and / or dissipate capture energy associated with the UAV engaging the capture line 332 of the capture frame 308.

[0067] Figure 3The upper support member 334 of the capture frame 308 is coupled (e.g., fixedly coupled) to the column 326 of the capture frame 308 and the upper suspension rod 328 of the capture frame 308 and extends (e.g., extends diagonally) therebetween. Figure 3 In the illustrated example of the capture frame 308, the upper support member 334 is configured and / or oriented to provide structural support between the column 326 of the capture frame 308 and the upper suspension rod 328. In some examples, the upper support member 334 of the capture frame 308 is a rigid structural member that is configured and / or oriented to prevent (e.g., eliminate) the upper suspension rod 328 of the capture frame 308 from moving toward and / or away from the column 326 of the capture frame 308 (e.g., bending or flexing). In other examples, the upper support member 334 of the capture frame 308 is a flexible structural member that is configured and / or oriented to limit (e.g., limit) the upper suspension rod 328 of the capture frame 308 from moving toward and / or away from the column 326 of the capture frame 308 (e.g., bending or flexing). In some examples, the upper support member 334 can be one of a plurality of supports that extend between and / or provide support between the column 326 of the capture frame 308 and the upper suspension rod 328 of the capture frame 308.

[0068] Figure 3 The lower support member 336 of the capture frame 308 is coupled (e.g., fixedly coupled) to the column 326 of the capture frame 308 and the lower boom 330 of the capture frame 308 and extends (e.g., extends diagonally) therebetween. Figure 3 In the illustrated example of the capture frame 308, the lower support member 336 is configured and / or oriented to provide structural support between the column 326 of the capture frame 308 and the lower boom 330. In some examples, the lower support member 336 of the capture frame 308 is a rigid structural member that is configured and / or oriented to prevent (e.g., eliminate) the lower boom 330 of the capture frame 308 from moving toward and / or away from the column 326 of the capture frame 308 (e.g., bending or flexing). In other examples, the lower support member 336 of the capture frame 308 is a flexible structural member that is configured and / or oriented to limit (e.g., limit) the lower boom 330 of the capture frame 308 from moving toward and / or away from the column 326 of the capture frame 308 (e.g., bending or flexing). In some examples, the lower support member 336 can be one of a plurality of supports that extend between and / or provide support between the column 326 of the capture frame 308 and the lower boom 330 of the capture frame 308.

[0069] exist Figure 3 In the illustrated example of , the capture frame 308 has a generally C-shaped profile formed and / or defined by the column 326, the upper suspension rod 328, and the lower suspension rod 330 of the capture frame 308. In addition, Figure 3The capture frame 308 has a generally rectangular profile formed and / or defined by the column 326, the upper boom 328, the lower boom 330, and the capture line 332 of the capture frame 308. In other examples, the capture frame 308 can have a different profile due to changes and / or variations in the angle 340 between the upper boom 328 and the column 326 and / or the angle 342 between the lower boom 330 and the column 326. For example, increasing the angle 340 between the upper boom 328 and the column 326 and the angle 342 between the lower boom 330 and the column 326 will provide the capture frame 308 with a trapezoidal profile formed and / or defined by the column 326, the upper boom 328, the lower boom 330, and the capture line 332 of the capture frame 308.

[0070] Figure 3 The column 326, the upper boom 328, and / or the lower boom 330 of the capture frame 308 may each be formed and / or defined by a plurality of structural members and / or segments that are removably coupled to one another via one or more joints. Figure 3 The column 326 of the capture frame 308 includes an example first segment 348 and an example second segment 350. The first segment 348 is removably coupled to the second segment 350 via an example first joint 352. Figure 3 The upper boom 328 of the capture frame 308 includes an example third segment 354 and an example fourth segment 356. The third segment 354 is removably coupled to the fourth segment 356 via an example second joint 358. Figure 3 The lower boom 330 of the capture frame 308 includes an example fifth segment 360 and an example sixth segment 362. The fifth segment 360 is removably coupled to the sixth segment 362 via an example third joint 364. In other examples, the column 326, the upper boom 328, and / or the lower boom 330 of the capture frame 308 can be respectively connected by Figure 3 The respective structural configurations of the column 326, upper hanger rod 328, and lower hanger rod 330 shown and described above are formed and / or defined by different numbers (e.g., 1, 3, 4, etc.) of structural members and / or segments. Figure 3 The capture frame 308 can be formed and / or defined by any number (e.g., 1, 2, 3, 6, etc.) of structural members and / or segments.

[0071] exist Figure 3 In the illustrated example of , lower boom 330 of capture frame 308 is not submerged in body of water 304 , but rather is positioned and / or located above upper surface 314 of body of water 304 . Figure 3 The capture frame 308 of the capture device 302 further includes an example rudder 366, an example rudder support 368, an example foil 370, and an example foil support 372. Figure 3In the illustrated example of , the rudder 366 is coupled (e.g., fixedly coupled) to the rudder support 368, and the rudder support 368 is coupled (e.g., fixedly coupled) to the column 326 of the capture frame 308. In other examples, the rudder support 368 may alternatively be coupled (e.g., fixedly coupled) to the lower boom 330 of the capture frame 308. Figure 3 As further shown, the foil 370 is coupled (eg, fixedly coupled) to a foil support 372 , and the foil support 372 is coupled to the lower boom 330 of the capture frame 308 .

[0072] exist Figure 3 In the illustrated example of FIG. 3 , rudder support 368 extends downwardly from column 326 and / or lower boom 330 of capture frame 308 into body of water 304, and rudder 366 is submerged in body of water 304. Figure 3 As shown, when the rudder 366 is submerged in the body of water 304, the rudder 366 operates and / or functions as a braking member that utilizes the body of water 304 surrounding the vessel 300 to brake (e.g., slow down) the rotation of the capture frame 308 associated with the capture device 302 of the vessel 300 that captures the UAV relative to the mounting frame 306. More specifically, in Figure 3 In the illustrated example, rotation of a capture frame 308 associated with a capture device 302 of a vessel 300 that captures a UAV relative to a mounting frame 306 is opposed by a braking force applied to a submerged rudder 366 by a body of water 304 surrounding the vessel 300.

[0073] For example, Figure 4 It is along Figure 3 The cross-sectional view taken at section BB shows the Figure 3 Capture example UAV 402 capture device 302 related Figure 3 The capture frame 308 of the capture device 302 is relative to Figure 3 400 of an example rotational motion of the mounting frame 306 of the capture device 302 . Figure 3 The UAV 402 includes an example wing 404 having an example hook 406 located near an outboard region (e.g., tip) of the wing 404. The hook 406 of the UAV 402 is configured to engage the capture line 332 of the capture frame 308 when the heading (e.g., flight path) of the UAV 402 intersects the location of the capture line 332. Figure 3 and Figure 4In the illustrated example, the capture frame 308 is positioned and / or oriented in an example neutral position 408, wherein the upper boom 328 and the lower boom 330 of the capture frame 308 are oriented at non-parallel angles relative to the example long axis 410 of the vessel 300, the upper boom 328 and the lower boom 330 of the capture frame 308 extend diagonally (e.g., laterally and rearwardly) from the left side and rear end of the vessel 300, and the rudder 366 is submerged in the body of water 304 and extends rearwardly from the rear end of the vessel 300.

[0074] exist Figure 4 In the illustrated example of FIG. 4 , UAV 402 is shown approaching vessel 300 from an example direction 412 that is substantially parallel to long axis 410 of vessel 300. When capture frame 308 is positioned in neutral position 408, hook 406 of UAV 402 engages capture line 332 of capture frame 308. This engagement generates a capture force that causes capture frame 308 to rotate relative to mounting frame 306 from neutral position 408 to one or more rotational positions (such as Figure 4 332 of the capture frame 308.

[0075] exist Figure 3 and Figure 4 In the illustrated example of the capture frame 308, the rudder 366 of the capture frame 308 is flexible. The rudder 366 flexes (e.g., bends or curves) in response to an applied torsional force. For example, increasing the torsional force applied to the rudder 366 increases the degree of bend of the rudder 366 (e.g., relative to a straight rudder 366) and reduces the applied braking force applied by the rudder 366 on the capture frame 308. Conversely, reducing the torsional force applied to the rudder 366 reduces the degree of bend of the rudder 366 and increases the applied braking force applied by the rudder 366 on the capture frame 308. The flexibility of the rudder 366 advantageously enables the rudder 366 to self-regulate the applied braking force associated with capturing the UAV 402.

[0076] For example, in a static capture scenario (e.g., when the vessel 300 is not in motion), when the UAV 402 first engages the capture line 332 of the capture frame 308, Figure 3 and Figure 4 The rudder 366 and / or more generally the capture frame 308 experience the maximum applied braking force. Figure 3 and Figure 4 If the rudder 366 is not flexible, both the capture frame 308 and the UAV 402 may experience excessive maximum applied braking forces. However, making the rudder 366 flexible enables the rudder 366 to self-regulate the applied braking force to provide a relatively more constant and / or less excessive applied braking force. For example, in a static capture scenario, when the capture frame 308 is in the neutral position 408, the rudder 366 is most curved (e.g., has a maximum curvature) in response to the UAV 402 first engaging the capture line 332 of the capture frame 308. When the capture frame 308 is facing the capture line 332, the rudder 366 is most curved (e.g., has a maximum curvature). Figure 4 As the first rotational position 414, the second rotational position 416, and / or the third rotational position 418 are rotated, the braking rate of the capture frame 308 is subsequently reduced. As the braking rate is reduced, the degree of bending of the rudder 366 is also reduced. Therefore, in the static capture scenario, when the capture frame 308 is directed toward Figure 4 As the first rotational position 414 , the second rotational position 416 , and / or the third rotational position 418 are rotated, the rudder 366 becomes straighter and / or less curved.

[0077] In a dynamic capture scenario (e.g., when the vessel 300 is in motion), when the capture frame 308 moves away from the neutral position 408 and rotates toward the first rotation position 414, the second rotation position 416, and / or the third rotation position 418 shown in FIG. 4, Figure 3 and Figure 4 The orientation of the rudder 366 of the capture frame 308 becomes increasingly perpendicular to Figure 3 and Figure 4 The direction of travel of the vessel 300 in the body of water 304. Figure 3 and Figure 4 The rudder 366 is not flexible, so when the capture frame 308 is oriented Figure 4 As the rudder 366 is rotated to the first rotational position 414, the second rotational position 416, and / or the third rotational position 418 shown, the rudder 366 will experience increased water flow and, therefore, increased applied braking force. However, making the rudder 366 flexible enables the rudder 366 to self-adjust the applied braking force to provide a relatively more constant applied braking force. For example, Figure 4 As the capture frame 308 moves away from the neutral position 408 and rotates toward the first rotational position 414, the second rotational position 416, and / or the third rotational position 418, the degree of bending of the rudder 366 increases. Figure 4As shown, the increased bending of the rudder 366 is caused by the increased torsional force applied to the rudder 366 as the capture frame 308 rotates away from the neutral position 408 and toward the first rotational position 414, the second rotational position 416 and / or the third rotational position 418 while the vessel 300 moves within the body of water 304.

[0078] exist Figure 3 and Figure 4 In the illustrated example of FIG. 3 , the foil support 372 extends downwardly from the lower boom 330 of the capture frame 308 into the body of water 304 and the foil 370 is submerged in the body of water 304. Figure 3 and Figure 4 As shown, when the foil 370 is submerged in the body of water 304, the foil 370, which is oriented generally parallel to the lower boom 330, operates and functions as a damping member that utilizes the body of water 304 surrounding the vessel 300 to damp (e.g., reduce the oscillatory motion of) the lower boom 330 of the capture frame 308 associated with the capture device 302 of the vessel 300 that captures the UAV 402 relative to the upper boom 328 of the capture frame 308. For example, in addition to causing the rotational motion 400 of the capture frame 308 described above, the capture force generated by the UAV 402 engaging the capture line 332 of the capture frame 308 also causes an example bending motion 374 whereby the upper boom 328 and the lower boom 330 of the capture frame 308 bend toward each other. The illustrated bending motion 374 of the lower boom 330 toward the upper boom 328 is opposed by an example damping force 376 applied to the foil 370 of the capture frame 308 by the body of water 304 surrounding the lower boom 330 and / or surrounding the vessel 300. The damping force 376 applied to the foil 370 provides inelastic damping of the lower boom 330 and / or the upper boom 328 of the capture frame 308, and / or provides inelastic damping of the UAV 402 engaged with the capture line 332 of the capture frame 308.

[0079] From the foregoing, it will be appreciated that the disclosed apparatus and method provide for the offshore capture of a UAV using water for braking and damping. More specifically, the disclosed apparatus and method implement a capture device that, when the capture device is mounted to a vessel and / or otherwise disposed on a vessel, includes a capture frame having a braking member and / or a damping member submerged in a body of water in which the vessel is located. The capture frame is rotatably coupled to a mounting frame of the capture device. The mounting frame secures the capture device to the vessel. In connection with the capture device for capturing the UAV, the capture frame rotates relative to the mounting frame, and a lower boom of the capture frame bends toward an upper boom of the capture frame. The rotation of the capture frame relative to the mounting frame is counteracted by a braking force applied to the submerged braking member of the capture frame by the body of water surrounding the vessel. The bending of the lower boom of the capture frame relative to the upper boom of the capture frame is counteracted by a damping force applied to the submerged damping member of the capture frame by the body of water surrounding the vessel.

[0080] In some examples, the submerged braking member and / or the submerged damping member of the capture frame can be implemented by a lower boom of the capture frame. In other examples, the submerged braking member of the capture frame can be implemented by a rudder of the capture frame, and the submerged damping member can be implemented by a foil of the capture frame. In some such other examples, the rudder is flexible, and the flexibility of the rudder naturally limits the amount of braking force applied so as to advantageously reduce peak braking forces. Therefore, the flexibility of the rudder provides mechanical simplicity.

[0081] By using water to brake and dampen the capture of the UAV, the disclosed capture device advantageously eliminates the need for additional capture energy dissipation mechanisms, such as the bungee cords and capture line payouts of the prior art capture systems described above. Eliminating the use of bungee cords and / or capture line payouts generally advantageously reduces (e.g., eliminates) the risk of the captured UAV inadvertently striking the vertical structure of the capture device, and also advantageously improves the predictability of the UAV's motion after capture and / or the predictability of the capture process.

[0082] As a further advantage of the capture of the UAV using water braking and damping, the disclosed capture apparatus can advantageously eliminate the need for an additional energy-consuming capture process, such as the straight-line capture process described above, in which the vessel is in motion to reduce the relative speed between the capture apparatus and the UAV. For example, the disclosed capture apparatus enables the capture of a UAV approaching the vessel from a direction that is not in line with the direction of travel of the vessel (e.g., a direction perpendicular to the direction of travel of the vessel). This approach direction allows the UAV to be captured when the vessel is stationary. Another advantage of eliminating the straight-line capture process is that in the event of a capture failure, the risk of the UAV inadvertently striking any structure of the vessel is reduced.

[0083] The disclosed capture device advantageously provides a gentler (e.g., less strenuous) capture process relative to the capture process provided by the above-described existing capture systems. The gentler capture process enables the disclosed capture device to be constructed from structural materials and / or components having relatively lower strength requirements, thereby allowing a relatively compact and lightweight design. In addition, the disclosed capture device can be intentionally designed to bend and flex, thereby enabling a lighter design.

[0084] Relative to the above-described prior art capture systems, the disclosed capture device is mechanically less complex (e.g., has improved mechanical simplicity), and therefore does not require additional mechanisms to provide braking and damping. The lack of such additional mechanisms advantageously eliminates the possibility of their failure, thereby improving the overall reliability of the disclosed capture device. The lack of such additional mechanisms also advantageously eliminates maintenance that would otherwise be required by such additional mechanisms.

[0085] The compact and lightweight nature of the disclosed capture device advantageously allows such a capture device to be assembled and set up by a small team without the assistance of a motor. In some examples, one or more structures and / or components of the disclosed capture device can be formed from a plurality of joined segments that can be easily assembled and / or disassembled from one another, thereby enabling compact storage of such a capture device when not in use (e.g., onboard storage). The compact and lightweight design of the disclosed capture device advantageously enables such a capture device to be used on vessels of all shapes and sizes, including vessels of relatively small size and / or shape, for which the aforementioned existing capture systems may not be suitable.

[0086] In some examples, a capture device for capturing an unmanned aerial vehicle (UAV) on a vessel located in a body of water is disclosed. In some disclosed examples, the capture device includes a mounting frame and a capture frame. In some disclosed examples, the mounting frame is configured to be coupled to the vessel. In some disclosed examples, the capture frame is configured to be rotatably coupled to the mounting frame. In some disclosed examples, the capture frame can rotate about a rotation axis relative to the mounting frame. In some disclosed examples, the capture frame includes a braking member configured to be immersed in the body of water. In some disclosed examples, the braking member is configured to resist rotation of the capture frame relative to the mounting frame based on a braking force to be applied to the braking member by the body of water.

[0087] In some disclosed examples, the mounting frame includes a column. In some disclosed examples, the rotation axis is offset from the column and is substantially parallel to the column.

[0088] In some disclosed examples, the mounting frame includes a collar coupled to the post. In some disclosed examples, the collar is configured to receive the capture frame to rotatably couple the capture frame to the mounting frame.

[0089] In some disclosed examples, the capture frame includes a column, an upper boom coupled to the column, a lower boom coupled to the column, and a capture line extending between the upper boom and the lower boom. In some disclosed examples, the column defines an axis of rotation. In some disclosed examples, the upper boom is oriented at a first angle relative to the column. In some disclosed examples, the lower boom is oriented at a second angle relative to the column. In some disclosed examples, the capture line is offset from the column.

[0090] In some disclosed examples, the column, upper boom, and lower boom form a generally C-shaped portion of the capture frame.

[0091] In some disclosed examples, the lower boom is a braking member. In some disclosed examples, rotation of a capture frame associated with a capture device that captures the UAV relative to the mounting frame will be opposed by a braking force applied to the lower boom by the body of water.

[0092] In some disclosed examples, movement of a lower boom relative to an upper boom associated with a capture device for capturing a UAV will be opposed by a damping force applied to the lower boom by a body of water.

[0093] In some disclosed examples, the upper boom and the lower boom are configured to be oriented substantially parallel to the long axis of the vessel before the capture device captures the UAV.

[0094] In some disclosed examples, the capture frame includes a rudder. In some disclosed examples, the rudder is a braking member. In some disclosed examples, rotation of the capture frame associated with a capture device that captures the UAV relative to the mounting frame will be opposed by a braking force applied to the rudder by the body of water.

[0095] In some disclosed examples, the rudder is flexible. In some disclosed examples, the rudder is bent to adjust the braking force.

[0096] In some disclosed examples, the capture frame includes a foil coupled to a lower boom and configured to be submerged in a body of water. In some disclosed examples, movement of the lower boom relative to the upper boom associated with a capture device that captures the UAV will be opposed by a damping force applied to the foil by the body of water.

[0097] In some examples, a method for capturing an unmanned aerial vehicle (UAV) on a vessel located in a body of water is disclosed. In some disclosed examples, the method includes capturing the UAV using a capture device including a mounting frame and a capture frame. In some disclosed examples, the mounting frame is coupled to the vessel. In some disclosed examples, the capture frame is rotatably coupled to the mounting frame. In some disclosed examples, the capture frame is rotatable about a rotation axis relative to the mounting frame. In some disclosed examples, the capture frame includes a braking member submerged in the body of water. In some disclosed examples, the braking member resists rotation of the capture frame relative to the mounting frame based on a braking force applied to the braking member by the body of water.

[0098] In some disclosed examples, the mounting frame includes a column. In some disclosed examples, the rotation axis is offset from the column and is substantially parallel to the column.

[0099] In some disclosed examples, the mounting frame includes a collar coupled to the post. In some disclosed examples, the collar receives the capture frame to rotatably couple the capture frame to the mounting frame.

[0100] In some disclosed examples, the capture frame includes a column, an upper boom coupled to the column, a lower boom coupled to the column, and a capture line extending between the upper boom and the lower boom. In some disclosed examples, the column defines an axis of rotation. In some disclosed examples, the upper boom is oriented at a first angle relative to the column. In some disclosed examples, the lower boom is oriented at a second angle relative to the column. In some disclosed examples, the capture line is offset from the column.

[0101] In some disclosed examples, the column, upper boom, and lower boom form a generally C-shaped portion of the capture frame.

[0102] In some disclosed examples, the lower boom is a braking member. In some disclosed examples, rotation of a capture frame associated with a capture device that captures the UAV relative to the mounting frame is opposed by a braking force applied to the lower boom by the body of water.

[0103] In some disclosed examples, movement of a lower boom associated with a capture device for capturing a UAV relative to an upper boom is opposed by a damping force applied to the lower boom by a body of water.

[0104] In some disclosed examples, the upper boom and the lower boom are oriented substantially parallel to the long axis of the vessel before the capture device captures the UAV.

[0105] In some disclosed examples, the capture frame includes a rudder. In some disclosed examples, the rudder is a braking member. In some disclosed examples, rotation of the capture frame associated with a capture device that captures the UAV relative to the mounting frame is opposed by a braking force applied to the rudder by the body of water.

[0106] In some disclosed examples, the rudder is flexible. In some disclosed examples, bending the rudder adjusts the braking force.

[0107] In some disclosed examples, the capture frame includes a foil coupled to a lower boom and submerged in a body of water. In some disclosed examples, movement of the lower boom relative to the upper boom associated with a capture device that captures the UAV is opposed by a damping force applied to the foil by the body of water.

[0108] Although some exemplary methods, devices and articles of manufacture have been disclosed herein, the coverage of this patent is not limited thereto. In contrast, this patent covers all methods, devices and articles of manufacture that fall completely within the scope of the technical solutions of this patent.

Claims

1. A capture device (102, 302) for capturing an unmanned aerial vehicle (202, 402) on a vessel (100, 300) located in a body of water (104, 304), the capture device comprising: A mounting frame (106, 306) configured to be coupled to the vessel; as well as a capture frame (108, 308) configured to be rotatably coupled to the mounting frame, the capture frame being rotatable relative to the mounting frame about a rotation axis (110, 310), the capture frame comprising a braking member (130, 366) configured to be submerged in the body of water, the braking member being configured to resist rotation (200, 400) of the capture frame relative to the mounting frame based on a braking force (218, 420) to be applied to the braking member by the body of water, wherein the capture frame includes a column (126, 326), an upper suspension rod (128, 328) coupled to the column, a lower suspension rod (130, 330) coupled to the column, and a capture line (132, 332) extending between the upper suspension rod and the lower suspension rod, the column defining the rotation axis, and wherein the lower boom is the braking member, and wherein rotation (200) of the capture frame relative to the mounting frame associated with the capture device for capturing the unmanned aerial vehicle will be opposed by the braking force (218) applied to the lower boom by the body of water.

2. The capture device according to claim 1, wherein: The mounting frame includes a post (116, 316) with the axis of rotation offset from and parallel to the post.

3. The capture device according to claim 2, wherein: The mounting frame includes a collar (122, 124, 322, 324) coupled to the post, the collar being configured to receive the capture frame to rotatably couple the capture frame to the mounting frame.

4. The capture device according to claim 1, wherein: The upper boom is oriented at a first angle (140, 340) relative to the column, the lower boom is oriented at a second angle (142, 342) relative to the column, the capture line is offset from the column, and wherein the column, the upper boom and the lower boom form a C-shaped portion of the capture frame.

5. The capture device according to claim 1, wherein: Movement (166) of the lower boom relative to the upper boom associated with the capture device to capture the unmanned aerial vehicle will be opposed by a damping force (168) applied to the lower boom by the body of water.

6. The capture device according to claim 5, wherein: Before the capture device captures the unmanned aerial vehicle, the upper boom and the lower boom are configured to be oriented parallel to a long axis (210) of the vessel.

7. The capture device according to claim 4, wherein: The capture frame includes a rudder (366), wherein the rudder is the braking member, wherein rotation (400) of the capture frame relative to the mounting frame associated with the capture device for capturing the unmanned aerial vehicle will be opposed by the braking force (420) applied to the rudder by the body of water, wherein the rudder is flexible, and wherein flexure of the rudder is to adjust the braking force.

8. The capture device according to claim 7, wherein: The capture frame includes a foil (370) coupled to the lower boom and configured to be submerged in the body of water, and wherein movement (374) of the lower boom relative to the upper boom associated with the capture device to capture the unmanned aerial vehicle will be opposed by a damping force (376) applied to the foil by the body of water.

9. A method for capturing an unmanned aerial vehicle (202, 402) on a vessel (100, 300) in a body of water (104, 304), the method comprising: The unmanned aerial vehicle is captured using a capture device (102, 302), the capture device (102, 302) comprising a mounting frame (106, 306) and a capture frame (108, 308), the mounting frame being coupled to the vessel, the capture frame being rotatably coupled to the mounting frame, the capture frame being rotatable relative to the mounting frame about a rotation axis (110, 310), the capture frame comprising a braking member (130, 366) submerged in the body of water, the braking member resisting rotation (200, 400) of the capture frame relative to the mounting frame based on a braking force (218, 420) applied to the braking member by the body of water, wherein the capture frame includes a column (126, 326), an upper suspension rod (128, 328) coupled to the column, a lower suspension rod (130, 330) coupled to the column, and a capture line (132, 332) extending between the upper suspension rod and the lower suspension rod, the column defining the rotation axis, and wherein the lower boom is the braking member, and wherein rotation (200) of the capture frame relative to the mounting frame associated with the capture device for capturing the unmanned aerial vehicle is opposed by the braking force (218) applied to the lower boom by the body of water.

10. The method according to claim 9, wherein: The upper boom is oriented at a first angle (140, 340) relative to the column, the lower boom is oriented at a second angle (142, 342) relative to the column, the capture line is offset from the column, and wherein the column, the upper boom and the lower boom form a C-shaped portion of the capture frame.

11. The method according to claim 9, wherein: Movement (166) of the lower boom relative to the upper boom associated with the capture device to capture the unmanned aerial vehicle is opposed by a damping force (168) applied to the lower boom by the body of water.

12. The method according to claim 9 or 11, wherein: Before the capture device captures the unmanned aerial vehicle, the upper boom and the lower boom are oriented parallel to the long axis (210) of the vessel.

13. The method according to claim 10, wherein: The capture frame includes a rudder (366), wherein the rudder is the braking member, wherein rotation (400) of the capture frame associated with the capture device for capturing the unmanned aerial vehicle relative to the mounting frame is opposed by a braking force (420) applied to the rudder by the body of water, wherein the rudder is flexible, and wherein flexing the rudder regulates the braking force.

14. The method according to claim 13, wherein: The capture frame includes a foil (370) coupled to the lower boom and submerged in the body of water, and wherein movement (374) of the lower boom relative to the upper boom associated with the capture device for capturing the unmanned aerial vehicle is opposed by a damping force (376) applied to the foil by the body of water.

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